Linear steering engine suitable for torpedo

Abstract

The invention relates to the technical field of steering engines, in particular to a linear steering engine suitable for a torpedo, which comprises a motor, a front shell, a rear shell and a lead screw shaft, the motor is mounted on the front shell; the front shell and the rear shell are in butt joint with each other; a nut is screwed on the lead screw shaft, and a main straight gear is fixedly sleeved outside the nut; the two ends of the nut are installed on the front shell and the rear shell through angular contact bearings respectively. A planetary transmission assembly is arranged in a cavity jointly formed by the front shell and the rear shell, and the motor is in transmission with the main straight gear through the planetary transmission assembly. An auxiliary straight gear is arranged in an inner cavity jointly formed by the front shell and the rear shell, and the auxiliary straight gear is meshed with the main straight gear; a gear shaft is integrally formed in the center of the auxiliary straight gear; a hexagonal counter bore is formed in the left end face of the gear shaft, the left half section of the gear shaft is installed on the front shell, and the left end face of the gear shaft is in an exposed state. The linear steering engine can achieve the purpose of manually adjusting the axial position of the lead screw shaft.

Description

Technical Field

[0001] The present invention relates to the technical field of steering gears, and particularly to a linear steering gear applicable to torpedoes. Background Art

[0002] A linear steering gear is a mechatronic device that can convert the rotational motion of a motor into linear motion, and is widely used in fields such as aerospace, industrial automation, robotics, and medical equipment.

[0003] Regarding linear steering gears, there are currently many related patent applications. For example, the patent application with the publication number CN117465662A discloses an intelligent linear steering gear applicable to unmanned helicopters, which uses a dual-redundancy servo motor to improve the reliability of the motor. Another example is the patent application with the publication number CN113264179A, which discloses a structure of a linear steering gear for an unmanned aerial vehicle. The transmission gear set is arranged in the steering gear cavity, the motor is arranged on the steering gear cavity, the output end of the motor passes through the steering gear cavity and is connected to the transmission gear set, the ball screw is arranged on the steering gear cavity and is connected to the transmission gear set, the ball screw nut is sleeved on the ball screw, and the ball screw nut is used to connect to the rudder surface of the unmanned aerial vehicle. This structure of the linear steering gear for an unmanned aerial vehicle can provide large torque for the rudder surface drive.

[0004] Currently, the traditional linear steering gears for torpedoes generally adopt the structural form of a motor plus a planetary reducer plus a lead screw in the above-mentioned prior art. However, the existing linear steering gears for torpedoes are large in volume, low in integration level, without a sealing design, and do not have a manual interface, and cannot manually adjust the axial position of the lead screw shaft. Summary of the Invention

[0005] The main object of the present invention is to propose a linear steering gear applicable to torpedoes, aiming to solve the above technical problems.

[0006] To achieve the above object, the present invention proposes a linear steering gear applicable to torpedoes, including a motor, a front housing, a rear housing, and a lead screw shaft; the motor is installed on the front housing; the front housing and the rear housing are docked with each other; a nut is screwed on the lead screw shaft, and a main spur gear is fixedly sleeved outside the nut; both ends of the nut are respectively installed on the front housing and the rear housing through angular contact bearings; a planetary transmission assembly is arranged in the cavity formed by the front housing and the rear housing, and the motor is transmitted to the main spur gear through the planetary transmission assembly; a secondary spur gear is arranged in the inner cavity formed by the front housing and the rear housing, and the secondary spur gear meshes with the main spur gear; and a gear shaft is integrally formed at the center of the secondary spur gear; a hexagonal counterbore is arranged on the left end face of the gear shaft, the left half section of the gear shaft is installed on the front housing, and the left end face of the gear shaft is exposed.

[0007] Preferably, the tooth number ratio of the secondary spur gear to the primary spur gear is an integer ratio; an encoder is provided inside the rear housing; a flat hole is formed on the right end face of the gear shaft; the input shaft of the encoder is inserted into the flat hole.

[0008] Preferably, a pair of rolling bearings four are sleeved on the left half section of the gear shaft, and the outer rings of the rolling bearings four are mounted on the front housing.

[0009] Preferably, a dynamic seal is provided between the left half section of the gear shaft and the front housing.

[0010] Preferably, a lead screw mounting tube is integrally formed on the front housing; internal splines are provided inside the lead screw mounting tube; a limit block is mounted on the left end of the lead screw shaft; external splines are provided on the outer peripheral surface of the limit block; the external splines of the limit block are engaged with the internal splines of the lead screw mounting tube.

