High-integration-level four-channel electric steering engine

Abstract

The invention relates to the technical field of electric steering engines. The high-integration-level four-channel electric steering engine comprises a protective shell and a control cabin, and a planetary reduction gear set is installed at the position, located above a partition plate, in the protective shell; a controller, a circuit board, a host chip and a control circuit are assembled in the control cabin; the top of the other output shaft of the planetary reduction gear set penetrates through the protective shell in a sliding mode to be fixedly provided with a fixing piece, and a clamping groove is formed in one side of the rotating shaft. According to the invention, control circuits of the four actuating mechanisms are all integrated on one circuit board, so that one controller can control four groups of motors to operate respectively, and the whole structure of the device is more compact, so that the device can be conveniently applied to various small and medium-sized products; and the problems of miniaturization and integration of the multi-channel electric steering engine can be solved more perfectly.

Description

Technical Field

[0001] The present invention relates to the technical field of electric steering gears; more specifically, to a highly integrated four-channel electric steering gear. Background Art

[0002] Electric servos are precision drive devices widely used in robots, drones, remote control models, automation equipment, etc. They adjust the angle of the output shaft by receiving control signals, thereby driving mechanical parts to achieve precise motion control. Electric servos have become an important part of modern automation systems due to their high precision, easy control and high reliability.

[0003] Existing electric servos are usually split multi-channel or integrated single-channel: the former, for example, a split electric servo using a harmonic reducer, which is composed of a reducer, a motor, and a potentiometer as an integral whole. The servo drive device and the actuator are placed separately and connected by cables. This design idea has low integration and large size, but one controller can control multiple actuators, and the controller and the actuator can be separated from each other at a distant position, which is suitable for use under conditions of high torque or more channels, usually on large unmanned aerial vehicles, some airborne products launched by aviation, or larger products; the latter uses a planetary gear reducer or a spur gear set as a reducer, and the control circuit and the actuator are integrated into an integrated electric servo. This type of product is usually small in size, low in torque, and high in integration, with extremely high response speed and speed, but usually only has a single output channel, and one controller controls a group of actuators, so it is suitable for working conditions such as small unmanned aerial vehicles or model aircraft. The current electric servo industry faces difficulties in meeting the requirements of small size, high integration and multiple channels. At the same time, the rudder surfaces of existing electric servos are not easy to fold and store, which brings inconvenience to transportation and storage. Therefore, a highly integrated four-channel electric servo is urgently needed to solve the above problems. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a highly integrated four-channel electric servo to solve the problems existing in the above-mentioned background technology.

[0005] The present invention provides the following technical solution: a highly integrated four-channel electric servo, comprising: a protective shell and a control cabin, a connecting plate is provided at the bottom end of the protective shell, the connecting plate and the four corners of the control cabin are connected by means of isolation columns, a partition plate is fixed in the middle of the inner wall of the protective shell, four groups of motors are installed in the protective shell below the partition plate, a planetary reduction gear set is installed in the protective shell above the partition plate, one of the output shafts of the planetary reduction gear set is coaxial with the output end of the motor, the other output shaft of the planetary reduction gear set is coaxial with the collection end of the potentiometer, and the potentiometer is installed at the upper end of the other output end of the planetary reduction gear set; The control cabin is equipped with a controller, a circuit board, a host chip and a control circuit; The top of the other output shaft of the planetary reduction gear set slides through the protective shell and is fixed with a fixing piece, and a rotating shaft is inserted through the middle of the fixing piece, and the middle outer surface of the rotating shaft is located inside the fixing piece and is fixedly sleeved with a connecting rotating block, and a rudder surface is fixed to one end of the connecting rotating block, a slot is provided on one side of the rotating shaft, blocks are fixed on both sides of the bottom end of the fixing piece, and four groups of blocks are provided, and every two groups of blocks are symmetrically distributed on one side of the bottom end of the fixing piece, and a blocking block is hinged in the middle of every two groups of blocks.

