A modular servo structure for rudder surface and attitude control

Abstract

The present invention relates to the field of traffic control, and discloses a modular servo structure for rudder surface and attitude control, including a servo motor, a modular controller and a protection mechanism. A end plate is arranged at the front end of the servo motor, an output shaft passing through the end plate is arranged at the output end of the servo motor, an installation plane is arranged on the upper surface of the servo motor, sliding grooves are symmetrically formed on the upper surface of the installation plane, an installation seat is arranged at the rear side of the upper surface of the installation plane, fixing cylinders are symmetrically arranged at the top of the installation seat, power plugs are arranged at the ends of the positive and negative power supply wires above the rear side of the servo motor, the two power plugs respectively pass through the two fixing cylinders, and locking bolts for fixing the power plugs are screwed on the tops of the fixing cylinders. After the modular controller and the servo motor are installed in place, the power supply docking holes at the rear end can be directly docked with the power plugs to realize the automatic docking work of the circuit, which is convenient for installation in a narrow space to save space.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control, and particularly to a modular servo structure for rudder surface and attitude control. Background Art

[0002] The rudder surface is a movable component used to control the movement direction and attitude of vehicles such as airplanes and ships. On an airplane, the rudder surface changes the airflow force to achieve actions such as pitching, yawing, and rolling of the airplane; on a ship, the rudder surface is mainly used to change the ship's heading. When the vehicle is in motion, its attitude needs to be monitored and adjusted in real time. Therefore, the entire control system needs to be implemented in cooperation with multiple modules. The so-called modularization is a design concept and method that decomposes a system or product into independent modules with specific functions. Through a specific splicing method (interface), various complex systems can be combined, and it is convenient for inspection and maintenance.

[0003] The modular servo structure converts the electrical signal sent by the control module into a physical quantity capable of driving the rudder surface to move. In an electric servo system, the servo drive module mainly includes a servo motor and a motor driver. The motor driver adjusts the speed and torque of the servo motor according to the control signal, so that the rudder surface deflects as required. It mainly consists of a servo motor and an encoder controller. In the prior art, in order to ensure the stability of the internal equipment of the vehicle during motion, the servo motor and the controller mostly adopt an integrated structure. Therefore, it is impossible to replace the controller by sliding the module, and although the connection between the controller and the servo motor is through corresponding terminals, the space inside the vehicle is limited, and the docking in a narrow space in a specific scenario is extremely inconvenient. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a modular servo structure for rudder surface and attitude control, which solves the problem of circuit docking after the controller and the motor are fixed in a narrow space.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A modular servo structure for rudder surface and attitude control, including a servo motor, a modular controller, and a protection mechanism. A end plate is provided at the front end of the servo motor, an output shaft passing through the end plate is provided at the output end of the servo motor, an installation plane is provided on the upper surface of the servo motor, sliding grooves are symmetrically opened on the upper surface of the installation plane, an installation seat is provided at the rear side of the upper surface of the installation plane, fixing cylinders are symmetrically provided at the top of the installation seat, power plugs are provided at the ends of the positive and negative power supply lines above the rear side of the servo motor, the two power plugs respectively pass through the two fixing cylinders, and locking bolts for fixing the power plugs are screwed on the tops of the fixing cylinders. The modular controller is installed on the upper surface of the servo motor, convex strips are symmetrically provided on the lower surface of the modular controller, the cross-section of the convex strips is a tapered structure with a smaller upper part and a larger lower part, the convex strips slide inside the sliding grooves, power supply docking ports are symmetrically provided on one side of the rear surface of the modular controller, the power plugs correspond to the power supply docking ports, data line docking ports are uniformly provided on the other side of the rear surface of the modular controller, and a protection mechanism is provided at the rear side of the upper surface of the modular controller.

[0006] Further, positioning holes are symmetrically opened at the rear sides of both sides of the modular controller, elastic rods are symmetrically provided at the rear side of the top of the sliding grooves, the elastic rods are inclined, the two elastic rods are respectively placed on both sides of the modular controller, hemispherical heads are provided at the ends of the two elastic rods close to each other, and the hemispherical heads are adapted to the positioning holes.

