Three-bearing thrust vectoring nozzle driving device

Abstract

The invention provides a three-bearing thrust vectoring nozzle driving device. The three-bearing thrust vectoring nozzle driving device comprises a first nozzle, a second nozzle, a third nozzle, a fourth nozzle, a first pivotal bearing, a second pivotal bearing, a third pivotal bearing, a first driving motor, a second driving motor, a first transmission system, a second transmission system, a third transmission system and a connecting assembly. According to the three-bearing thrust vectoring nozzle driving device, the defects of single-stage driving, complex structure and low precision of each section of nozzle of an existing three-bearing thrust vectoring nozzle driving device are overcome, the third nozzle and the fourth nozzle are in transmission through a bevel gear or a coupler, and gyroscopic torque is synchronously transmitted to the second transmission system and the third transmission system through one driving motor; reverse rotation of the second spraying pipe and the third spraying pipe and reverse rotation of the third spraying pipe and the fourth spraying pipe at the same speed are guaranteed, one driving system is omitted, the complex difficulty of control and a mechanism is lowered, and the reliability of the three-bearing thrust vectoring spraying pipe driving device is improved.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, in particular to a three-bearing thrust vectoring nozzle driving device. Background Art

[0002] Domestic inventions related to vertical take-off and landing focus on the conceptual research of the lift system, and research on vector nozzles is limited to the research on nozzle accessories and axisymmetric vector nozzles. There is less research on three-bearing thrust vector nozzles, and there is almost no detailed explanation of the nozzle mechanical structure and drive mode; the traditional three-bearing thrust vector nozzle drive mechanism mainly includes gear transmission and hydraulic transmission. Gear transmission usually has large clearance or it is difficult to achieve low clearance transmission. The hydraulic transmission structure is complex and the cost is high. At the same time, hydraulic oil will bring environmental problems.

[0003] The patent document with publication number CN205872443U discloses a rotating mechanism suitable for a 90-degree vector nozzle of a vertical take-off and landing UAV. The mechanism consists of an outer nozzle body with an external meshing gear, a rotary bearing drive motor gear, an inner nozzle nozzle, a drive shaft, and a shaft support. The outer nozzle and the inner nozzle have a cross-section inclined at 23°. The outer nozzle and the inner nozzle have inclined surfaces on both sides, and the cross-section inclination angle is 23°. The various sections of the nozzle are connected by a rotary bearing, and the driving motor drives the rotary bearing containing external teeth to rotate to complete the transformation of the nozzle angle from 0 to 92°. However, since the transmission method it adopts is gear transmission, there is a gap in the transmission method, and it is easy to generate vibration, the transmission accuracy is not high, and the gear transmission index is large, and it is impossible to achieve the deflection of the thrust vector nozzle outlet normal at any position. Summary of the Invention

[0004] In order to solve the problems of the prior art, the present invention provides a three-bearing thrust vectoring nozzle drive device, which synchronously transmits rotational torque to the second transmission system and the third transmission system through a drive motor, ensuring that the second nozzle and the third nozzle rotate in opposite directions, and the third nozzle and the fourth nozzle rotate in opposite directions at the same speed. This reduces one drive system, reduces the complexity of control and mechanism, and improves the reliability of the three-bearing thrust vectoring nozzle drive device.

[0005] The present invention provides a three-bearing thrust vectoring nozzle drive device, comprising a first nozzle, a second nozzle, a third nozzle, a fourth nozzle, a first slewing bearing, a second slewing bearing, a third slewing bearing, a first drive motor, a second drive motor, a first transmission system, a second transmission system, a third transmission system, and a connecting assembly; The first nozzle is connected to the exhaust port of the jet engine; the first nozzle is connected to the second nozzle via a first slewing bearing, the second nozzle is connected to the third nozzle via a second slewing bearing, and the third nozzle is connected to the fourth nozzle via a third slewing bearing; the ends of the first nozzle, the second nozzle, the third nozzle, and the fourth nozzle are circular, and the normal lines of the end faces of the second nozzle, the third nozzle, and the fourth nozzle form an angle with the axis; The first transmission system, the second transmission system and the third transmission system adopt rope transmission, and the first transmission system, the second transmission system and the third transmission system are respectively located in the same central plane as the first slewing bearing, the second slewing bearing and the third slewing bearing; the connecting assembly includes a first connecting member, a second connecting member and a third connecting member, the first connecting member is connected to the second transmission system, the axis of the first connecting member is parallel to the axis of the second slewing bearing and the second transmission system, the second connecting member is connected to the third transmission system, the axis of the second connecting member is parallel to the axis of the third slewing bearing and the third transmission system, the first connecting member, the second connecting member and the third connecting member are connected to form a connecting assembly, and the third connecting member is connected to the second drive motor; The first drive motor drives the second nozzle to rotate around the first nozzle through the first rotary bearing, the second drive motor drives the second transmission system to drive the third nozzle to rotate around the second nozzle through the second rotary bearing, and the third transmission system drives the fourth nozzle to rotate around the third nozzle through the third rotary bearing; the second drive motor is connected to the second transmission system and the third transmission system through a connecting assembly and transmits a rotary torque, the second nozzle and the third nozzle rotate in opposite directions, and the third nozzle and the fourth nozzle rotate in opposite directions at the same speed.