[0006] Preferably, wiring holes are provided on both sides of the protective shell and in the middle of the bottom and top surface of the control cabin, and the output wires of the motor are connected to the controller in the control cabin through the wiring holes, which facilitates wiring.

[0007] Preferably, the isolation columns are double-headed isolation columns, and four groups of the isolation columns are provided. The two ends of each group of the isolation columns are respectively inserted into a corner of the connecting plate and the control cabin to facilitate the connection of the connecting plate and the control cabin.

[0008] Preferably, the fixing member is configured as a square box with only the top surface and one side being open, and one end of the connecting rotating block is rotated within the fixing member along a ninety-degree trajectory, so that the connecting rotating block can be folded and unfolded, and the connecting rotating block will not be folded excessively to affect use.

[0009] Preferably, both ends of the rotating shaft are arranged as discs with a diameter larger than that of the middle portion thereof, and two groups of the discs are symmetrically distributed on both sides of the outer wall of the fixing member, so that the rotating shaft can rotate concentrically and smoothly.

[0010] Preferably, the card block is arranged in a V shape, and a bearing column is fixedly inserted in the middle of each two groups of the blocks, and the bearing column rotates through the middle angle part of the card block, and a torsion spring is installed between the card block and the bearing column to facilitate one end of the card block to remain inserted into the card slot under the action of the torsion spring.

[0011] Preferably, there are multiple groups of the slots, and every two groups of the slots are vertically distributed on a disk at one end of the rotating shaft. The side surface of the rotating shaft is smooth and free of burrs. There are multiple groups of blocks, and every two groups of the blocks are symmetrically distributed on both sides of each group of fixing members. One end of the two symmetrical groups of blocks are both set as right-angled triangle blocks, and the inclined surfaces of the left and right groups of right-angled triangle blocks face opposite directions. The right-angled triangle blocks are slidably inserted into the slots, and one right-angled side of the right-angled triangle block is in close contact with the inner wall of the slot, and the inclined surface of the right-angled triangle block is in close contact with the outer side of the rotating shaft.

[0012] The technical effects and advantages of the present invention are as follows: the present invention integrates all the control circuits of the four-way actuators on one circuit board, so that one controller can control the four groups of motors to run separately, making the overall structure of the device more compact, so that it is convenient to be used on various small and medium-sized products, and helps to better solve the problem of miniaturization and integration of multi-channel electric servos. This integrated design can improve the overall integration of the system and reduce the dependence on external components, which not only simplifies the design and manufacture of the system, but also helps to improve the compatibility and interoperability of the system; The rudder surface can be folded and fixed in position through the coordinated use of fixings, rotating shafts, connecting rotating blocks, blocks, clamping blocks and clamping slots. The folding rudder surface can significantly reduce the overall size of the device, making it easier to transport and store, thereby reducing transportation costs and improving convenience. The rudder surface can be folded when not in use, thereby reducing the risk of damage due to external impact or collision during transportation or storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the front three-dimensional structure of the present invention.

[0014] Figure 2 It is a schematic diagram of the cross-sectional three-dimensional structure of the protective shell of the present invention.

[0015] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention.

[0016] Figure 4 For the present invention Figure 3 Schematic diagram of the enlarged three-dimensional structure of A in the middle.

[0017] Figure 5 For the present invention Figure 3 Schematic diagram of the three-dimensional structure of the middle rudder surface in the folded state.

[0018] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged three-dimensional structure of B in the figure.

[0019] Figure 7 It is a partial rear-view stereoscopic structural schematic diagram of the present invention.

[0020] Figure 8 It is a schematic diagram of the process of the present invention.