[0007] Further, the protection mechanism is placed at the rear side of the top of the modular controller, and the protection mechanism includes support plates fixed above both sides of the modular controller.

[0008] Further, the support plates extend beyond the upper surface of the modular controller, a rotating shaft is rotatably installed between the two support plates, the rotating shaft is placed above the modular controller, a protection plate is provided on one side of the rotating shaft, and a plurality of notch grooves are uniformly opened on the surface of the protection plate, and the plurality of notch grooves correspond to the data line docking ports one by one.

[0009] Further, an extension shaft is provided at one end of the rotating shaft, the extension shaft passes through one of the support plates, and limiting grooves are symmetrically opened on the curved surface of the extension shaft, and the connection line of the two limiting grooves is perpendicular to the protection plate.

[0010] Further, a fixing plate is welded below the surface of one of the support plates, a sliding rod is vertically slidably installed on the surface of the fixing plate, a top block is provided at the top of the sliding rod, and an arc head is provided on the upper surface of the top block, and the arc head is adapted to the internal size of the limiting groove.

[0011] Furthermore, a spring is sleeved on the surface of the slide bar, the spring is placed above the slide bar, and the top of the spring is in contact with the lower surface of the top block.

[0012] Furthermore, air inlet windows are symmetrically provided on both sides of the modular controller, and an exhaust radiator is provided on the front side of the upper surface of the modular controller.

[0013] The present invention provides a modular servo structure for rudder surface and attitude control, which has the following beneficial effects:

[0014] 1. The present invention connects and installs the servo motor and the modular controller by means of a slide rail to ensure the accuracy of the controller position during docking and prevent misalignment. After installation, the elastic plates on both sides cooperate with the positioning holes on the surface of the controller to ensure the stability of the modular controller and prevent it from detaching under severe bumps in the vehicle, thereby improving the convenience of installation and implementing rapid installation in a narrow space.

[0015] 2. After the modular controller and the servo motor are installed in place, the power docking hole at the rear end of the present invention can be directly docked with the power plug to achieve automatic docking of the circuit, which is convenient for installation in a small space to save space.

[0016] 3. The present invention installs the data line for docking before assembly, and isolates and protects the signal line through the protective plate on the top to prevent impact on the line connection end during the backward push installation, so as to ensure the stability of the data line docking, and the protective plate can be rotated 180 degrees. When the protective plate is facing forward, the interface is open for easy installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front view installation stereoscopic structural diagram of the present invention;

[0018] Figure 2 It is a rear-view installation stereoscopic schematic diagram of the present invention;

[0019] Figure 3 It is a schematic diagram of the installation structure of the controller and the servo motor of the present invention;

[0020] Figure 4 For the present invention Figure 2 A magnified schematic diagram of area A;

[0021] Figure 5 It is a schematic diagram of the structure of the protection mechanism of the present invention;

[0022] Figure 6 For the present invention Figure 5 A magnified schematic diagram of area B;

[0023] Figure 7 It is a schematic diagram of the modular structure connection structure of the present invention.

[0024] Among them, 1. Servo motor; 11. Output shaft; 2. End plate; 3. Installation plane; 4. Slide groove; 5. Mounting seat; 51. Fixed cylinder; 6. Power plug; 7. Locking bolt; 8. Elastic rod; 81. Hemispherical head; 9. Modular controller; 91. Exhaust radiator; 92. Air intake window; 93. Data line docking port; 94. Power supply docking port; 95. Positioning hole; 96. Rib; 10. Protection mechanism; 101. Support plate; 102. Rotating shaft; 103. Protection plate; 104. Notch groove; 105. Extension shaft; 106. Limiting groove; 107. Fixed plate; 108. Slide rod; 109. Top block; 110. Arc head; 111. Spring. Specific embodiments

[0025] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Embodiment

[0026] Please refer to Figure 7 As shown, the vehicle includes but is not limited to airplanes, drones, ships, etc. First, the sensor module continuously collects the attitude data of the vehicle and transmits this data to the control module. After receiving the data, the control module compares it with the preset target attitude and calculates the attitude error. Then, according to the control algorithm, the control commands for the control surfaces are calculated, and these commands are sent to the servo drive module. The servo drive module converts the commands into actual control surface movements, driving the control surfaces to deflect, thereby changing the attitude of the vehicle.

