Non-similar transmission dual-redundancy actuating device

Abstract

The invention discloses a dissimilar transmission dual-redundancy actuating device which comprises an outer cylinder, a lead screw is arranged in the outer cylinder, the lead screw can rotate in the outer cylinder and move in the axial direction of the outer cylinder, a lead screw nut is arranged on the lead screw in a matched mode, and a rotation limiting assembly is arranged between the lead screw nut and the outer cylinder so that the lead screw nut can only move in the axial direction of the outer cylinder; the first transmission mechanism is used for driving the lead screw to rotate, so that one end of the lead screw can extend and retract relative to the outer cylinder; the locking mechanism is used for locking the lead screw nut in the outer cylinder and limiting the movement of the lead screw nut in the axial direction of the outer cylinder; and the second transmission mechanism can enable the locking mechanism to unlock the lead screw nut and apply acting force for enabling the lead screw to retract to the lead screw. When the first transmission mechanism breaks down, the action of the second transmission mechanism cannot be affected, when the actuating device is in the stretching-out state, the second transmission mechanism can relieve the action of the first transmission mechanism on the actuating device, and emergency retraction of the actuating device can be achieved through the second transmission mechanism; while the dual-redundancy control is realized, the reliability is good.

Description

Technical Field

[0001] The invention belongs to the technical field of actuators, and in particular relates to a double-redundant actuating device with non-similar transmission. Background Art

[0002] Actuators are widely used in landing gear retraction and extension, wing folding and other mechanisms in the fields of aviation and aerospace. As actuators for the aerospace mechanism, the actuators have high requirements for reliability in addition to light weight and high strength. In order to improve reliability, actuators usually adopt a redundancy design, that is, redundant design is adopted for components with low reliability to ensure that the overall function of the actuator is not affected when some components fail.

[0003] There are many types of redundant actuators. Depending on whether the transmission structures of multiple redundancies adopt similar principles, they can usually be divided into redundant actuators with similar transmission structures and redundant actuators with dissimilar transmission structures. When a redundant actuator with a similar transmission structure is damaged due to external influences, the other redundancy may also be damaged. Redundant actuators with dissimilar transmission structures can effectively reduce the possibility of failure caused by a single structural type in similar transmission structures, and thus have better reliability. Summary of the invention

[0004] The object of the present invention is to provide a dual-redundancy actuating device of non-similar transmission, in which when one of the transmission structures fails while realizing dual-redundancy control, the function of the other transmission structure will not be affected.

[0005] The present invention is achieved through the following technical solutions:

[0006] The double redundant actuating device of non-similar transmission comprises:

[0007] An outer cylinder, wherein a lead screw is arranged in the outer cylinder, the lead screw can rotate in the outer cylinder and move axially along the outer cylinder, a lead screw nut is arranged on the lead screw, and a rotation limiting assembly is arranged between the lead screw nut and the outer cylinder, so that the lead screw nut can only move axially along the outer cylinder;

[0008] The first transmission mechanism is used to drive the lead screw to rotate so that one end of the lead screw can extend and retract relative to the outer cylinder;

[0009] A locking mechanism is used to lock the lead screw nut in the outer tube and limit the axial movement of the lead screw nut along the outer tube;

[0010] The second transmission mechanism can enable the locking mechanism to release the locking of the lead screw nut and apply a force to the lead screw to retract it.

[0011] In some embodiments, the locking mechanism includes a locking ring and a locking member disposed on the outer cylinder;

[0012] The locking member is slidably connected to the outer cylinder, and the second transmission mechanism can drive the locking member to move radially along the outer cylinder;

[0013] The lead screw nut is provided with a locking groove;

[0014] The locking ring is configured to be able to move axially along the outer cylinder. A first locking portion and an unlocking groove into which the locking piece can be inserted are provided on the locking ring. When the locking piece cooperates with the first locking portion, the locking piece can be driven to move toward the inner side of the outer cylinder, and the locking piece can be inserted into the locking groove to limit the movement of the lead screw nut. When the locking ring moves until its unlocking groove corresponds to the locking piece, the locking piece can release the lock on the lead screw nut.