[0021] The accompanying drawings are marked as follows: 1. protective shell; 2. connecting plate; 3. isolation column; 4. control cabin; 5. rudder; 6. motor; 7. partition plate; 8. planetary reduction gear set; 9. potentiometer; 10. fixing part; 11. rotating shaft; 12. connecting rotating block; 13. block; 14. clamping block; 15. clamping slot. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative, and the instrument placement rack involved in the present invention is not limited to the various structures recorded in the following embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0023] like Figures 1 to 8 As shown, this embodiment proposes a highly integrated four-channel electric servo, including a protective shell 1 and a control cabin 4. A connecting plate 2 is provided at the bottom end of the protective shell 1. The four corners of the connecting plate 2 and the control cabin 4 are connected by means of isolation columns 3. Both sides of the protective shell 1 and the middle of the bottom and the top surface of the control cabin 4 are provided with wiring holes. The output wires of the motor 6 are connected to the controller in the control cabin 4 through the wiring holes. The isolation column 3 is a double-headed isolation column. Four groups of isolation columns 3 are provided. The two ends of each group of isolation columns 3 are respectively inserted in a corner of the connecting plate 2 and the control cabin 4. The middle of the connecting plate 2 The space is set to be hollow, which is convenient for the line to pass through the connecting plate 2. After the connecting plate 2 and the control cabin 4 are fixedly installed by using the isolation column 3, the line of the motor 6 can be connected to the controller in the control cabin 4 through the wiring hole. When routing, it is necessary to pay attention to the fact that multiple lines do not overlap or get tangled as much as possible. The protective shell 1 and the connecting plate 2 can be fixed by screws, which makes it easy to disassemble the protective shell 1 and the connecting plate 2, thereby saving a certain cost for later damage and replacement. The control cabin 4 is fixed under the device structure by the isolation column 3, forming a whole with the structure part, and is placed in the guidance cabin section; A partition plate 7 is fixed in the middle of the inner wall of the protective shell 1, four groups of motors 6 are installed in the protective shell 1 below the partition plate 7, and a planetary reduction gear set 8 is installed in the protective shell 1 above the partition plate 7. One of the output shafts of the planetary reduction gear set 8 is coaxial with the output end of the motor 6, and the other output shaft of the planetary reduction gear set 8 is coaxial with the collection end of the potentiometer 9, and the potentiometer 9 is installed at the upper end of the other output end of the planetary reduction gear set 8. The potentiometer 9 can adopt a high-precision rotary potentiometer, which has high precision, strong environmental adaptability, does not require complex peripheral control and drive circuits, is easy to install and debug, and has a small size. The potentiometer 9 has the advantages of light weight, etc. Since the potentiometer 9 is installed near the rudder surface 5, the potentiometer 9 can more realistically feedback the rudder axis angle. The motor 6 adopts a DC brushless hollow cup motor. This type of motor has the advantages of small volume and weight, high working reliability, good index consistency, fast dynamic response, strong environmental resistance, etc. It is suitable for use in highly integrated miniaturized equipment. The output shaft of the motor 6 is connected in series with the fixing part 10 through the planetary reduction gear set 8, which can save a lot of space. When the output end of the motor 6 rotates, the planetary reduction gear set 8 can be driven to rotate. After the planetary reduction gear set 8 reduces the speed, it drives the fixing part 10, the connecting block 12 and the rudder surface 5 to rotate slowly; The control cabin 4 is equipped with a controller, a circuit board, a host chip and a control circuit. The controller adopts a vector controller, which can adjust the motor torque and provide a constant torque in the entire motor speed range. The closed-loop control drive system provides absolute speed control and maintains high efficiency at low speeds. The vector controller has a large low-frequency torque and is not