[0006] As a further improvement, the axes of each section of the thrust vector nozzle remain in the same pitch plane during the transition from the initial state to the rotation limit position.

[0007] As a further improvement, the connecting assembly is a bevel gear set, including a first bevel gear, a second bevel gear and a third bevel gear, and the third bevel gear is connected to the main shaft of the second drive motor.

[0008] The first transmission system includes a first driving rope pulley, a first driven rope pulley, a first rope, and a first rope tensioning device; the second transmission system includes a second driving rope pulley, a second driven rope pulley, a second rope, and a second rope tensioning device; the third transmission system includes a third driving rope pulley, a third driven rope pulley, a third rope, and a third rope tensioning device; the first rope tensioning device, the second rope tensioning device, and the third rope tensioning device are respectively arranged at the ends of the first rope, the second rope, and the third rope; The first drive motor is connected to the first active sheave, and the first drive motor controls the rotation of the first active sheave. The first driven sheave is the outer ring flange of the first slewing bearing. The first rope transmits torque in the form of friction. The first rope is wound in the guide grooves of the first active sheave and the first driven sheave in sequence. The first bevel gear is connected to the second driving rope pulley, the first bevel gear is meshed with the third bevel gear, the second driving motor drives the second driving rope pulley to rotate through the third bevel gear, the second driven rope pulley is the outer ring flange of the second slewing bearing, the second rope transmits torque in the form of friction, and the second rope is wound in the guide grooves of the second driving rope pulley and the second driven rope pulley in sequence; The second bevel gear is connected to the third driving pulley, the second bevel gear is meshed with the third bevel gear, the second drive motor drives the third driving pulley to rotate through the third bevel gear, the third driven pulley is the outer ring flange of the third slewing bearing, the third rope transmits torque in the form of friction, and the third rope is wound in the guide grooves of the third driving pulley and the third driven pulley in sequence.

[0009] The rope is wound around the driving rope wheel and the driven rope wheel in an open winding manner. When the open winding manner is adopted, the guide grooves on the driving rope wheel and the driven rope wheel are parallel guide grooves.

[0010] The rope is wound around the driving rope pulley and the driven rope pulley in an "8"-shaped winding manner. The guide grooves on the driving rope pulley and the driven rope pulley are spiral guide grooves. The spiral lead angles of the spiral guide grooves on the driving rope pulley and the driven rope pulley are the same. The pitch ratio of the guide grooves of the driving rope pulley and the driven rope pulley is equal to the transmission ratio of the driving rope pulley and the driven rope pulley.

[0011] As a further improvement, the connecting assembly is a coupling group, including a first coupling, a second coupling and a third coupling. The three couplings form a coupling group with a large rotation angle, and the third coupling is connected to the second drive motor through other transmission assemblies.

