Electromechanical actuator for four-redundancy laser measurement

Abstract

The invention provides an electromechanical actuator for four-redundancy laser measurement, which comprises a first laser generating and detecting end assembly, a second laser generating and detecting end assembly, a laser generating and detecting end assembly sealing gasket, a laser generating and detecting end assembly cover plate, a power motor, a dustproof end cover, a ball screw pair, a screw pair screw, a shell and a first rotor reflecting vertical angle, a second rotor reflection vertical angle, a four-redundancy laser displacement sensor electric connector, a motor weak current connector, a motor strong current connector, an A connection support lug and a B connection support lug. Through independent main-main design of four redundancies and non-contact measurement, high reliability of displacement feedback of the electromechanical actuator is realized, and the problems that the redundancy of displacement measurement of the actuator is less and the actuator is easy to damage due to contact friction are solved; the four-redundancy laser measurement range is wide, the displacement measurement range can cover the micrometer level to the meter level, the measurement precision is high, and the test precision can reach the submicron level.

Description

Technical Field

[0001] The invention belongs to the technical field of aerospace servo, and in particular relates to an electromechanical actuator for quadruple-redundant laser measurement. Background Art

[0002] The electromechanical actuator is a key actuator in the control system of a space launch vehicle. Its function is to control the nozzle swing angle to change the discharge direction of the engine flame according to the instructions of the control system, generate lateral control torque, change the attitude of the launch vehicle in flight, and make it fly stably according to the predetermined orbit. The displacement feedback sensor realizes the closed-loop control of the electromechanical actuator to ensure that it accurately responds to the instructions of the control system. Therefore, the accuracy and high reliability of the displacement feedback are particularly important. Chinese patent CN216407364U, named a hydraulic servo actuator with a built-in displacement sensor structure, provides a hydraulic actuator with a built-in displacement sensor structure, which aims to solve the problem that the external displacement sensor is often accidentally damaged due to leakage from the actuator. However, the servo actuator with a built-in displacement sensor structure, although it solves the accidental damage of the external sensor, the displacement sensor does not achieve a redundant design, and the single redundancy is not high in reliability. Chinese patent CN111981098A, named as a self-locking and effective stroke infinitely adjustable electromechanical actuator, consists of a housing, a transmission mechanism and two displacement sensors, etc., with a double-redundant displacement sensor, which increases the reliability of the displacement sensor. However, although the actuator of the double-redundant displacement sensor increases the reliability of the actuator displacement sensor, the displacement sensor is contact-type and is easily damaged by friction after long-term operation, which makes it difficult to meet the higher reliability requirements of aerospace. Summary of the invention

[0003] The purpose of the present invention is to overcome the problems existing in the prior art and provide an electromechanical actuator with four-redundant laser measurement, which eliminates the risk of actuator displacement sensor failure when a single built-in displacement sensor fails, solves the risk of actuator displacement sensor failure when a contact-type redundant displacement sensor is damaged by friction, realizes non-contact and redundancy of actuator displacement feedback, and improves the accuracy and high reliability of actuator displacement feedback.

[0004] The present invention provides an electromechanical actuator for four-degree-of-redundancy laser measurement, which comprises: a first laser detection end assembly and a second laser detection end assembly, a laser detection end assembly sealing gasket, a laser detection end assembly cover plate, a power motor, a dustproof end cover, a ball screw pair, a screw pair lead, a shell, a first mover reflective vertical angle, a second mover reflective vertical angle, a power motor, a four-degree-of-redundancy laser displacement sensor electrical connector, a motor weak current connector, a motor strong current connector, an A connecting lug, and a B connecting lug.

[0005] The first laser detection end assembly and the second laser detection end assembly are placed opposite and parallel to each other and installed at the front positioning end of the shell to form a stator. The measuring beam hits the reciprocating ball screw pair, and the ball screw pair nut forms a mover. The opening limit end of the shell is installed in a fit with the K and M surfaces of the laser sensor for rapid positioning. The first laser detection end assembly and the second laser detection end assembly are arranged in a group every 180 degrees, with 2 redundancies in each group. The redundancy beams are the first laser sensor beam, the second laser sensor beam, the third laser sensor beam, and the fourth laser sensor beam, which do not interfere with each other. When working, the four redundancies are collected simultaneously, and the first laser sensor beam gives feedback first. The rest are measured and recorded in real time but do not participate in feedback. When the first laser sensor beam fails, the second laser sensor beam fills in, which enhances the accuracy and high reliability of the displacement feedback of the electromechanical actuator.