[0011] Preferably, the limit block is sleeved on the stepped shaft of the outer cylindrical surface at the left end of the lead screw shaft, and a hexagon self-locking nut is screwed on the left end of the lead screw shaft to tighten the limit block.

[0012] Preferably, a sealing cover is provided on the left end face of the lead screw mounting tube; a first sealing groove is formed on the left end face of the lead screw mounting tube, and a first sealing ring is mounted in the first sealing groove; the sealing cover presses tightly on the first sealing ring; when the lead screw shaft moves to the maximum stroke, the right end face of the limit block abuts against the left end face of the nut; when the lead screw shaft moves to the minimum stroke, the left end face of the lead screw shaft abuts against the sealing cover.

[0013] Preferably, a bearing mounting hole for mounting the angular contact bearing is provided on the rear housing, and a pre-tightening end cover is screwed on the bearing mounting hole, and the left end face of the pre-tightening end cover abuts against the outer ring of the angular contact bearing.

[0014] Preferably, the planetary transmission assembly includes a sun gear, planet gears, a planet carrier and an internal gear ring; the sun gear is mounted on the output shaft of the motor; the three planet gears are respectively mounted on the planet carrier through planet posts; the sun gear meshes with the three planet gears; the internal gear ring is mounted on the rear housing, and the planet gears mesh with the internal gear ring; a rolling bearing two is mounted on the rear housing; a transmission gear is integrally formed at the left end of the planet carrier, and a mounting shaft is integrally formed at the right end; a rolling bearing one is mounted in the central hole of the transmission gear; and the inner ring of the rolling bearing one is sleeved on the output shaft of the motor; the mounting shaft is inserted into the inner ring of the rolling bearing two; the transmission gear meshes with the primary spur gear.

[0015] Preferably, a second sealing groove is provided on the surface of the front housing that cooperates with the motor, and a second sealing ring is installed in the second sealing groove, the motor is connected to the front housing through a flange plate, and the flange plate of the motor is pressed tightly on the second sealing ring; a third sealing groove is provided on the surface of the front housing that is opposite to the rear housing, and a third sealing ring is installed in the third sealing groove, and the rear housing is pressed tightly on the third sealing ring.

[0016] Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows:

[0017] (1) In the present invention, since the left end face of the gear shaft of the secondary spur gear is exposed and a hexagonal countersunk hole is provided on the left end face of the gear shaft, the axial position of the screw shaft can be manually adjusted. Specifically, by inserting a hexagonal wrench into the hexagonal countersunk hole on the left end face of the gear shaft of the secondary spur gear, the secondary spur gear can be rotated, thereby driving the main spur gear and the nut to move actively, thereby achieving the purpose of manually adjusting the axial position of the screw shaft.

[0018] (2) In the present invention, an encoder is provided in the rear housing, and the input shaft of the encoder is inserted into the flat hole at the right end of the gear shaft of the secondary spur gear. Therefore, the rotation data of the secondary spur gear can be collected by the encoder. That is, the rotation speed of the secondary spur gear is detected by the encoder, and the axial position of the screw shaft is indirectly collected through the transmission ratio, and the output position is fed back.

[0019] (3) In the present invention, the nut and the main spur gear adopt a split structure design, which is convenient for replacement when the nut is worn.

[0020] (4) In the present invention, an integrated design of the manual interface and the encoder is realized, which reduces the volume and mass of the linear servo and has an output displacement feedback function. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0022] Figure 1 A cross-sectional view of the linear servo provided by the present invention;

[0023] Figure 2 It is a schematic diagram of the structural decomposition of the motor and the planetary transmission assembly in the present invention;

[0024] Figure 3Explosion diagram of the transmission part in the linear servo provided by the present invention.

[0025] Explanation of the reference numerals in the attached drawings: 1. Motor; 2. Front housing; 2a. Lead screw mounting tube; 3. Planetary transmission assembly; 301. Rolling bearing I; 302. Sun gear; 303. Planet gear; 304. Planet column; 305. Planet carrier; 305a. Transmission gear; 305b. Mounting shaft; 306. Internal gear ring; 307. Rolling bearing II; 4. Rear housing; 5. Main spur gear; 6. Nut; 7. Lead screw shaft; 8. Angular contact bearing; 9. Limit block; 10. Hexagon self-locking nut; 11. Sub spur gear; 11a. Gear shaft; 11b. Hexagon counterbore; 11c. Flat hole; 12. Encoder; 13. Rolling bearing IV; 14. Dynamic seal; 15. First sealing ring; 16. Sealing cover; 17. Pre-tightening end cover; 18. Second sealing ring; 19. Third sealing ring. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments 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 shall fall within the protection scope of the present invention.