[0012] The first transmission system includes a first driving rope pulley, a first driven rope pulley, a first rope, and a first rope tensioning device; the second transmission system includes a second driving rope pulley, a second driven rope pulley, a second rope, and a second rope tensioning device; the third transmission system includes a third driving rope pulley, a third driven rope pulley, a third rope, and a third rope tensioning device; the first rope tensioning device, the second rope tensioning device, and the third rope tensioning device are respectively arranged at the ends of the first rope, the second rope, and the third rope; The first drive motor is connected to the first driving sheave, the first drive motor drives the first driving sheave to rotate, the first driven sheave is the outer ring flange of the first slewing bearing, the first rope transmits torque in the form of friction, the first rope is wound around the first driving sheave and the first driven sheave in an "8"-shaped winding manner, the driving sheave and the first driven sheave are circumferentially provided with a spiral guide groove, the spiral guide grooves on the first driving sheave and the first driven sheave have the same helix angle, the pitch ratio of the guide grooves of the first driving sheave and the first driven sheave is equal to the transmission ratio of the first driving sheave and the first driven sheave, and the first rope is sequentially wound around the guide grooves of the first driving sheave and the first driven sheave; The second coupling is connected to the second driving sheave, the second drive motor drives the first coupling to control the rotation of the second driving sheave, the second driven sheave is the outer ring flange of the second slewing bearing, the second rope transmits torque in the form of friction, the second rope is wound around the second driving sheave and the second driven sheave in an "8"-shaped winding manner, the second driving sheave and the second driven sheave are circumferentially provided with a spiral guide groove, the spiral guide grooves on the second driving sheave and the second driven sheave have the same helix angle, the pitch ratio of the guide grooves of the second driving sheave and the second driven sheave is equal to the transmission ratio of the second driving sheave and the second driven sheave, and the second rope is sequentially wound around the guide grooves of the second driving sheave and the second driven sheave; The third coupling is connected to the third driving sheave, the second drive motor drives the second coupling to control the rotation of the third driving sheave, the third driven sheave is the outer ring flange of the third slewing bearing, the third rope transmits torque in the form of friction, the third rope is wound around the third driving sheave and the third driven sheave in an "8"-shaped winding manner, the third driving sheave and the third driven sheave are circumferentially provided with a spiral guide groove, the spiral guide grooves on the third driving sheave and the third driven sheave have the same helix angle, the pitch ratio of the guide grooves of the third driving sheave and the third driven sheave is equal to the transmission ratio of the third driving sheave and the third driven sheave, and the third rope is sequentially wrapped around the guide grooves of the third driving sheave and the third driven sheave.

[0013] The beneficial effects of the present invention are: 1. To overcome the defects of the existing three-bearing thrust vectoring nozzle drive device, which has a single-stage drive for each nozzle section, a complex structure, and low precision, a bevel gear or coupling is used for transmission between the third nozzle and the fourth nozzle. A drive motor is used to synchronously transmit the rotational torque to the second and third transmission systems, ensuring that the second nozzle and the third nozzle rotate in opposite directions, and the third nozzle and the fourth nozzle rotate in opposite directions at the same speed. This eliminates one drive system, reduces the complexity of the control and mechanism, and improves the reliability of the three-bearing thrust vectoring nozzle drive device.

[0014] 2. The first transmission system, the second transmission system and the third transmission system in the present invention all adopt rope transmission, which has simple structure, light weight, high precision and no gap. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. 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 these drawings without paying any creative work.

[0016] Figure 1It is a three-bearing thrust vectoring nozzle drive device based on bevel gears and rope transmission; Figure 2 It is a three-bearing thrust vectoring nozzle drive device based on a large-angle coupling and rope transmission; In the figure: 1. first nozzle, 2. second nozzle, 3. third nozzle, 4. fourth nozzle, 5. first slewing bearing, 6. second slewing bearing, 7. third slewing bearing, 8. first drive motor, 9. second drive motor, 10-1. first driving rope pulley, 10-2. first driven rope pulley, 10-3. first rope, 10-4. first rope tensioning device, 11-1. second driving rope pulley, 11-2. second driven rope pulley, 11-3. second rope, 11-4. second rope tensioning device, 12-1. third driving rope pulley, 12-2. third driven rope pulley, 12-3. third rope, 12-4. third rope tensioning device, 13. bevel gear group, 14. coupling group. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] The present invention is described in detail below through two embodiments.

[0019] Example 1: A three-bearing thrust vector nozzle drive device based on bevel gears and rope transmission, using a bevel gear set 13, such as Figure 1 shown.

[0020] This embodiment includes: a first nozzle 1, a second nozzle 2, a third nozzle 3, a fourth nozzle 4, a first slewing bearing 5, a second slewing bearing 6, a third slewing bearing 7, a first drive motor 8, a second drive motor 9, a first transmission system 10, a second transmission system 11, a third transmission system 12, a first bevel gear, a second bevel gear and a third bevel gear.