[0015] In some embodiments, the second transmission mechanism comprises:

[0016] rope;

[0017] A hub, one end of the rope is wound around the hub, and the hub can provide a winding force to the rope so that the rope is wound onto the hub; the rope passes through a locking ring, and a driving member is fixedly arranged on the rope between the hub and the locking ring. When the driving member moves to the position of the locking ring, it can form abutment with the locking ring and drive the locking ring to move axially along the outer cylinder;

[0018] A winch, the other end of the rope is wound around the winch, and when the winch rotates and reels the rope, a force is applied to the lead screw through the rope to retract the lead screw, and the winch is configured not to rotate when subjected to a force opposite to the reeling direction.

[0019] In some embodiments, a second locking portion is provided on the lead screw nut, and when the second locking portion cooperates with the locking member, the locking member can be driven to move toward the outside of the outer tube, and the locking member can be extended into the unlocking groove to limit the movement of the locking ring.

[0020] In some embodiments, a reset member is provided between the locking ring and the outer tube to provide a force for the locking ring to move toward the hub.

[0021] In some embodiments, an adapter sleeve is provided at the end of the screw, the adapter sleeve can rotate on the screw relative to the axis of the screw, and the rope is connected to the adapter sleeve.

[0022] In some embodiments, the drive member is a knot.

[0023] In some embodiments, the first transmission mechanism comprises:

[0024] Motor;

[0025] A driving gear is arranged on the rotating shaft of the motor, the motor can drive the driving gear to rotate forward and reverse, and the rotating shaft of the motor will not rotate when subjected to the force from the driving wheel;

[0026] The driven gear is meshed and connected with the driving gear, and the lead screw is connected with the driven gear. When the driven gear rotates, it can drive the lead screw to rotate, and the lead screw and the driven gear can slide relatively along the axial direction of the outer cylinder.

[0027] In some embodiments, a core shaft is disposed on the driven gear, the lead screw is cooperatively disposed in the core shaft, and a transmission unit for transmission between the core shaft and the lead screw is disposed between the core shaft and the lead screw.

[0028] In some embodiments, the rotation limiting assembly includes a guide bar disposed on the outer cylinder, and the lead screw nut is slidably fitted with the guide bar.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0030] The present invention adopts two transmission mechanisms, and the two transmission mechanisms adopt non-similar transmission chains, and a locking mechanism is used to form a linkage between the two transmission mechanisms. When the actuating device can realize normal telescopic action, when the first transmission mechanism fails, it will not affect the action of the second transmission mechanism. When the actuating device is in an extended state, the second transmission mechanism can release the effect of the first transmission mechanism on the actuating device, and the emergency retraction of the actuating device can be realized through the second transmission mechanism. While realizing dual redundancy control, it has good reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a schematic diagram of the structure of the double-redundant actuating device in the retracted state under normal working conditions according to an embodiment of the present invention.

[0033] Figure 2 It is a schematic diagram of the structure of the double-redundant actuating device in the extended state under normal working conditions according to an embodiment of the present invention.

[0034] Figure 3 It is a structural schematic diagram of releasing the first transmission mechanism under abnormal working conditions of the double-redundant actuating device according to an embodiment of the present invention.

[0035] Figure 4It is a structural schematic diagram of the unlocked state of the locking mechanism of the dual-redundant actuating device under abnormal working conditions according to an embodiment of the present invention.

[0036] Figure 5 It is a structural schematic diagram of the second transmission mechanism driving the lead screw to move under abnormal working conditions of the double-redundant actuating device according to an embodiment of the present invention.

[0037] Figure 6 It is a schematic diagram of the structure of the retracted state of the dual-redundant actuating device under abnormal working conditions according to an embodiment of the present invention.

[0038] in:

[0039] 100. outer cylinder; 1. motor; 2. driving gear; 3. driven gear; 4. core shaft; 5. lead screw; 6. guide strip; 7. driving member; 8. hub; 9. locking ring; 901. first locking part; 902. unlocking groove; 10. reset member; 11. locking member; 12. guide wheel; 13. rope; 14. adapter sleeve; 15. lead screw nut; 151. locking groove; 152. second locking part; 16. winch; 17. limit member. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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.

[0041] The present invention uses two power sources and two groups of non-similar transmission mechanisms to control the extension and retraction of the lead screw, thereby realizing dual-redundancy control of the actuating device. When one group of transmission mechanisms fails, the action of the other group of transmission mechanisms will not be affected, thereby improving the ability of the actuating device to cope with failures.

[0042] Under normal operating conditions, the extension and retraction action of the actuator can be achieved through the main redundancy control, and the secondary redundancy control serves as a backup; under abnormal operating conditions, such as when the main redundancy is damaged or stuck, the secondary redundancy control can release the function of the main redundancy and control the emergency retraction of the actuator.