[0027] Sensor module: for the attitude information of the vehicle. On an airplane, common sensors include gyroscopes, accelerometers, and magnetic compasses, etc. The gyroscope can measure the angular velocity of the airplane, the accelerometer can measure the linear acceleration of the airplane, and the magnetic compass is used to determine the heading of the airplane. The data collected by these sensors is transmitted to the control module as the basis for attitude control.

[0028] Modular controller 9 (control module): Receives the attitude information transmitted by the sensor module and calculates the actions that the control surface should take according to the preset control algorithm. For example, in a system based on the PID (Proportional-Integral-Derivative) control algorithm, the control module calculates the deflection amount of the control surface based on the error between the current attitude and the target attitude. This control module can be a single microprocessor or a circuit board composed of multiple chips. It is connected to the sensor module and the servo drive module through a communication interface and sends control instructions to the servo drive module.

[0029] Servo motor 1 (servo drive module): Converts the electrical signal sent by the control module into a physical quantity that can drive the movement of the control surface. In an electric servo system, the servo drive module mainly includes a servo motor and a motor driver. The motor driver adjusts the speed and torque of the servo motor according to the control signal, so that the control surface deflects as required.

[0030] Please refer to Figures 1-7 As shown, an embodiment of the present invention provides a modular servo structure for control surface and attitude control, including a servo motor 1, a modular controller 9, and a protection mechanism 10. A end plate 2 is provided at the front end of the servo motor 1, and an output shaft 11 passing through the end plate 2 is provided at the output end of the servo motor 1. The output shaft 11 is connected to each control end of the traffic air to transmit power and improve the attitude. An installation plane 3 is provided on the upper surface of the servo motor 1. Chutes 4 are symmetrically opened on the upper surface of the installation plane 3. An installation seat 5 is provided at the rear side of the upper surface of the installation plane 3. Fixed cylinders 51 are symmetrically provided at the top of the installation seat 5. Power plugs 6 are provided at the ends of the positive and negative power supply wires above the rear side of the servo motor 1. The two power plugs 6 respectively pass through the two fixed cylinders 51. A locking bolt 7 for fixing the power plug 6 is screwed on the top of the fixed cylinder 51 to fix the two positive and negative power plugs 6, facilitating subsequent installation and docking. The modular controller 9 is installed on the upper surface of the servo motor 1. Convex strips 96 are symmetrically provided on the lower surface of the modular controller 9. The cross section of the convex strip 96 is a tapered structure with a smaller upper part and a larger lower part, so as to ensure that the modular controller 9 can only be advanced along the trajectory of the chute 4 during installation to ensure the stability of the position and facilitate the docking work of the rear-end power supply. The convex strip 96 slides inside the chute 4. Power supply docking ports 94 are symmetrically provided on one side of the rear surface of the modular controller 9. The power plug 6 corresponds to the power supply docking port 94. When the modular controller 9 is installed in place, the power plug 6 will automatically insert into the power supply docking port 94 to realize the connection of the internal circuit and control the movement data of the servo motor 1.

[0031] Among them, air inlet windows 92 are symmetrically opened on both sides of the modular controller 9. A suction radiator 91 is provided on the front side of the upper surface of the modular controller 9. The suction radiator 91 extracts the gas inside the controller housing, and the cold air outside will enter through the air inlet windows 92 to realize air flow and dissipate heat inside.