[0021] The first nozzle 1 is connected to the exhaust port of the jet engine; the first nozzle 1 is connected to the second nozzle 2 through a first slewing bearing 5, the second nozzle 2 is connected to the third nozzle 3 through a second slewing bearing 6, and the third nozzle 3 is connected to the fourth nozzle 4 through a third slewing bearing 7; the ends of the first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 are circular, and the normal lines of the end faces of the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 form an angle with the axis of the first nozzle 1.

[0022] The first transmission system 10, the second transmission system 11 and the third transmission system 12 adopt high-precision and high-efficiency rope transmission. The first transmission system 10, the second transmission system 11 and the third transmission system 12 are respectively located in the same center plane with the first slewing bearing 5, the second slewing bearing 6 and the third slewing bearing 7. The first bevel gear is connected to the second transmission system 11, and the axis of the first bevel gear is parallel to the axis of the second slewing bearing 6 and the axis of the second transmission system 11. The second bevel gear is connected to the third transmission system 12, and the axis of the second bevel gear is parallel to the axis of the third slewing bearing 7 and the axis of the third transmission system 12. The third bevel gear is connected to the main shaft of the second drive motor 9.

[0023] The first drive motor 8 drives the second nozzle 2 to rotate around the first nozzle 1 through the first slewing bearing 5, and the second drive motor 9 simultaneously drives the second transmission system 11 to drive the third nozzle 3 to rotate around the second nozzle 2 through the second slewing bearing 6, and the third transmission system 12 drives the fourth nozzle 4 to rotate around the third nozzle 3 through the third slewing bearing 7. The second drive motor 9 is connected to the second transmission system 11 and the third transmission system 12 through the first bevel gear, the second bevel gear and the third bevel gear and transmits the rotational torque to ensure that the second nozzle 2 and the third nozzle 3 rotate in opposite directions, and the third nozzle 3 and the fourth nozzle 4 rotate in opposite directions at the same speed.

[0024] During the transition of the thrust vector nozzle from the initial state to the rotation limit position, the axes of each section of the nozzle remain in the same pitch plane.

[0025] The first transmission system 10 is characterized by comprising: a first driving rope pulley 10-1, a first driven rope pulley 10-2, a first rope 10-3, and a first rope tensioning device 10-4.

[0026] The second transmission system 11 is characterized by comprising: a second driving rope pulley 11-1, a second driven rope pulley 11-2, a second rope 11-3, and a second rope tensioning device 11-4.

[0027] The third transmission system 12 is characterized by comprising: a third driving rope pulley 12-1, a third driven rope pulley 12-2, a third rope 12-3, and a third rope tensioning device 12-4.

[0028] The first drive motor 8 is connected to the first active sheave 10-1, and the first drive motor 8 controls the rotation of the first active sheave 10-1. The first driven sheave 10-2 is the outer ring flange of the first slewing bearing 5. The first rope 10-3 transmits torque in the form of friction force. The first rope 10-3 is wound in the guide grooves of the first active sheave 10-1 and the first driven sheave 10-2 in sequence.

[0029] The first bevel gear is connected to the second driving sheave 11-1, the first bevel gear is meshed with the third bevel gear, the second drive motor 9 drives the second driving sheave 11-1 to rotate through the third bevel gear, the second driven sheave 11-2 is the outer ring flange of the second slewing bearing 6, the second rope 11-3 transmits torque in the form of friction, and the second rope 11-3 is wound in the guide grooves of the second driving sheave 11-1 and the second driven sheave 11-2 in sequence.

[0030] The second bevel gear is connected to the third driving pulley 12-1, the second bevel gear is meshed with the third bevel gear, the second drive motor 9 drives the third driving pulley 12-1 to rotate through the third bevel gear, the third driven pulley 12-2 is the outer ring flange of the third slewing bearing 7, the third rope 12-3 transmits torque in the form of friction, and the third rope 12-3 is wound in the guide grooves of the third driving pulley 12-1 and the third driven pulley 12-2 in sequence.

[0031] The rope can be wound around the driving rope wheel and the driven rope wheel in an open winding manner. When the open winding manner is adopted, the guide grooves on the driving rope wheel and the driven rope wheel are parallel guide grooves.

[0032] The rope can also be wound around the driving rope pulley and the driven rope pulley in an "8"-shaped winding manner. When the "8"-shaped winding manner is adopted, the guide grooves on the driving rope pulley and the driven rope pulley are spiral guide grooves, the spiral guide grooves on the driving rope pulley and the driven rope pulley have the same helix angle, and the pitch ratio of the guide grooves of the driving rope pulley and the driven rope pulley is equal to the transmission ratio of the driving rope pulley and the driven rope pulley.