[0006] The present invention proposes a non-contact laser measurement of a four-degree-of-redundancy electromechanical actuator. Through the independent main-main design of the four degrees of redundancy and non-contact measurement, the high reliability of the displacement feedback of the electromechanical actuator is achieved, and the problems of small displacement measurement redundancy of the actuator and easy damage due to contact friction are solved; the first laser generating detection end component and the second laser generating detection end component are placed face to face and in parallel, and are installed at the front positioning end of the shell to form a stator, and the measuring light beam hits the reciprocating ball screw pair, and the ball screw pair nut forms a mover; the stator laser emitting component, the stator beam splitter (one beam of light is split into two laser beams), the stator beam reflecting surface and the stator beam detection interference component constitute an integrated laser generating detection end component; the laser generating detection end component is installed The limit end, the Z direction and X direction of the limit end are used for positioning, and the Y direction is open. The Y direction can have millimeter-level displacement in positive and negative directions without affecting the measurement; the ball screw pair is processed with a mover reflective surface, and the mover reflective surface is a 90° cut. When the actuator is working, the ball screw pair reciprocates, and the ball screw pair is the mover itself, eliminating the influence of redundant connections on displacement sensing; the first laser detection end component sealing gasket, the first laser detection end component cover, the second laser detection end component sealing gasket and the second laser detection end component cover are installed on the shell for sealing, waterproofing and dustproofing, etc.; the four-redundancy laser has a wide measurement range, and the displacement measurement range can cover microns to meters, with high measurement accuracy, and its test accuracy can reach sub-micron level.

[0007] The beneficial effects of the present invention are as follows:

[0008] 1. The present invention realizes the non-contact displacement measurement of electromechanical actuators with four redundancies. Compared with the prior art, it realizes the four redundancies are all independent main-main designs, and the displacement measurement is a four-way switchable redundant non-contact high-reliability electromechanical actuator;

[0009] 2. The present invention realizes a measurement range from micrometer to meter level and submicrometer level test accuracy. Compared with the prior art, the electromechanical actuator can meet the requirements of ultra-large displacement and ultra-high feedback accuracy;

[0010] 3. The present invention realizes an integrated design of the reflective surface of the mover and the nut. Compared with the prior art, the nut of the ball screw pair for reciprocating motion is the mover, eliminating redundant connections and improving the accuracy of displacement feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention:

[0012] Figure 1 Schematic diagram of an electromechanical actuator for four-redundant laser measurement according to an embodiment of the present invention;

[0013] Figure 2 is a schematic diagram of the position of the laser sensor in the lead screw pair according to an embodiment of the present invention;

[0014] Figure 3 It is a schematic diagram of the laser generating detection end component of an embodiment of the present invention.

[0015] Among them: 1-first laser sensor beam 1'-second laser sensor beam 2-third laser sensor beam 2'-fourth laser sensor beam 3-first laser detection end assembly 4-first mover reflection vertical angle 5-second laser detection end assembly 6-second mover reflection vertical angle 7-ball screw pair 8-screw pair lead screw 9-stator laser emission assembly 12-mover reflection vertical angle reflection surface 13-mover reflection vertical angle reflection surface 14-laser detection end assembly stator reflection surface 15-laser detection end assembly stator reflection surface 16-laser detection end assembly laser beam stator spectroscope 17-beam detection assembly 18-laser Output beam of the light generating detection end component 19-displacement reference beam of the laser generating detection end component spectral I 20-reflection beam of the displacement reference beam of the laser generating detection end component spectral I 22-return beam of the displacement reflection beam of the laser generating detection end component spectral II 23-displacement execution beam of the laser generating detection end component spectral II 24-ball screw pair guide and dustproof end cover 29-laser generating detection end component cover plate 30-power motor 31-housing 32-laser generating detection end component sealing gasket 33-A connecting lug 35-B connecting lug 38-four-redundant laser displacement sensor electrical connector 39-motor weak current connector 40-motor strong current connector DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0017] The present embodiment provides an electromechanical actuator for four-degree-of-redundancy laser measurement, including: a first laser detection end assembly 3 and a second laser detection end assembly 5, a laser detection end assembly sealing gasket 32, a laser detection end assembly cover plate 29, a power motor 30, a dustproof end cover 24, a ball screw pair 7, a screw pair lead 8, a housing 31, a first mover reflective vertical angle 4, a second mover reflective vertical angle 6, a power motor 30, a four-degree-of-redundancy laser displacement sensor electrical connector 38, a motor weak current connector 39, a motor strong current connector 40, an A connecting lug 33, and a B connecting lug 35.

