Direct-driven high-power linear displacement actuator

Abstract

The invention provides a direct-drive high-power linear displacement actuator, and relates to the technical field of mechanical transmission, and the actuator comprises a housing assembly which comprises two groups of stator coils; the rotor output shaft assembly is mounted in the shell assembly; the position sensor assembly is fixed in the shell assembly and used for measuring the output displacement of the actuator, the rotor output shaft assembly comprises a rotor unit, a planetary roller screw unit and a motor sensor unit, the rotor unit is hollow, the planetary roller screw unit penetrates through a hollow cavity of the rotor unit, and the motor sensor unit is used for detecting the output displacement of the actuator. The two groups of stator coils, the rotor unit and the motor sensor unit form a partition groove embedded motor, and the planetary roller screw unit outputs power of the partition groove embedded motor. The actuator adopts a complete electrical dual-redundancy structure and a single-output-shaft structural design, so that main and standby work can be realized, one-time fault work is realized, and the reliability and the safety of a product are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular provides a direct-drive high-power linear displacement actuator. Background Art

[0002] With the development of high-power electronic equipment and distributed structures, current aircraft are moving towards full-electric or multi-electrified directions, and more and more electronic control components are replacing hydraulic control components.

[0003] The current actuators cannot directly convert the power of the secondary energy system into mechanical energy output. A large number of transmission systems need to be added between the motor and the output shaft, which has problems such as large transmission clearance, poor transmission accuracy, and low transmission efficiency. In addition, their axial dimensions are large and cannot meet the installation space size requirements. Summary of the invention

[0004] The purpose of the present application is to solve the problems existing in the prior art and to propose a direct-drive high-power linear displacement actuator.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a direct-drive high-power linear displacement actuator, the actuator comprising:

[0006] A housing assembly including two sets of stator coils;

[0007] a rotor output shaft assembly mounted within the housing assembly; and

[0008] A position sensor assembly, fixed in the housing assembly, for measuring the output displacement of the actuator,

[0009] The rotor output shaft assembly includes a rotor unit, a planetary roller screw unit and a motor sensor unit.

[0010] The rotor unit is hollow, and the planetary roller screw unit passes through the hollow cavity of the rotor unit.

[0011] The two groups of stator coils, the rotor unit and the motor sensor unit constitute a slot-embedded electric motor, and the planetary roller screw unit outputs the power of the slot-embedded electric motor.

[0012] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the housing assembly comprises: a housing for pressing the two sets of stator coils, a front housing connected to one end of the housing for supporting and guiding the output shaft of the actuator, a middle housing arranged in the housing for supporting the planetary roller screw unit, and a rear housing arranged at the other end of the housing and connected to the middle housing for supporting and fixing the actuator.

[0013] A thermistor is mounted on one end of the stator coil.

[0014] The rear housing is provided with a double-ear hinge shaft for fixing the actuator.

[0015] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the rotor unit comprises: a coreless rotor of a motor, a magnetic steel mounted on the coreless rotor of the motor, and a magnetic steel sleeve sleeved on the outside of the magnetic steel.

[0016] One end of the coreless cup rotor of the motor is connected to the planetary roller screw unit, and the other end is provided with a first bearing group on the outer diameter, wherein the first bearing group includes a first bearing and a second bearing.

[0017] The rotor unit also includes a second bearing group for supporting the planetary roller screw unit, the outer ring of the second bearing group is matched with the middle housing, and a locking nut is provided at one end of the second bearing group.

[0018] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the middle shell is provided with an outer circular boss, the hollow cup rotor of the motor is provided with a positioning branch, and the outer circular boss cooperates with the positioning branch for positioning.

[0019] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the middle housing is provided with an inner ring groove matching the bearing group; the second bearing group includes a third bearing and a fourth bearing; the outer rings of the third bearing and the fourth bearing match the inner ring groove; the wide side of the outer ring of the fourth bearing fits with one end of the inner ring groove; the narrow side of the outer ring of the fourth bearing fits with the narrow side of the outer ring of the third bearing; and the inner ring of the third bearing is mounted with a hexagonal locking nut.