[0033] When the rope and strands are twisted and wound in an "8" shape, the rotation direction of the guide grooves of the driving rope pulley and the driven rope pulley is opposite to the rope twist direction.

[0034] A first rope tensioning device 10-4, a second rope tensioning device 11-4, and a third rope tensioning device 12-4 are respectively provided at the ends of the first rope 10-3, the second rope 11-3, and the third rope 12-3.

[0035] Example 2: A three-bearing thrust vector nozzle drive device based on a large-angle coupling and a rope drive, using a coupling group 14, such as Figure 2 shown.

[0036] This embodiment includes a first nozzle 1, a second nozzle 2, a third nozzle 3, a fourth nozzle 4, a first slewing bearing 5, a second slewing bearing 6, a third slewing bearing 7, a first drive motor 8, a second drive motor 9, a first transmission system 10, a second transmission system 11, a third transmission system 12, a first coupling, a second coupling and a third coupling.

[0037] The first nozzle 1 is connected to the exhaust port of the jet engine; the first nozzle 1 is connected to the second nozzle 2 through a first slewing bearing 5, the second nozzle 2 is connected to the third nozzle 3 through a second slewing bearing 6, and the third nozzle 3 is connected to the fourth nozzle 4 through a third slewing bearing 7; the ends of the first nozzle 1, the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 are circular, and there is an angle between the end face normal of the second nozzle 2, the third nozzle 3, and the fourth nozzle 4 and the axis.

[0038] The first transmission system 10, the second transmission system 11 and the third transmission system 12 adopt high-precision, gap-free rope transmission. The first transmission system 10, the second transmission system 11 and the third transmission system 12 are respectively located in the same central plane with the first slewing bearing 5, the second slewing bearing 6 and the third slewing bearing 7. The first coupling is connected to the second transmission system 11, and the axis of the first coupling is parallel to the axis of the second slewing bearing 6 and the axis of the second transmission system 11. The second coupling is connected to the third transmission system 12, and the axis of the second coupling is parallel to the axis of the third slewing bearing 7 and the axis of the third transmission system 12. The first coupling, the second coupling and the third coupling are connected to form a coupling group that can rotate at a large angle. The third coupling is connected to the second drive motor 9 through other transmission components.

[0039] The first drive motor 8 drives the second nozzle 2 to rotate around the first nozzle 1 through the first slewing bearing 5, ensuring that the second drive motor 9 simultaneously drives the second transmission system 11 to drive the third nozzle 3 to rotate around the second nozzle 2 through the second slewing bearing 6, and the third transmission system 12 drives the fourth nozzle 4 to rotate around the third nozzle 3 through the third slewing bearing 7; the second drive motor 9 is connected to the second transmission system 11 and the third transmission system 12 through the first coupling, the second coupling and the third coupling and transmits the rotational torque, ensuring that the second nozzle 2 and the third nozzle 3 rotate in opposite directions, and the third nozzle 3 and the fourth nozzle 4 rotate in opposite directions at the same speed.

[0040] During the transition of the thrust vector nozzle from the initial state to the rotation limit position, the axes of each section of the nozzle remain in the same pitch plane.

[0041] The first transmission system 10 is characterized by comprising: a first driving rope pulley 10-1, a first driven rope pulley 10-2, a first rope 10-3, and a first rope tensioning device 10-4.

[0042] The second transmission system 11 is characterized by comprising: a second driving rope pulley 11-1, a second driven rope pulley 11-2, a second rope 11-3, and a second rope tensioning device 11-4.

[0043] The third transmission system 12 is characterized by comprising: a third driving rope pulley 12-1, a third driven rope pulley 12-2, a third rope 12-3, and a third rope tensioning device 12-4.