prone to magnetic circuit saturation. The control software of the device adopts an embedded design and is directly written into the host chip of the controller. The control circuits of the four-way actuators are all integrated on a circuit board. A battery needs to be installed near the device to power the entire device. The battery should not be too far away from the device when installing. The wiring should meet relevant requirements. At the same time, attention should also be paid to the overall balance of the aircraft. The top of the other output shaft of the planetary reduction gear set 8 slides through the protective housing 1 to be fixed with a fixing part 10, and a rotating shaft 11 is inserted through the middle of the fixing part 10, and the middle outer surface of the rotating shaft 11 is located inside the fixing part 10 and is fixedly sleeved with a connecting rotating block 12, and one end of the connecting rotating block 12 is fixed with a rudder surface 5, and a card slot 15 is opened on one side of the rotating shaft 11, and blocks 13 are fixed on both sides of the bottom end of the fixing part 10, and four groups of blocks 13 are arranged, and each two groups of blocks 13 are symmetrically distributed on one side of the bottom end of the fixing part 10, and each two groups of blocks 13 are hingedly provided with a card block 14 in the middle, and the fixing part 10 is arranged as a square box with only the top surface and one side as open. One side of the connecting rotating block 12 The end rotates along a ninety-degree trajectory inside the fixing part 10, the two ends of the rotating shaft 11 are set as discs with a diameter larger than the middle part, and the two groups of discs are symmetrically distributed on both sides of the outer wall of the fixing part 10, the block 14 is set in a V shape, and a bearing column is fixedly inserted in the middle of each two groups of blocks 13, and the bearing column rotates through the middle corner part of the block 14, and a torsion spring is installed between the block 14 and the bearing column. There are multiple groups of slots 15, and each two groups of slots 15 are vertically distributed on the disc at one end of the rotating shaft 11. The side surface of the rotating shaft 11 is smooth and free of burrs. There are multiple groups of blocks 14, and each two groups of blocks 14 are symmetrically distributed on both sides of each group of fixing parts 10. One end of the two symmetrical groups of blocks 14 They are all set as right-angled triangle blocks, and the inclined surfaces of the left and right groups of right-angled triangle blocks face oppositely. The right-angled triangle blocks are slidably inserted into the slot 15, and one right-angled side of the right-angled triangle block is in close contact with the inner wall of the slot 15, and the inclined surface of the right-angled triangle block is in close contact with the outer side of the rotating shaft 11. When the rudder surface 5 needs to be used, the other end of one group of blocks 14 can be pressed toward the direction of the protective shell 1, so that the middle of the block 14 rotates around the bearing column, and the torsion spring will be pressed by the block 14 to produce deformation, and the right-angled triangle block at the other end of the block 14 slides out of one group of slots 15, and then the rudder surface 5 is rotated counterclockwise, so that the connecting rotating block 12 rotates counterclockwise, and the connecting rotating block 12 drives the rotating shaft 1 1 rotates. When the shaft 11 rotates, the inclined surface of the right-angled triangle block at the other end of the other group of blocks 14 will gradually move away from the shaft 11 under the pressure of the side of the shaft 11, and the torsion spring at the corresponding position will be compressed. When the slot 15 rotates to 90 degrees with the shaft 11, one group of blocks 14 can be loosened. Under the rebound of the torsion spring, the right-angled triangle blocks at the other ends of the two groups of blocks 14 will be inserted into the slots 15 at the corresponding positions of the two groups at the same time. Under the action of the other group of blocks 14, the shaft 11 will not rotate easily. If it needs to rotate, it is necessary to press the other group of blocks 14 to make the other group of blocks 14 slide out of the slot 15, and then rotate the connecting rotating block 12 to 90 degrees in the opposite direction to open the rudder surface 5.