[0032] Please refer to Figure 2 and Figure 4 As shown, positioning holes 95 are symmetrically provided at the rear of both sides of the modular controller 9, and elastic rods 8 are symmetrically provided on the rear side of the top of the slide groove 4. The elastic rods 8 are tilted and have a certain elasticity. When the modular controller 9 is installed, the two elastic rods 8 can be squeezed and deformed. The two elastic rods 8 are respectively placed on both sides of the modular controller 9, and a hemispherical head 81 is provided at the end of one side of the two elastic rods 8 close to each other. The hemispherical head 81 is adapted to the positioning hole 95. When the modular controller 9 is installed in place, the elasticity of the elastic rod 8 can make the hemispherical head 81 enter the inside of the positioning hole 95 to achieve fixation. Conversely, when disassembling, the hemispherical head 81 can be squeezed by pulling outward with force to make it out of cooperation with the positioning hole 95. Example

[0033] Please refer to Figure 3 and Figure 4 As shown, data line interfaces 93 are evenly arranged on the other side of the rear surface of the modular controller 9 to transmit the data on the sensor to the modular controller 9 through the data line. A protective mechanism 10 is arranged on the rear side of the upper surface of the modular controller 9 to protect the data lines and prevent them from loosening due to impact.

[0034] Please refer to Figure 5 and Figure 6 As shown, the protection mechanism 10 is placed on the top rear side of the modular controller 9. The protection mechanism 10 includes a support plate 101 fixed on both sides of the modular controller 9. The support plate 101 can be fixed by welding, and the protection mechanism 10 is placed above the data line interface 93 to protect it. The support plate 101 exceeds the upper surface of the modular controller 9. A rotating shaft 102 is rotatably installed between the two support plates 101. The rotating shaft 102 is placed above the modular controller 9. A protection plate 103 is set on one side of the rotating shaft 102. The protection plate 10 The protective plate 103 can be rotated 180 degrees to be placed at the front side or the rear side of the rotating shaft 102. When placed at the front side, there is no obstacle on the top of the data line interface 93, so as to facilitate the docking of the data line. On the contrary, after docking, the protective plate 103 is rotated backward to cover it. A plurality of notches 104 are evenly opened on the surface of the protective plate 103. The plurality of notches 104 correspond to the data line interface 93 one by one. The data line can pass through the notches 104 upward and then be led out. The rear end of the modular controller 9 is protected by the protective plate 103 to prevent collision.

[0035] Please refer to Figure 5 and Figure 6As shown, one end of the rotating shaft 102 is provided with an extension shaft 105. The extension shaft 105 penetrates through one of the support plates 101. The curved surface of the extension shaft 105 is symmetrically provided with limiting grooves 106. The connecting line of the two limiting grooves 106 is perpendicular to the protective plate 103. Whether the protective plate 103 moves forward or backward, one of the limiting grooves 106 is in a downward position, which is convenient for limiting the rotating shaft 102.

[0036] Below the surface of one of the support plates 101, a fixing plate 107 is welded. A sliding rod 108 is vertically slidably installed on the surface of the fixing plate 107. The top of the sliding rod 108 is provided with a top block 109. The upper surface of the top block 109 is provided with an arc head 110. The arc head 110 is adapted to the internal size of the limiting groove 106. The arc head 110 can fix the position of the protective plate 103 through the cooperation of the limiting groove 106. When the rotational force of the protective plate 103 is large, the rotational force will cause extrusion between the limiting groove 106 and the arc head 110, and then the arc head 110 will be extruded to rotate. A spring 111 is sleeved on the surface of the sliding rod 108. The spring 111 is placed above the sliding rod 108. The top of the spring 111 is in contact with the lower surface of the top block 109. The elastic force of the spring 111 is used to make the top block 109 always have an upward force, so that it can be limited after the rotating shaft 102 rotates in place.

[0037] Working principle: The sensor module monitors the motion state of the vehicle and transmits the information to the control module. After calculating the data through a specific algorithm, the data is transmitted to the modular controller 9. The modular controller 9 controls the rotation speed and angle of the servo motor 1 to adjust the motion state of the vehicle. The modular controller 9 and the servo motor 1 are installed by the sliding of the convex strip 96 in the chute 4. When the modular controller 9 is pushed backward in place, the power supply docking interface 94 automatically cooperates with the power plug 6 to achieve connection. After the modular controller 9 is installed in place, the elasticity of the elastic rod 8 can make the hemispherical head 81 cooperate with the positioning hole 95 to achieve fixation, so as to ensure the stability of the installation of the modular controller 9 and the servo motor 1.