[0027] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0028] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0029] In conjunction with Figures 1 to 3As shown, this is a specific embodiment of a linear actuator applicable to a torpedo provided by the present invention. The linear actuator includes a motor 1, a front housing 2, a rear housing 4, and a lead screw shaft 7. The motor 1 is installed on the front housing 2. The front housing 2 is docked with the rear housing 4. A nut 6 is screwed onto the lead screw shaft 7, and a main spur gear 5 is fixedly sleeved outside the nut 6. Specifically, the main spur gear 5 and the nut 6 are fixed together by radially punching pins to prevent relative rotation between the nut 6 and the main spur gear 5. Both ends of the nut 6 are respectively installed on the front housing 2 and the rear housing 4 through angular contact bearings 8. A planetary transmission assembly 3 is arranged in the cavity jointly formed by the front housing 2 and the rear housing 4. The motor 1 is transmitted to the main spur gear 5 through the planetary transmission assembly 3. A secondary spur gear 11 is arranged in the inner cavity jointly formed by the front housing 2 and the rear housing 4, and the secondary spur gear 11 meshes with the main spur gear 5. A gear shaft 11a is integrally formed at the center of the secondary spur gear 11. A hexagonal counterbore 11b is arranged on the left end face of the gear shaft 11a. The left half section of the gear shaft 11a is installed on the front housing 2, and the left end face of the gear shaft 11a is exposed.

[0030] By adopting the above structure, since the left end face of the gear shaft 11a of the secondary spur gear 11 is exposed and a hexagonal counterbore 11b is arranged on the left end face of the gear shaft 11a, the axial position of the lead screw shaft 7 can be manually adjusted. Specifically, by inserting an inner hexagon wrench into the hexagonal counterbore 11b on the left end face of the gear shaft 11a, the secondary spur gear 11 can be rotated, and then the main spur gear 5 and the nut 6 can be driven, so as to achieve the purpose of manually adjusting the axial position of the lead screw shaft 7.

[0031] Combined with Figure 1 As shown, the tooth number ratio of the secondary spur gear 11 to the main spur gear 5 is an integer ratio. An encoder 12 is arranged in the rear housing 4. A flat hole 11c is opened on the right end face of the gear shaft 11a. The input shaft of the encoder 12 is inserted into the flat hole 11c.

[0032] Combined with Figure 1 As shown, a pair of rolling bearings four 13 are sleeved on the left half section of the gear shaft 11a, and the outer rings of the rolling bearings four 13 are installed on the front housing 2. Further, a dynamic seal 14 is arranged between the left half section of the gear shaft 11a and the front housing 2.

[0033] Combined with Figure 1As shown, a lead screw mounting tube 2a is integrally formed on the front housing 2; an internal spline is provided inside the lead screw mounting tube 2a; a limit block 9 is installed at the left end of the lead screw shaft 7; an external spline is provided on the outer peripheral surface of the limit block 9; the external spline of the limit block 9 is engaged with the internal spline of the lead screw mounting tube 2a. Specifically, the limit block 9 and the lead screw mounting tube 2a form a sliding fit through the spline, that is, the limit block 9 can slide along the axial direction of the lead screw mounting tube 2a, but cannot rotate around the axis of the lead screw mounting tube 2a.

[0034] In this embodiment, a trapezoidal thread is used for the mating transmission between the lead screw shaft 7 and the nut 6. The limit block 9 is made of bronze material, and the nut 6 is also made of bronze material. The bronze material has good wear resistance and can reduce wear.

[0035] Furthermore, the limit block 9 is sleeved on the stepped shaft of the outer cylindrical surface at the left end of the lead screw shaft 7, and a hexagon self-locking nut 10 is screwed at the left end of the lead screw shaft 7 to press against the limit block 9. The limit block 9 is firmly installed on the lead screw shaft 7 by using the hexagon self-locking nut 10.

[0036] A sealing cover 16 is provided on the left end face of the lead screw mounting tube 2a; a first sealing groove is formed on the left end face of the lead screw mounting tube 2a, and a first sealing ring 15 is installed in the first sealing groove; the sealing cover 16 is tightly pressed against the first sealing ring 15; when the lead screw shaft 7 moves to the maximum stroke, that is, when the lead screw shaft 7 moves to the right to the maximum stroke, the right end face of the limit block 9 abuts against the left end face of the nut 6. When the lead screw shaft 7 moves to the minimum stroke, that is, when the lead screw shaft 7 retracts to the left in place, the left end face of the lead screw shaft 7 abuts against the sealing cover 16. By adopting the above structure, the limiting function of the lead screw shaft 7 is realized.