[0043] Reference Figure 1 and Figure 2 In some embodiments of the present invention, the dual-redundant actuating device of non-similar transmission includes:

[0044] An outer cylinder 100, in which a lead screw 5 is arranged, which can rotate in the outer cylinder and move axially along the outer cylinder, a lead screw nut 15 is arranged on the lead screw 5, and a rotation limiting component is arranged between the lead screw nut 15 and the outer cylinder 100, under the action of the rotation limiting component, the lead screw nut can only move axially along the outer cylinder;

[0045] The first transmission mechanism is used to drive the lead screw to rotate so that one end of the lead screw can extend and retract relative to the outer cylinder; the first transmission mechanism serves as the main redundancy control part of the actuating device to realize the extension and retraction of the actuating device;

[0046] The locking mechanism is used to lock the lead screw nut in the outer tube and limit the movement of the lead screw nut along the axial direction of the outer tube; thus, when the lead screw is driven to rotate, the lead screw can be extended and retracted along the axial direction of the outer tube under the action of the lead screw nut;

[0047] The second transmission mechanism can enable the locking mechanism to release the locking of the lead screw nut and apply a force to the lead screw to retract it.

[0048] The second transmission mechanism serves as a secondary redundancy control part of the actuating device, which can release the effect of the primary redundancy control on the actuating device when the first transmission mechanism is damaged, and can enable emergency retraction of the lead screw.

[0049] The rotation limiting component can adopt a guide bar 6 arranged on the outer cylinder, and the lead screw nut 15 is slidably matched with the guide bar 6; while limiting the rotation of the lead screw nut, it can guide the lead screw nut.

[0050] In some embodiments, the locking mechanism includes a locking ring 9 and a locking member 11 disposed on the outer cylinder;

[0051] The locking member 11 is connected to the outer cylinder 100 by sliding fit, and the second transmission mechanism can drive the locking member to move radially along the outer cylinder;

[0052] The screw nut 15 is provided with a locking groove 151;

[0053] The locking ring 9 is configured to be able to move along the axial direction of the outer cylinder. A first locking portion 901 and an unlocking groove 902 for the locking piece to extend into are provided on the locking ring 9. When the locking piece cooperates with the first locking portion, the locking piece can be driven to move toward the inner side of the outer cylinder, and the locking piece can be extended into the locking groove to limit the movement of the screw nut along the axial direction of the outer cylinder. When the locking ring moves until its unlocking groove corresponds to the locking piece, the unlocking groove can provide space for the locking piece to move, so that the locking piece can release the lock on the screw nut.

[0054] Reference Figure 1 and Figure 2 Under normal working conditions, under the action of the first locking part, the locking piece is pressed into the locking groove, fixing the locking ring in the outer cylinder, and limiting the movement of the locking ring along the axial direction of the outer cylinder. At this time, when the driving screw rotates, under the action of the screw nut, the screw can extend or retract along the axial direction of the outer cylinder.

[0055] Reference Figure 3Under abnormal working conditions, the second transmission mechanism drives the unlocking groove on the locking ring to move toward the locking member. When the unlocking groove moves to the position corresponding to the locking member, the unlocking groove provides space for the locking member to escape from the locking groove. At this time, the unlocking operation of the screw nut can be realized.

[0056] The locking member 11 may be a steel ball that matches the locking groove and the unlocking groove.

[0057] In some embodiments, the second transmission mechanism includes:

[0058] Rope 13; such as steel wire rope;

[0059] The hub 8, one end of the rope 13 is wound around the hub 8, and the hub 8 can provide a winding force for the rope to be wound onto the hub; the rope 13 passes through the lock ring 9, and a driving member 7 is fixedly arranged on the rope 13 between the hub and the lock ring. When the driving member moves to the position of the lock ring, it can form abutment with the lock ring and drive the lock ring to move axially along the outer cylinder;

[0060] The other end of the rope 13 is wound around the winch 16. When the winch 16 rotates and reels the rope, a force is applied to the lead screw through the rope to retract the lead screw, and the winch 16 is configured not to rotate when subjected to a force opposite to the reeling direction.

[0061] The driving member 7 may be a knot formed by a rope.

[0062] The winch has a braking function or uses a winch with a brake, which can lock the winch when the winch is not working, so that it will not rotate when it is acted upon by a force opposite to the winding direction.