[0038] The control module is connected to the data line docking interface 93 through a signal line. When connecting, the protective plate 103 is controlled to flip forward, and the elastic force of the spring 111 makes the top block 109 move upward, so as to be fixed through the cooperation of the arc head 110 and the limiting groove 106. On the contrary, after the signal line is installed, the protective plate 103 rotates 180°, so that the protective plate 103 faces backward, so as to cover the data line docking interface 93, and the signal line penetrates through the notch groove 104 to maintain fixation.

[0039] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular servo structure for rudder surface and attitude control, comprising a servo motor (1), a modular controller (9) and a protection mechanism (10), characterized in that: A end plate (2) is provided at the front end of the servo motor (1), an output shaft (11) passing through the end plate (2) is provided at the output end of the servo motor (1), an installation plane (3) is provided on the upper surface of the servo motor (1), sliding grooves (4) are symmetrically formed on the upper surface of the installation plane (3), an installation seat (5) is provided at the rear side of the upper surface of the installation plane (3), fixing cylinders (51) are symmetrically provided at the top of the installation seat (5), power plugs (6) are provided at the ends of the positive and negative power supply wires above the rear side of the servo motor (1), the two power plugs (6) respectively pass through the two fixing cylinders (51), and locking bolts (7) for fixing the power plugs (6) are screwed on the tops of the fixing cylinders (51). The modular controller (9) is installed on the upper surface of the servo motor (1), convex strips (96) are symmetrically provided on the lower surface of the modular controller (9), the cross section of the convex strips (96) is a tapered structure with a smaller upper part and a larger lower part, the convex strips (96) slide inside the sliding grooves (4), power supply docking ports (94) are symmetrically provided on one side of the rear surface of the modular controller (9), the power plugs (6) correspond to the power supply docking ports (94), data line docking ports (93) are uniformly provided on the other side of the rear surface of the modular controller (9), and a protection mechanism (10) is provided at the rear side of the upper surface of the modular controller (9). Positioning holes (95) are symmetrically formed at the rear sides of both sides of the modular controller (9), elastic rods (8) are symmetrically provided at the rear side of the top of the sliding grooves (4), the elastic rods (8) are obliquely arranged, the two elastic rods (8) are respectively disposed on both sides of the modular controller (9), hemispherical heads (81) are provided at the ends of the two elastic rods (8) close to each other, and the hemispherical heads (81) are adapted to the positioning holes (95). The protection mechanism (10) is disposed at the rear side of the top of the modular controller (9), and the protection mechanism (10) includes support plates (101) fixed above both sides of the modular controller (9), the support plates (101) extend beyond the upper surface of the modular controller (9), a rotating shaft (102) is rotatably installed between the two support plates (101), the rotating shaft (102) is disposed above the modular controller (9), a protection plate (103) is provided on one side of the rotating shaft (102), and a plurality of notch grooves (104) are uniformly formed on the surface of the protection plate (103), and the plurality of notch grooves (104) correspond to the data line docking ports (93) one by one. One end of the rotating shaft (102) is provided with an extension shaft (105), the extension shaft (105) passes through one of the support plates (101), and limiting grooves (106) are symmetrically formed on the extension shaft (105), and the connection line of the two limiting grooves (106) is perpendicular to the protection plate (103).

2. The modular servo structure for rudder surface and attitude control according to claim 1, characterized in that: A fixing plate (107) is welded below the surface of one of the support plates (101). A sliding rod (108) is vertically and slidably mounted on the surface of the fixing plate (107). A top block (109) is arranged at the top of the sliding rod (108). An arc head (110) is arranged on the upper surface of the top block (109). The internal dimensions of the arc head (110) are adapted to those of the limiting groove (106).

3. The modular servo structure for rudder surface and attitude control according to claim 2, wherein: A spring (111) is sleeved on the surface of the sliding rod (108). The spring (111) is placed above the sliding rod (108). The top of the spring (111) is in contact with the lower surface of the top block (109).

4. A modular servo structure for rudder surface and attitude control according to claim 1, characterized in that: Air inlet windows (92) are symmetrically formed on both sides of the modular controller (9). An exhaust radiator (91) is arranged on the front side of the upper surface of the modular controller (9).

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