[0044] The first driving motor 8 is connected to the first driving rope pulley 10-1, and the first driving motor 8 drives the first driving rope pulley 10-1 to rotate. The first driven rope pulley 10-2 is the outer ring flange of the first slewing bearing 5. The first rope 10-3 transmits torque in the form of friction. The first rope 10-3 is wound around the first driving rope pulley 10-1 and the first driven rope pulley 10-2 in an "8"-shaped winding manner. The driving rope pulley 10-1 and the first driven rope pulley 10-2 are circumferentially provided with a spiral guide. The spiral guide grooves on the first driving rope sheave 10-1 and the first driven rope sheave 10-2 have the same helix angle, the pitch ratio of the guide grooves of the first driving rope sheave 10-1 and the first driven rope sheave 10-2 is equal to the transmission ratio of the first driving rope sheave 10-1 and the first driven rope sheave 10-2, the first rope 10-3 is sequentially wrapped around the guide grooves of the first driving rope sheave 10-1 and the first driven rope sheave 10-2, and the first rope 10-3 is provided with a first rope tensioning device 10-4 at the rope end position.

[0045] The first coupling is connected to the second active sheave 11-1, the second drive motor 9 drives the first coupling to control the rotation of the second active sheave 11-1, the second driven sheave 11-2 is the outer ring flange of the second slewing bearing 6, the second rope 11-3 transmits torque in the form of friction, and the second rope 11-3 is wound around the second active sheave 11-1 and the second driven sheave 11-2 in an "8"-shaped winding manner. The second active sheave 11-1 and the second driven sheave 11-2 are circumferentially provided with The spiral guide groove has the same helix angle as the spiral guide groove on the second driving rope pulley 11-1 and the second driven rope pulley 11-2. The pitch ratio of the guide grooves of the second driving rope pulley 11-1 and the second driven rope pulley 11-2 is equal to the transmission ratio of the second driving rope pulley 11-1 and the second driven rope pulley 11-2. The second rope 11-3 is sequentially wrapped around the guide grooves of the second driving rope pulley 11-1 and the second driven rope pulley 11-2. A second rope tensioning device 11-4 is provided at the rope head position of the second rope 11-3.

[0046] The second coupling is connected to the third active rope pulley 12-1, the second drive motor 9 drives the second coupling to control the rotation of the third active rope pulley 12-1, the third driven rope pulley 12-2 is the outer ring flange of the third slewing bearing 7, the third rope 12-3 transmits torque in the form of friction, and the third rope 12-3 is wound around the third active rope pulley 12-1 and the third driven rope pulley 12-2 in an "8"-shaped winding manner. The third active rope pulley 12-1 and the third driven rope pulley 12-2 are circumferentially provided with The spiral guide groove has the same helix angle as the spiral guide groove on the third driving rope pulley 12-1 and the third driven rope pulley 12-2. The pitch ratio of the guide grooves of the third driving rope pulley 12-1 and the third driven rope pulley 12-2 is equal to the transmission ratio of the third driving rope pulley 12-1 and the third driven rope pulley 12-2. The third rope 12-3 is sequentially wrapped around the guide grooves of the third driving rope pulley 12-1 and the third driven rope pulley 12-2. The third rope 12-3 is provided with a third rope tensioning device 12-4 at the rope head position.

[0047] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, the above is only a preferred embodiment of the present invention. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any technical personnel familiar with this technical field is within the technical scope disclosed by the present invention. For ordinary technical personnel in this technical field, changes or replacements that can be easily thought of should be covered within the protection scope of the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-bearing thrust vectoring nozzle drive device, characterized by: It comprises a first nozzle (1), a second nozzle (2), a third nozzle (3), a fourth nozzle (4), a first slewing bearing (5), a second slewing bearing (6), a third slewing bearing (7), a first drive motor (8), a second drive motor (9), a first transmission system (10), a second transmission system (11), a third transmission system (12), and a connecting assembly; The first nozzle (1) is connected to the exhaust port of the jet engine; the first nozzle (1) is connected to the second nozzle (2) via a first slewing bearing (5), the second nozzle (2) is connected to the third nozzle (3) via a second slewing bearing (6), and the third nozzle (3) is connected to the fourth nozzle (4) via a third slewing bearing (7); the ends of the first nozzle (1), the second nozzle (2), the third nozzle (3), and the fourth nozzle (4) are circular, and the end normals of the second nozzle (2), the third nozzle (3), and the fourth nozzle (4) form an angle with the axis; The first transmission system (10), the second transmission system (11) and the third transmission system (12) are rope-driven, and the first transmission system (10), the second transmission system (11) and the third transmission system (12) are respectively located on the same central plane as the first slewing bearing (5), the second slewing bearing (6) and the third slewing bearing (7); the connecting assembly includes a first connecting member, a second connecting member and a third connecting member, the first connecting member is connected to the second transmission system (11), the axis of the first connecting member is parallel to the axis of the second slewing bearing (6) and the second transmission system (11), the second connecting member is connected to the third transmission system (12), the axis of the second connecting member is parallel to the axis of the third slewing bearing (7) and the third transmission system (12), the first connecting member, the second connecting member and the third connecting member are connected to form a connecting assembly, and the third connecting member is connected to the second drive motor (9); The first drive motor (8) drives the second nozzle (2) to rotate around the first nozzle (1) through the first rotary bearing (5), the second drive motor (9) drives the second transmission system (11) to drive the third nozzle (3) to rotate around the second nozzle (2) through the second rotary bearing (6), and the third transmission system (12) drives the fourth nozzle (4) to rotate around the third nozzle (3) through the third rotary bearing (7); the second drive motor (9) is connected to the second transmission system (11) and the third transmission system (12) through the connecting assembly and transmits the rotary torque, the second nozzle (2) and the third nozzle (3) rotate in opposite directions, and the third nozzle (3) and the fourth nozzle (4) rotate in opposite directions at the same speed.