[0063] Reference Figure 4 When the rope knot is driven by the winch to move to abut against the lock ring, the lock ring can be driven to move by the rope knot, and the unlocking groove on the lock ring can be driven to move to the position of the locking piece, so that the locking mechanism is unlocked;

[0064] The winch continues to wind the rope. Under the tension of the rope, a force can be applied to the lead screw to move in the retracting direction, thereby driving the lead screw and the lead screw nut to retract.

[0065] A limiter 17 for limiting the movement of the lock ring is provided on the outer cylinder 100. When one end of the lock ring 9 abuts against the limiter 17, further movement of the lock ring can be limited, so that the second transmission mechanism can better drive the lead screw to complete the retraction action.

[0066] In some embodiments, the screw nut 15 is provided with a second locking portion 152, which can drive the locking member to move toward the outer side of the outer tube when the second locking portion cooperates with the locking member, and make the locking member extend into the unlocking groove to limit the movement of the lock ring. Figure 5 As shown, the locking member 11 can lock the position of the locking ring so as to apply an effective force to the lead screw, and at the same time support the steel ball through the second locking portion to prevent the steel ball from detaching from the outer cylinder.

[0067] Alternatively, the size of the hole on the outer cylinder that cooperates with the locking member is set so that the steel ball will not fall into the outer cylinder. In this way, when the lead screw nut cannot provide support for the steel ball, the steel ball can still be kept in the hole of the outer cylinder. Figure 6 shown.

[0068] In some embodiments, a reset member 10 is provided between the lock ring 9 and the outer tube 100 to provide the lock ring with a force to move toward the hub. The reset member 10 can be a spring provided between the limiter and the lock ring, which provides the lock ring with a force to move toward the hub and keeps the rope in a tensioned state.

[0069] In some embodiments, an adapter sleeve 14 is provided at the end of the lead screw, and the adapter sleeve 14 can rotate on the lead screw relative to the lead screw axis, and the rope 13 is connected to the adapter sleeve 14. In this way, the transition connection between the rope and the lead screw is realized through the adapter sleeve, avoiding the influence of the lead screw rotation on the rope.

[0070] A guide wheel 12 may be arranged on the adapter sleeve 14, and the rope 13 may be arranged on the guide wheel 12 to achieve a rolling connection between the rope and the adapter sleeve, thereby ensuring the reliability of the rope movement.

[0071] In some embodiments, the first transmission mechanism includes:

[0072] Motor 1;

[0073] A driving gear 2, which is arranged on the rotating shaft of the motor 1. The motor can drive the driving gear to rotate forward and reverse, and the rotating shaft of the motor will not rotate when receiving the force from the driving wheel;

[0074] The driven gear 3 is meshed with the driving gear 2, and the lead screw 5 is connected to the driven gear 3. When the driven gear rotates, it can drive the lead screw to rotate, and the lead screw and the driven gear can slide relatively along the axial direction of the outer cylinder.

[0075] The motor adopts a motor with a braking function or a motor with a brake, so that when the motor is not working, the rotating shaft of the motor can be locked to prevent the rotating shaft of the motor from rotating.

[0076] In some embodiments, a mandrel 4 is provided on the driven gear 3, a lead screw 5 is provided in the mandrel 4, and a transmission unit for transmission between the mandrel 4 and the lead screw 5 is provided. For example, a keyway matching structure can be adopted between the mandrel and the lead screw, a key is provided on the mandrel, and a strip-shaped groove is provided on the lead screw, so that when the mandrel rotates, the lead screw can be driven to rotate, and the lead screw can slide relative to the mandrel.

[0077] The action process of the dual-redundancy actuating device in the embodiment of the present invention is as follows:

[0078] Extend the lead screw nut into place, insert a steel ball between the locking groove of the lead screw nut and the lock ring, and lock the position of the lead screw nut through the steel ball; and put the knot into a position far enough inside the hub, refer to Figure 1 shown.

[0079] Telescopic control under normal working conditions:

[0080] Lock the winch and control the motor to drive the lead screw to extend or retract when rotating forward or reverse.

[0081] Emergency retraction control under abnormal conditions:

[0082] The motor shaft is locked, and the winch is controlled to wind the wire rope. The rope knot drives the locking ring to move and releases the lock on the lead screw nut. At this time, the lead screw is retracted by winding the wire rope under the action of the wire rope.