[0020] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the planetary roller screw unit includes a planetary roller screw passing through the rotor unit, a planetary roller screw nut installed at one end of the planetary roller screw, a position feedback gear installed at the other end of the planetary roller screw, an output shaft fixedly connected to the planetary roller screw nut, a single-ear hinge shaft connected to the other end of the output shaft, and a stop washer and a locking nut installed at the screw end of the single-ear hinge shaft.

[0021] The planetary roller screw passes through the rotor unit and is fixed by a countersunk screw.

[0022] The output shaft is provided with a guide boss which is mounted in cooperation with the housing assembly.

[0023] A spherical bearing is arranged in the circular hole of the single-ear hinge shaft.

[0024] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the motor sensor unit comprises: a rotary transformer mounted on the planetary roller screw unit and a rotary transformer pressure block for fixing the rotary transformer on the position sensor assembly.

[0025] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical features: the position sensor assembly includes a sensor bracket connected to the housing assembly through a positioning boss, a double anti-backlash gear meshing with the position feedback gear in the planetary roller screw unit, and a harmonic reducer meshing with the double anti-backlash gear, one end of the harmonic reducer is provided with a double anti-backlash gear meshing with the double anti-backlash gear, and the other end of the harmonic reducer is provided with a position feedback sensor and a pressure block for fixing the position feedback sensor on the position feedback sensor bracket.

[0026] The direct-drive high-power linear displacement actuator provided by the present invention also has such a technical feature that two electrical connectors are provided on the rear shell, one of which is used for connecting the motor winding input signal, and the other is used for signal transmission of the position sensor, the rotary transformer and the thermistor.

[0027] The direct-drive high-power linear displacement actuator provided by the present invention also has the following technical feature: the double-ear hinge shaft is provided with a boss bushing for self-lubrication and load-bearing.

[0028] Beneficial Effects

[0029] The overall layout of the direct-drive high-power linear displacement actuator proposed in the present invention adopts a coaxial structure. The motor stator coil and the motor housing are designed as an integrated whole. The motor rotor is a hollow cup structure. The motor rotor and the planetary roller screw nut are coaxially integrated. The center line of the motor and the center line of the screw are axially overlapped. The hollow cup rotor of the motor directly drives the planetary roller screw to rotate, thereby driving the planetary roller screw nut for linear operation. The actuator has a fully electrical double-redundant structure and a single output shaft structure design, which can realize main and standby operation and one-time fault operation, thereby improving the reliability and safety of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, 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 disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 It is a structural schematic diagram of the actuator provided by the present invention,

[0032] Among them, 1: single-ear hinge shaft; 2: locking nut; 3: output shaft; 4: front housing; 5: first bearing; 6: second bearing; 7: housing; 8: magnetic steel; 9: motor hollow cup rotor; 10: first stator coil; 11: middle housing; 12: first bolt; 13: first temperature sensitive resistor; 14: countersunk screw; 15: second bolt; 16: third bolt; 17: rear housing; 18 first double anti-backlash gear; 19: harmonic reducer; 20: position feedback sensor; 21: first electrical connector; 22: shoulder lining sleeve; 23: double-ear hinge shaft; 25: RVDT pressure block; 26: second double-link anti-backlash gear; 27: rotary transformer; 28: sensor bracket; 29: hexagonal locking nut; 30 second temperature-sensitive resistor; 31: position feedback gear; 32 rotary transformer pressure block; 33: third bearing; 34: fourth bearing; 35: magnetic steel sleeve; 36: second stator coil; 37: planetary roller screw screw; 38: planetary roller screw nut; 39: fourth bolt; 40: fifth bolt; 41: stop washer; 42: spherical bearing. DETAILED DESCRIPTION

[0033] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0034] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application 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 creation of the present application.