[0024] Working principle: The host chip and control circuit carried in the controller have pre-made related programs. When in use, the remote control terminal sends a pulse width modulation signal to the servo. The pulse width of this signal determines the target position of the output shaft of the servo. The control circuit inside the servo receives and analyzes this signal to determine the target angle. The control circuit converts the received pulse width into the corresponding angle value. The potentiometer 9 detects the angle of the current output shaft and feeds this information back to the control circuit. The control circuit compares the target angle and the angle of the current position, and calculates the difference between the two, that is, the error. According to the size and direction of the error, the control circuit determines the rotation direction and speed of the motor. The control circuit controls the rotation of the motor 6 through the drive circuit. The rotation of the motor 6 is reduced by the planetary reduction gear set 8 to increase the torque and drive the output shaft to rotate. As the output shaft of the planetary reduction gear set 8 rotates, the potentiometer 9 continuously provides the current position information. The control circuit continuously compares the target position and the current position, and adjusts the control of the motor 6 accordingly until the error is less than a certain threshold and the motor 6 stops rotating. The above is the entire working principle of the present invention.

[0025] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change; Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A highly integrated four-channel electric servo, comprising a protective housing (1) and a control cabin (4), characterized in that: A connecting plate (2) is provided at the bottom end of the protective shell (1), and the connecting plate (2) and the control cabin (4) are connected at four corners by means of isolation columns (3). A partition plate (7) is fixed in the middle of the inner wall of the protective shell (1), and four groups of motors (6) are installed in the protective shell (1) below the partition plate (7). A planetary reduction gear set (8) is installed in the protective shell (1) above the partition plate (7), and one of the output shafts of the planetary reduction gear set (8) is coaxial with the output end of the motor (6), and the other output shaft of the planetary reduction gear set (8) is coaxial with the collection end of a potentiometer (9), and the potentiometer (9) is installed at the upper end of the other output end of the planetary reduction gear set (8); The control cabin (4) is internally equipped with a controller, a circuit board, a host chip and a control circuit; The top of the other output shaft of the planetary reduction gear set (8) slides through the protective housing (1) and is fixed with a fixing member (10), and a rotating shaft (11) is inserted and rotatably penetrated in the middle of the fixing member (10), and a connecting rotating block (12) is fixedly sleeved on the middle outer surface of the rotating shaft (11) inside the fixing member (10), and a rudder surface (5) is fixed to one end of the connecting rotating block (12), and a clamping groove (15) is opened on one side of the rotating shaft (11), and blocks (13) are fixed on both sides of the bottom end of the fixing member (10), and four groups of blocks (13) are provided, and each two groups of blocks (13) are symmetrically distributed on one side of the bottom end of the fixing member (10), and a clamping block (14) is hingedly provided in the middle of each two groups of blocks (13).

2. A highly integrated four-channel electric servo according to claim 1, characterized in that: Both sides and the bottom of the protective housing (1) and the middle of the top surface of the control cabin (4) are provided with wiring holes, and the output wires of the motor (6) are connected to the controller in the control cabin (4) through the wiring holes.

3. The highly integrated four-channel electric servo according to claim 1, characterized in that: The isolation columns (3) are double-ended isolation columns. Four groups of the isolation columns (3) are provided, and the two ends of each group of isolation columns (3) are respectively inserted into a corner of the connecting plate (2) and the control cabin (4).

4. The highly integrated four-channel electric servo according to claim 1, characterized in that: The fixing member (10) is configured as a square box with only the top surface and one side being open, and one end of the connecting rotating block (12) rotates within the fixing member (10) along a ninety-degree trajectory.

5. The highly integrated four-channel electric servo according to claim 1, characterized in that: Both ends of the rotating shaft (11) are arranged as discs with a diameter larger than that of the middle portion thereof, and two groups of the discs are symmetrically distributed on both sides of the outer wall of the fixing member (10).

6. The highly integrated four-channel electric servo according to claim 1, characterized in that: The clamping block (14) is arranged in a V shape, a bearing column is fixedly inserted in the middle of each two groups of the blocks (13), and the bearing column rotates through the middle corner portion of the clamping block (14), and a torsion spring is installed between the clamping block (14) and the bearing column.

7. The highly integrated four-channel electric servo according to claim 1, characterized in that: The clamping grooves (15) are provided in a plurality of groups, and every two groups of the clamping grooves (15) are vertically distributed on a disk at one end of the rotating shaft (11). The side surface of the rotating shaft (11) is smooth and free of burrs. The clamping blocks (14) are provided in a plurality of groups, and every two groups of the clamping blocks (14) are symmetrically distributed on both sides of each group of fixing members (10). One end of the two symmetrical groups of the clamping blocks (14) is configured as a right-angled triangle block, and the inclined surfaces of the left and right groups of the right-angled triangle blocks face opposite directions. The right-angled triangle block is slidably inserted into the clamping groove (15), and a right-angled side of the right-angled triangle block is in close contact with the inner wall of the clamping groove (15), and the inclined surface of the right-angled triangle block is in close contact with the outer side of the rotating shaft (11).

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