[0037] Combined Figure 1 As shown, a bearing mounting hole is provided on the rear housing 4 for mounting the angular contact bearing 8, and a preloading end cover 17 is screwed on the bearing mounting hole, and the left end face of the preloading end cover 17 abuts against the outer ring of the angular contact bearing 8. The preloading force of the two angular contact bearings 8 is adjusted by the preloading end cover 17.

[0038] Combined Figure 1 and Figure 2As shown, in this embodiment, the planetary transmission assembly 3 includes a sun gear 302, a planetary gear 303, a planetary carrier 305 and an inner gear ring 306; the sun gear 302 is mounted on the end of the output shaft of the motor 1; the three planetary gears 303 are respectively mounted on the planetary carrier 305 through planetary columns 304; specifically, the planetary columns 304 and the planetary carrier 305 are press-fitted to perform interference fit, and the end faces are punched to prevent loosening. The sun gear 302 is meshed with the three planetary gears 303; the inner gear ring 306 is mounted on the rear housing 4 by means of interference fit, and the inner gear ring 306 and the rear housing 4 are axially pinned to prevent the two from rotating relative to each other. The planetary gear 303 is meshed with the inner gear ring 306. A rolling bearing 2 307 is installed on the rear housing 4; a transmission gear 305a is integrally formed at the left end of the planetary carrier 305, and a mounting shaft 305b is integrally formed at the right end; a rolling bearing 1 301 is installed in the center hole of the transmission gear 305a; and the inner ring of the rolling bearing 1 301 is sleeved on the output shaft of the motor 1; the mounting shaft 305b is inserted into the inner ring of the rolling bearing 2 307; the transmission gear 305a is meshed with the main spur gear 5.

[0039] In order to ensure the sealing of the linear servo, a second sealing groove is provided on the surface of the front housing 2 that matches the motor 1, and a second sealing ring 18 is installed in the second sealing groove. The motor 1 is connected to the front housing 2 through a flange plate, and the flange plate of the motor 1 is pressed tightly against the second sealing ring 18; a third sealing groove is provided on the surface of the front housing 2 that contacts the rear housing 4, and a third sealing ring 19 is installed in the third sealing groove, and the rear housing 4 is pressed tightly against the third sealing ring 19.

[0040] In this embodiment, the front housing 2 and the rear housing 4 , the motor 1 , and the sealing cover 16 are all fixedly connected by screws.

[0041] The linear servo provided in this embodiment has the following working principle:

[0042] The motor 1 drives the sun gear 302 to rotate, and then drives the planet carrier 305 to rotate through the planet gear 303. Since the transmission gear 305a on the planet carrier 305 is meshed with the main spur gear 5, it can drive the main spur gear 5 and the nut 6 to rotate together, and then drive the screw shaft 7 to extend or retract.

[0043] The stopper 9 can slide along the axial direction of the screw mounting tube 2a, but cannot rotate around the axis of the screw mounting tube 2a. When the main spur gear 5 and the nut 6 rotate together, and the nut 6 cooperates with the screw shaft 7 for transmission, the screw shaft 7 cannot rotate around itself and can only move along its axial direction. At this time, the stopper 9 serves the purpose of preventing rotation.

[0044] When the motor 8 is in a stopped state and it is necessary to manually adjust the axial position of the lead screw shaft 7, an internal hexagon wrench is inserted into the hexagon counterbore 11b on the left end face of the gear shaft 11a, and the sub-straight gear 11 can be rotated to achieve the purpose of manually adjusting the axial position of the lead screw shaft 7.

[0045] The rotation data of the sub-straight gear 11 is collected by the encoder 12. That is, the rotation speed of the sub-straight gear 11 is detected by the encoder 12, and the axial position of the lead screw shaft 7 is indirectly collected through the transmission ratio, and the position is feedback-output.

[0046] The linear servo provided in this embodiment, through reasonable configuration and structural design, adopts the design of a hollow straight-tooth planet carrier, effectively improves the space utilization rate, realizes the integrated design of the manual interface and the encoder, and reduces the volume and mass of the linear servo.

[0047] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent structural transformations made under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A linear servo suitable for a torpedo, comprising a motor (1), a front housing (2), a rear housing (4) and a lead screw shaft (7); characterized in that: The motor (1) is mounted on the front housing (2); the front housing (2) and the rear housing (4) are butted against each other; a nut (6) is screwed onto the lead screw shaft (7), and a main spur gear (5) is provided on the outer fixed sleeve of the nut (6); both ends of the nut (6) are respectively mounted on the front housing (2) and the rear housing (4) via angular contact bearings (8); a planetary transmission assembly (3) is provided in a cavity formed by the front housing (2) and the rear housing (4), and the motor (1) is driven by the main spur gear (5) via the planetary transmission assembly (3); A secondary spur gear (11) is arranged in an inner cavity formed by the front housing (2) and the rear housing (4), and the secondary spur gear (11) meshes with the main spur gear (5); a gear shaft (11a) is integrally formed at the center of the secondary spur gear (11); a hexagonal countersunk hole (11b) is arranged on the left end face of the gear shaft (11a), the left half of the gear shaft (11a) is mounted on the front housing (2), and the left end face of the gear shaft (11a) is exposed.