[0035] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0036] The terms "installed", "connected" and "connected" 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 an indirect connection 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 invention of this application can be understood by specific circumstances.

[0037] like Figure 1 As shown, the embodiment of the present application provides a direct-drive high-power linear displacement actuator, characterized in that the actuator comprises: a housing assembly, including two groups of stator coils; a rotor output shaft assembly, installed in the housing assembly; and a position sensor assembly, fixed in the housing assembly, for measuring the output displacement of the actuator, the rotor output shaft assembly comprises a rotor unit, a planetary roller screw unit and a motor sensor unit, the rotor unit is hollow, the planetary roller screw unit passes through the hollow cavity of the rotor unit, the two groups of stator coils, the rotor unit and the motor sensor unit constitute a slot-embedded electric motor, and the planetary roller screw unit outputs the power of the slot-embedded electric motor. The two groups of stator coils include a first stator coil 10 and a second stator coil 36.

[0038] In some embodiments, the housing assembly includes: a housing 7 for pressing the two groups of stator coils, a front housing 4 connected to one end of the housing 7 for supporting and guiding the output shaft 3 of the actuator, a middle housing 11 arranged in the housing 7 for supporting the planetary roller screw unit, and a rear housing 17 arranged at the other end of the housing 7 and connected to the middle housing 11 for supporting and fixing the actuator, a temperature-sensitive resistor is mounted on one end of the stator coil, and a double-ear hinge shaft 23 for fixing the actuator is provided on the rear housing 17. The housing 7 is connected to the middle housing 11 by a first bolt 12, and the number of the first bolts 12 is 8. The housing 7 is connected to the rear housing 17 by a second bolt 15, and the number of the second bolts 15 is 8. The housing 7 is connected to the front housing 4 by a fifth bolt 40, and the number of the fifth bolts 40 is 8.

[0039] In some embodiments, the rotor unit includes: a motor hollow cup rotor 9, a magnetic steel 8 mounted on the motor hollow cup rotor 9, and a magnetic steel sleeve 35 mounted on the outside of the magnetic steel 8. One end of the motor hollow cup rotor 9 is connected to the planetary roller screw unit, and a first bearing group is provided on the outer diameter of the other end. The first bearing group includes a first bearing 5 and a second bearing 6. The rotor unit also includes a second bearing group for supporting the planetary roller screw unit. The outer ring of the second bearing group cooperates with the middle shell 11, and a locking nut 29 is provided at one end of the second bearing group.

[0040] In some embodiments, the middle housing 11 is provided with an outer circular boss, and the motor hollow cup rotor 9 is provided with a positioning support opening, and the outer circular boss cooperates with the positioning support opening for positioning.

[0041] In some embodiments, the middle housing 11 is provided with an inner ring groove matched with the bearing group, and the bearing group includes a third bearing 33 and a fourth bearing 34. The outer rings of the third bearing 33 and the fourth bearing 34 are matched with the inner ring groove, the outer ring wide side of the fourth bearing 34 is fitted with one end of the inner ring groove, the outer ring narrow side of the fourth bearing 34 is fitted with the outer ring narrow side of the third bearing 33, and the inner ring of the third bearing 33 is mounted with a hexagonal locking nut 29. The first bearing 5, the second bearing 6, the third bearing 33 and the fourth bearing 34 are of the same type, which can be angular contact bearings or tapered roller bearings. Angular contact ball bearings are used in high speed conditions, and tapered roller bearings can be used in low speed conditions.