[0083] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship commonly placed when the product of the invention is used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0084] In addition, if the terms "horizontal" or "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0085] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0086] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A dual-redundant actuating device with non-similar transmission, characterized in that: include: An outer cylinder, wherein a lead screw is arranged in the outer cylinder, the lead screw can rotate in the outer cylinder and move axially along the outer cylinder, a lead screw nut is arranged on the lead screw, and a rotation limiting assembly is arranged between the lead screw nut and the outer cylinder, so that the lead screw nut can only move axially along the outer cylinder; The first transmission mechanism is used to drive the lead screw to rotate so that one end of the lead screw can extend and retract relative to the outer cylinder; A locking mechanism is used to lock the lead screw nut in the outer tube and limit the axial movement of the lead screw nut along the outer tube; The second transmission mechanism can enable the locking mechanism to release the locking of the lead screw nut and apply a force to the lead screw to retract it.

2. The dual-redundancy actuating device of non-similar transmission according to claim 1 is characterized in that: The locking mechanism comprises a locking ring and a locking member arranged on the outer cylinder; The locking member is slidably connected to the outer cylinder, and the second transmission mechanism can drive the locking member to move radially along the outer cylinder; The lead screw nut is provided with a locking groove; The locking ring is configured to be able to move axially along the outer cylinder. A first locking portion and an unlocking groove into which the locking piece can be inserted are provided on the locking ring. When the locking piece cooperates with the first locking portion, the locking piece can be driven to move toward the inner side of the outer cylinder, and the locking piece can be inserted into the locking groove to limit the movement of the lead screw nut. When the locking ring moves until its unlocking groove corresponds to the locking piece, the locking piece can release the lock on the lead screw nut.

3. The dual-redundant actuating device of non-similar transmission according to claim 2 is characterized in that: The second transmission mechanism comprises: rope; A hub, one end of the rope is wound around the hub, and the hub can provide a winding force to the rope so that the rope is wound onto the hub; the rope passes through a locking ring, and a driving member is fixedly arranged on the rope between the hub and the locking ring. When the driving member moves to the position of the locking ring, it can form abutment with the locking ring and drive the locking ring to move axially along the outer cylinder; A winch, the other end of the rope is wound around the winch, and when the winch rotates and reels the rope, a force is applied to the lead screw through the rope to retract the lead screw, and the winch is configured not to rotate when subjected to a force opposite to the reeling direction.

4. The dual-redundancy actuating device of non-similar transmission according to claim 3 is characterized in that: The screw nut is provided with a second locking portion, which can drive the locking member to move toward the outer side of the outer tube when the second locking portion cooperates with the locking member, and make the locking member extend into the unlocking groove to limit the movement of the lock ring.

5. The dual-redundancy actuating device of non-similar transmission according to claim 3 is characterized in that: A reset member is arranged between the lock ring and the outer tube to provide the lock ring with a force to move toward the hub.

6. The dual-redundant actuating device of non-similar transmission according to claim 3 is characterized in that: An adapter sleeve is arranged at the end of the lead screw, and the adapter sleeve can rotate on the lead screw relative to the lead screw axis, and the rope is connected to the adapter sleeve.

7. The dual-redundant actuating device of non-similar transmission according to claim 3 is characterized in that: The driving member is a knot.

8. The dual-redundant actuating device of non-similar transmission according to any one of claims 1 to 7, characterized in that: The first transmission mechanism comprises: Motor; A driving gear is arranged on the rotating shaft of the motor, the motor can drive the driving gear to rotate forward and reverse, and the rotating shaft of the motor will not rotate when subjected to the force from the driving wheel; The driven gear is meshed and connected with the driving gear, and the lead screw is connected with the driven gear. When the driven gear rotates, it can drive the lead screw to rotate, and the lead screw and the driven gear can slide relatively along the axial direction of the outer cylinder.

9. The dual-redundant actuating device of non-similar transmission according to claim 8, characterized in that: The driven gear is provided with a core shaft, the lead screw is cooperatively arranged in the core shaft, and a transmission unit for transmission between the core shaft and the lead screw is arranged between the core shaft and the lead screw.

10. The dual-redundant actuating device of non-similar transmission according to claim 1, characterized in that: The rotation limiting assembly comprises a guide bar arranged on the outer cylinder, and the lead screw nut is slidably fitted with the guide bar.

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