2. The three-bearing thrust vectoring nozzle drive device according to claim 1, characterized in that: During the transition of the thrust vector nozzle from the initial state to the rotation limit position, the axes of each section of the nozzle remain in the same pitch plane.

3. The three-bearing thrust vectoring nozzle drive device according to claim 1, characterized in that: The connecting assembly is a bevel gear set (13), comprising a first bevel gear, a second bevel gear and a third bevel gear, wherein the third bevel gear is connected to the main shaft of the second drive motor (9).

4. The three-bearing thrust vectoring nozzle drive device according to claim 3, characterized in that: The first transmission system comprises a first driving rope wheel (10-1), a first driven rope wheel (10-2), a first rope (10-3), and a first rope tensioning device (10-4); the second transmission system (11) comprises a second driving rope wheel (11-1), a second driven rope wheel (11-2), a second rope (11-3), and a second rope tensioning device (11-4); the third transmission system (12) comprises a third driving rope wheel (12-1), a third driven rope wheel (12-2), a third rope (12-3), and a third rope tensioning device (12-4); the first rope tensioning device (10-4), the second rope tensioning device (11-4), and the third rope tensioning device (12-4) are respectively arranged at the rope ends of the first rope (10-3), the second rope (11-3), and the third rope (12-3); The first drive motor (8) is connected to the first active rope pulley (10-1), the first drive motor (8) controls the rotation of the first active rope pulley (10-1), the first driven rope pulley (10-2) is the outer ring flange of the first slewing bearing (5), the first rope (10-3) transmits torque in the form of friction, and the first rope (10-3) is wound in sequence in the guide grooves of the first active rope pulley (10-1) and the first driven rope pulley (10-2); The first bevel gear is connected to the second driving rope pulley (11-1), the first bevel gear is meshed with the third bevel gear, the second driving motor (9) drives the second driving rope pulley (11-1) to rotate via the third bevel gear, the second driven rope pulley (11-2) is the outer ring flange of the second slewing bearing (6), the second rope (11-3) transmits torque in the form of friction, and the second rope (11-3) is wound in sequence in the guide grooves of the second driving rope pulley (11-1) and the second driven rope pulley (11-2); The second bevel gear is connected to the third active rope pulley (12-1), the second bevel gear is meshed with the third bevel gear, the second drive motor (9) drives the third active rope pulley (12-1) to rotate through the third bevel gear, the third driven rope pulley (12-2) is the outer ring flange of the third slewing bearing (7), the third rope (12-3) transmits torque in the form of friction, and the third rope (12-3) is wound in sequence in the guide grooves of the third active rope pulley (12-1) and the third driven rope pulley (12-2).

5. The three-bearing thrust vectoring nozzle drive device according to claim 4, characterized in that: The rope is wound around the driving rope wheel and the driven rope wheel in an open winding manner. When the open winding manner is adopted, the guide grooves on the driving rope wheel and the driven rope wheel are parallel guide grooves.

6. The three-bearing thrust vectoring nozzle drive device according to claim 4, characterized in that: The rope is wound around the driving rope pulley and the driven rope pulley in an "8"-shaped winding manner. The guide grooves on the driving rope pulley and the driven rope pulley are spiral guide grooves. The spiral lead angles of the spiral guide grooves on the driving rope pulley and the driven rope pulley are the same. The pitch ratio of the guide grooves of the driving rope pulley and the driven rope pulley is equal to the transmission ratio of the driving rope pulley and the driven rope pulley.