[0042] In some embodiments, the planetary roller screw unit includes a planetary roller screw 37 passing through the rotor unit, a planetary roller screw nut 38 installed at one end of the planetary roller screw 37, a position feedback gear 31 installed at the other end of the planetary roller screw 37, an output shaft 3 fixedly connected to the planetary roller screw nut 38 by six fourth bolts 39, a single-ear hinge shaft 1 connected to the other end of the output shaft 3, and a stop washer 41 and a locking nut 2 installed at the screw end of the single-ear hinge shaft 1. The planetary roller screw 37 is fixed by a countersunk screw 14 after passing through the rotor unit. The output shaft 3 is provided with a guide boss mounted in cooperation with the housing assembly, and a joint bearing 42 is provided in the circular hole of the single-ear hinge shaft 1.

[0043] In some embodiments, the motor sensor unit includes: a rotary transformer 27 mounted on the planetary roller screw unit and a rotary transformer pressure block 32 for fixing the rotary transformer 27 on the position sensor assembly.

[0044] In some embodiments, the position sensor assembly includes a sensor bracket 28 connected to the housing assembly through a positioning boss, a second double anti-backlash gear 26 meshing with the position feedback gear 31 in the planetary roller screw unit, and a harmonic reducer 19 meshing with the second double anti-backlash gear 26, one end of the harmonic reducer 19 is provided with a first double anti-backlash gear 18 meshing with the second double anti-backlash gear 26, and the other end of the harmonic reducer 19 is provided with a position feedback sensor 20 and a pressing block 25 for fixing the position feedback sensor 20 on the position feedback sensor bracket 28. The position feedback sensor 20 can be a dual-redundancy potentiometer or a dual-redundancy RVDT. The sensor bracket 28 is connected to the middle housing 11 through four third bolts 16.

[0045] In some embodiments, the rear housing 17 is further provided with two electrical connectors, one of which is used for connecting the motor winding input signal, and the other is used for signal transmission of the position sensor, the rotary transformer 27 and the temperature-sensitive resistor. The temperature-sensitive resistor is used to monitor the temperature of the stator coil. The temperature-sensitive resistor includes a first temperature-sensitive resistor 13 mounted on one end of the first stator coil 10 and a second temperature-sensitive resistor 30 mounted on one end of the second stator coil 36.

[0046] In some embodiments, the double-ear hinge shaft 23 is provided with a shoulder bushing 22 for self-lubrication and load-bearing.

[0047] The working principle of the actuator provided in the above embodiment is as follows:

[0048] When the motor drive element energizes the motor, due to the electromagnetic induction phenomenon, the movement of the conductor in the magnetic field generates electromotive force and current, which in turn drives the motor to work; the motor rotor and the planetary roller screw are coaxially integrated, and the motor rotor rotates while driving the planetary roller screw to rotate. The planetary roller screw directly drives the planetary roller screw nut to make linear motion, and the planetary roller screw nut outputs linear displacement and force; at the same time, the planetary roller screw drives the rotary transformer rotor to rotate, and synchronously outputs the motor rotor angular displacement and angular velocity signals, which can realize precise control of the motor rotation angle and speed; in addition, the planetary roller screw synchronously drives the position feedback transmission chain (dual anti-backlash gears and harmonic reducer) to drive the dual-redundant RVDT output shaft to rotate, and the dual-redundant RVDT converts the position signal of the linear displacement actuator output shaft into a voltage signal and feeds it back to the actuator servo controller to form a position closed-loop control.

[0049] Using resolver as sensor can effectively reduce motor torque pulsation.

[0050] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A direct-drive high-power linear displacement actuator, characterized in that: The actuator comprises: A housing assembly including two sets of stator coils; a rotor output shaft assembly mounted within the housing assembly; and A position sensor assembly, fixed in the housing assembly, for measuring the output displacement of the actuator, The rotor output shaft assembly includes a rotor unit, a planetary roller screw unit and a motor sensor unit. The rotor unit is hollow, and the planetary roller screw unit passes through the hollow cavity of the rotor unit. The two groups of stator coils, the rotor unit and the motor sensor unit constitute a slot-embedded electric motor, and the planetary roller screw unit outputs the power of the slot-embedded electric motor.