[0018] Among them, the first laser detection end assembly 3 and the second laser detection end assembly 5 are placed opposite and parallel, installed at the front positioning end of the housing 31, forming a stator, and the measuring beam hits the reciprocating ball screw pair, the ball screw pair nut forms a mover, and the housing opening limit end is installed in a fit with the laser sensor K surface and M surface for rapid positioning. The first laser detection end assembly 3 and the second laser detection end assembly 5 are arranged in a group every 180 degrees, and each group has 2 redundancies. The redundancy beams are respectively the first laser sensor beam 1, the second laser sensor beam 1', the third laser sensor beam 2, and the fourth laser sensor beam 2', which do not interfere with each other. When working, the four redundancies are collected simultaneously, and the first laser sensor beam 1 first gives feedback, and the rest are measured and recorded in real time but do not participate in feedback. When the first laser sensor beam 1 fails, the second laser sensor beam 1' fills in, and fills in the order of 1-1'-2-2', which enhances the accuracy and high reliability of the displacement feedback of the electromechanical actuator.

[0019] Furthermore, the first laser generating detection end assembly 3 and the second laser generating detection end assembly 5 are both two-in-one laser generating detection end assemblies, and each laser generating detection end assembly is independent of each other and does not affect each other, and emits two laser beams.

[0020] Furthermore, the laser detection end component includes: a stator laser emitting component 9, a stator beam splitter 16, a stator reflective surface 14 of the laser detection end component, a stator reflective surface 15 of the laser detection end component, a mover reflective vertical angle reflection surface 12, a mover reflective vertical angle reflection surface 13 and a stator beam detection interference component 17.

[0021] Furthermore, the first mover reflective vertical angle 4 and the second mover reflective vertical angle 6 both reflect two laser beams.

[0022] Furthermore, the laser detection end assembly is installed at the limit end, and the Z and X directions of the limit end are used for positioning. The parallelism meets 0.01-0.1mm, the verticality meets 0.01-0.1mm, and the Y direction is open. The Y direction can have millimeter-level displacement in positive and negative directions, and the Y direction can be offset by plus or minus 3mm without affecting the measurement.

[0023] The reflective vertical angle of the mover is processed by the ball screw pair to form the reflective surfaces 12 and 13 of the mover. The reflective surface of the mover is a 90° cut with a roughness of Ra0.4-Ra1.6. The bisector of the cut angle is parallel to the screw pair axis. When the actuator is working, the ball screw pair reciprocates, and the ball screw pair nut is the mover itself, eliminating the influence of redundant connections on displacement sensing, making laser sensing more compact and transmission more accurate.

[0024] Furthermore, the laser generation detection end assembly sealing gasket 32 ​​and the laser generation detection end assembly cover plate 29 are installed on the housing 31 for sealing, waterproofing and dustproofing, etc.

[0025] Furthermore, the ball screw pair 7 is installed in the housing 31, one end of the roller screw pair is connected to a connecting ear that can be adjusted by ±8 displacement, and a joint bearing is arranged in the connecting ear. The clearance between the ball screw pair 7 and the housing 31 is 0.035-0.065 mm. The installation positions of the first laser generating detection end assembly 3 and the second laser generating detection end assembly 5 are as follows: Figure 1 As shown, the laser detection end component outputs a beam 18, the laser detection end component splitter I shifts a reference beam 19, the laser detection end component splitter I shifts a reference beam 20, the laser detection end component splitter II shifts a reflected beam 22, and the laser detection end component splitter II shifts an execution beam 23; the tightening torque is 0.4 to 0.8 Nm, and is sealed by the laser detection end component cover 29, the screw nut guide and dustproof end cover 24 pass through the ball screw pair 7 and are fixed to the housing 31 with a fixing screw assembly, the first and second laser detection end component sealing gaskets 32 and the first and second laser detection end component cover 29 are installed on the housing, which are used for sealing the internal laser detection end component 3, the laser detection end component 5, the mover reflective vertical angle 4, and the mover reflective vertical angle 6, with a tightening torque of 0.4 to 0.8 Nm. After completion, all the pre-assembled components are installed on the power motor 30 and fixed.