2. A linear servo suitable for a torpedo as claimed in claim 1, characterized in that: The gear ratio between the secondary spur gear (11) and the primary spur gear (5) is an integer ratio; an encoder (12) is arranged in the rear housing (4); a flat hole (11c) is opened on the right end surface of the gear shaft (11a); and an input shaft of the encoder (12) is inserted into the flat hole (11c).

3. A linear servo suitable for torpedo according to claim 1, characterized in that: A pair of rolling bearings (13) are sleeved on the left half of the gear shaft (11a), and the outer rings of the rolling bearings (13) are mounted on the front housing (2).

4. A linear servo suitable for torpedo according to claim 1, characterized in that: A dynamic seal (14) is provided between the left half of the gear shaft (11a) and the front housing (2).

5. A linear servo suitable for torpedo according to claim 1, characterized in that: A screw mounting tube (2a) is integrally formed on the front housing (2); an internal spline is provided inside the screw mounting tube (2a); a limit block (9) is installed at the left end of the screw shaft (7); an external spline is provided on the outer peripheral surface of the limit block (9); and the external spline of the limit block (9) matches the internal spline of the screw mounting tube (2a).

6. A linear servo suitable for a torpedo as claimed in claim 5, characterized in that: The limit block (9) is sleeved on the stepped shaft of the outer cylindrical surface at the left end of the screw shaft (7), and a hexagonal self-locking nut (10) is screwed on the left end of the screw shaft (7) to tighten the limit block (9).

7. A linear servo suitable for a torpedo as claimed in claim 5, characterized in that: A sealing cover (16) is arranged on the left end surface of the screw mounting tube (2a); a first sealing groove is opened on the left end surface of the screw mounting tube (2a), and a first sealing ring (15) is installed in the first sealing groove; the sealing cover (16) is tightly pressed on the first sealing ring (15); When the screw shaft (7) moves to the maximum stroke, the right end surface of the limit block (9) abuts against the left end surface of the nut (6); When the screw shaft (7) moves to the minimum stroke, the left end surface of the screw shaft (7) abuts against the sealing cover (16).

8. A linear servo suitable for a torpedo as claimed in claim 1, characterized in that: A bearing mounting hole is provided on the rear housing (4) for mounting the angular contact bearing (8), and a pre-tightening end cover (17) is screwed onto the bearing mounting hole, with the left end face of the pre-tightening end cover (17) resting against the outer ring of the angular contact bearing (8).

9. A linear servo suitable for a torpedo as claimed in claim 1, characterized in that: The planetary transmission assembly (3) comprises a sun gear (302), planetary gears (303), a planet carrier (305) and an inner gear ring (306); The sun gear (302) is mounted on the output shaft of the motor (1); the three planetary gears (303) are respectively mounted on the planetary carrier (305) via planetary columns (304); the sun gear (302) is meshed with the three planetary gears (303); the inner gear ring (306) is mounted on the rear housing (4), and the planetary gears (303) are meshed with the inner gear ring (306); and a rolling bearing 2 (307) is mounted on the rear housing (4); The left end of the planet carrier (305) is integrally formed with a transmission gear (305a), and the right end is integrally formed with a mounting shaft (305b); a rolling bearing 1 (301) is mounted in the center hole of the transmission gear (305a); and the inner ring of the rolling bearing 1 (301) is sleeved on the output shaft of the motor (1); the mounting shaft (305b) is inserted into the inner ring of the rolling bearing 2 (307); the transmission gear (305a) is meshed with the main spur gear (5).

10. A linear servo suitable for a torpedo as claimed in claim 1, characterized in that: A second sealing groove is provided on the surface of the front housing (2) matching with the motor (1), and a second sealing ring (18) is installed in the second sealing groove; the motor (1) is connected to the front housing (2) via a flange plate, and the flange plate of the motor (1) is pressed tightly against the second sealing ring (18); a third sealing groove is provided on the surface of the front housing (2) corresponding to the rear housing (4), and a third sealing ring (19) is installed in the third sealing groove; the rear housing (4) is pressed tightly against the third sealing ring (19).

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