2. The direct-drive high-power linear displacement actuator according to claim 1, characterized in that: The housing assembly comprises: a housing for pressing the two groups of stator coils, a front housing connected to one end of the housing for supporting and guiding the output shaft of the actuator, a middle housing arranged in the housing for supporting the planetary roller screw unit, and a rear housing arranged at the other end of the housing and connected to the middle housing for supporting and fixing the actuator. A thermistor is mounted on one end of the stator coil. The rear housing is provided with a double-ear hinge shaft for fixing the actuator.

3. The direct-drive high-power linear displacement actuator according to claim 1, characterized in that: The rotor unit comprises: a coreless rotor of a motor, a magnetic steel mounted on the coreless rotor of the motor, and a magnetic steel sleeve sleeved on the outside of the magnetic steel. One end of the coreless cup rotor of the motor is connected to the planetary roller screw unit, and the other end is provided with a first bearing group on the outer diameter, wherein the first bearing group includes a first bearing and a second bearing. The rotor unit also includes a second bearing group for supporting the planetary roller screw unit, the outer ring of the second bearing group is matched with the middle housing, and a locking nut is provided at one end of the second bearing group.

4. The direct-drive high-power linear displacement actuator according to claim 3, characterized in that: The middle shell is provided with an outer circular boss, the hollow cup rotor of the motor is provided with a positioning support opening, and the outer circular boss cooperates with the positioning support opening for positioning.

5. The direct-drive high-power linear displacement actuator according to claim 3, characterized in that: The middle shell is provided with an inner ring groove matching with the bearing group, the second bearing group includes a third bearing and a fourth bearing, the outer rings of the third bearing and the fourth bearing match with the inner ring groove, the wide side of the outer ring of the fourth bearing fits with one end of the inner ring groove, the narrow side of the outer ring of the fourth bearing fits with the narrow side of the outer ring of the third bearing, and the inner ring of the third bearing is mounted with a hexagonal locking nut.

6. The direct-drive high-power linear displacement actuator according to claim 1, characterized in that: The planetary roller screw unit comprises a planetary roller screw passing through the rotor unit, a planetary roller screw nut installed at one end of the planetary roller screw, a position feedback gear installed at the other end of the planetary roller screw, an output shaft fixedly connected to the planetary roller screw nut, a single-ear hinge shaft connected to the other end of the output shaft, and a stop washer and a locking nut installed at the screw end of the single-ear hinge shaft. The planetary roller screw passes through the rotor unit and is fixed by a countersunk screw. The output shaft is provided with a guide boss which is mounted in cooperation with the housing assembly. A spherical bearing is arranged in the circular hole of the single-ear hinge shaft.

7. The direct-drive high-power linear displacement actuator according to claim 1, characterized in that: The motor sensor unit includes: a rotary transformer mounted on the planetary roller screw unit and a rotary transformer pressure block for fixing the rotary transformer on the position sensor assembly.

8. The direct-drive high-power linear displacement actuator according to claim 1, characterized in that: The position sensor assembly includes a sensor bracket connected to the housing assembly through a positioning boss, a double anti-backlash gear meshing with the position feedback gear in the planetary roller screw unit, and a harmonic reducer meshing with the double anti-backlash gear. A double anti-backlash gear meshing with the double anti-backlash gear is provided at one end of the harmonic reducer, and a position feedback sensor and a pressing block for fixing the position feedback sensor on the position feedback sensor bracket are provided at the other end of the harmonic reducer.

9. The direct-drive high-power linear displacement actuator according to claim 2, characterized in that: The rear housing is also provided with two electrical connectors, one of which is used for connecting the motor winding input signal, and the other is used for signal transmission of the position sensor, the rotary transformer and the temperature-sensitive resistor.

10. The direct-drive high-power linear displacement actuator according to claim 2, characterized in that: The double-ear hinge shaft is provided with a shoulder bushing for self-lubrication and bearing.

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