[0026] The present invention discloses a working method of an electromechanical actuator for four-degree laser measurement: the laser sensor of each degree emits a light beam from a laser displacement sensor transmitting and receiving component, which is divided into two laser beams by a laser beam stator spectroscope 16 of a laser detection end component, one laser beam is reflected back to the laser beam stator spectroscope 16 of the laser detection end component through a stator reflective surface 14 of the laser detection end component and a stator reflective surface 15 of the laser detection end component, and the other laser beam is reflected back to the laser beam stator spectroscope 16 of the laser detection end component through a vertical angle reflective surface 12 of the movable reflective element and a vertical angle reflective surface 13 of the movable reflective element. At this time, the laser beam stator spectroscope 16 of the laser detection end component is divided into two laser beams and then the beams are combined, and then interference occurs and is received by the laser displacement sensor transmitting and receiving component. At this time, when the movable reflective vertical angle is displaced, the transmission length of the laser beam irradiated on it and reflected by it will be changed, and then there will be a phase difference, causing interference change. The displacement can be calculated by detecting this change by the laser detection end component. Its displacement measurement range can cover the entire stroke, and the test accuracy can reach micron level. All four laser sensors are hot backup. When one displacement sensor has a problem, it will not affect the accurate feedback and reliability of displacement feedback of other laser sensors.

[0027] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electromechanical actuator for quadruple-redundant laser measurement, characterized in that: include: The first laser detection end assembly, the second laser detection end assembly, the laser detection end assembly sealing gasket, the laser detection end assembly cover plate, the power motor, the dustproof end cover, the ball screw pair, the screw pair lead, the housing, the first mover reflective vertical angle, the second mover reflective vertical angle, the four-redundant laser displacement sensor electrical connector, the motor weak current connector, the motor strong current connector, the A connecting lug, and the B connecting lug.

2. The electromechanical actuator for quadruple-redundant laser measurement according to claim 1, characterized in that: The first laser detection end assembly and the second laser detection end assembly both include: a stator laser emission assembly, a stator beam splitter, a stator reflective surface of the laser detection end assembly, a mover reflective vertical angle reflection surface and a stator beam detection interference assembly.

3. The electromechanical actuator for quadruple-redundant laser measurement according to claim 1, characterized in that: The first laser generating detection end assembly and the second laser generating detection end assembly are both two-in-one laser generating detection end assemblies, emitting two laser beams.

4. The electromechanical actuator for quadruple-redundant laser measurement according to claim 1, characterized in that: The first laser detection end assembly and the second laser detection end assembly are placed opposite and in parallel, and are installed at the front positioning end of the shell to form a stator. The measuring light beam hits the reciprocating ball screw nut, and the ball screw nut forms a mover.

5. The electromechanical actuator for quadruple-redundant laser measurement according to claim 1, characterized in that: The first laser generating detection end assembly and the second laser generating detection end assembly are arranged in a group every 180 degrees, with 2 degrees of redundancy in each group.

6. The electromechanical actuator for quadruple-redundant laser measurement according to claim 1, characterized in that: The laser generation detection end component sealing gasket and the laser generation detection end component cover plate are installed on the shell body for sealing, waterproofing and dustproofing.

7. The electromechanical actuator for quadruple-redundant laser measurement according to claim 1, characterized in that: The ball screw nut is processed with a reflective surface of the mover, and the reflective surface of the mover is a 90° cut. When the actuator is working, the ball screw nut reciprocates. The ball screw nut is the mover itself, eliminating the influence of redundant connections on displacement sensing.

8. The electromechanical actuator for quadruple-redundant laser measurement according to claim 7, characterized in that: The ball screw pair is installed in the housing, and the matching clearance between the ball screw pair and the housing is 0.035-0.065mm.

9. An electromechanical actuator for quadruple-redundant laser measurement according to any one of claims 1 to 8, characterized in that: The displacement measurement range can cover from micrometer to meter level, and its test accuracy can reach sub-micrometer level.

10. The electromechanical actuator for quadruple-redundant laser measurement according to claim 9, characterized in that: The electromechanical actuator realizes an integrated design of the reflective surface of the mover and the nut.

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