7. The three-bearing thrust vectoring nozzle drive device according to claim 1, characterized in that: The connecting assembly is a coupling group (14), comprising a first coupling, a second coupling, and a third coupling. The three couplings form a coupling group (14) capable of large-angle rotation. The third coupling is connected to the second drive motor (9) via other transmission assemblies.

8. The three-bearing thrust vectoring nozzle drive device according to claim 7, characterized in that: The first transmission system comprises a first driving rope wheel (10-1), a first driven rope wheel (10-2), a first rope (10-3), and a first rope tensioning device (10-4); the second transmission system (11) comprises a second driving rope wheel (11-1), a second driven rope wheel (11-2), a second rope (11-3), and a second rope tensioning device (11-4); the third transmission system (12) comprises a third driving rope wheel (12-1), a third driven rope wheel (12-2), a third rope (12-3), and a third rope tensioning device (12-4); the first rope tensioning device (10-4), the second rope tensioning device (11-4), and the third rope tensioning device (12-4) are respectively arranged at the rope ends of the first rope (10-3), the second rope (11-3), and the third rope (12-3); The first driving motor (8) is connected to the first active rope pulley (10-1), and the first driving motor (8) drives the first active rope pulley (10-1) to rotate. The first driven rope pulley (10-2) is the outer ring flange of the first slewing bearing (5). The first rope (10-3) transmits torque in the form of friction. The first rope (10-3) adopts "8" The rope is wound in a ""-shaped manner on a first driving rope wheel (10-1) and a first driven rope wheel (10-2); the driving rope wheel (10-1) and the first driven rope wheel (10-2) are provided with spiral guide grooves in an circumferential direction; the spiral guide grooves on the first driving rope wheel (10-1) and the first driven rope wheel (10-2) have the same helical rise angle; the pitch ratio of the guide grooves of the first driving rope wheel (10-1) and the first driven rope wheel (10-2) is equal to the transmission ratio of the first driving rope wheel (10-1) and the first driven rope wheel (10-2); and the first rope (10-3) is wound in sequence in the guide grooves of the first driving rope wheel (10-1) and the first driven rope wheel (10-2); The second coupling is connected to the second active rope pulley (11-1), the second drive motor (9) drives the first coupling to control the rotation of the second active rope pulley (11-1), the second driven rope pulley (11-2) is the outer ring flange of the second slewing bearing (6), the second rope (11-3) transmits torque in the form of friction, and the second rope (11-3) adopts "8" The rope is wound around the second driving rope wheel (11-1) and the second driven rope wheel (11-2) in a ""-shaped winding manner. The second driving rope wheel (11-1) and the second driven rope wheel (11-2) are provided with spiral guide grooves in an circumferential direction. The spiral guide grooves on the second driving rope wheel (11-1) and the second driven rope wheel (11-2) have the same helical rise angle. The pitch ratio of the guide grooves of the second driving rope wheel (11-1) and the second driven rope wheel (11-2) is equal to the transmission ratio of the second driving rope wheel (11-1) and the second driven rope wheel (11-2). The second rope (11-3) is wound around the guide grooves of the second driving rope wheel (11-1) and the second driven rope wheel (11-2) in sequence. The third coupling is connected to the third active rope pulley (12-1), the second drive motor (9) drives the second coupling (14) to control the rotation of the third active rope pulley (12-1), the third driven rope pulley (12-2) is the outer ring flange of the third slewing bearing (7), the third rope (12-3) transmits torque in the form of friction, and the third rope (12-3) adopts "8" The rope is wound around a third driving rope wheel (12-1) and a third driven rope wheel (12-2) in a ""-shaped winding manner. The third driving rope wheel (12-1) and the third driven rope wheel (12-2) are provided with spiral guide grooves in an circumferential direction. The spiral guide grooves on the third driving rope wheel (12-1) and the third driven rope wheel (12-2) have the same helix angle. The pitch ratio of the guide grooves of the third driving rope wheel (12-1) and the third driven rope wheel (12-2) is equal to the transmission ratio of the third driving rope wheel (12-1) and the third driven rope wheel (12-2). The third rope (12-3) is wound around the guide grooves of the third driving rope wheel (12-1) and the third driven rope wheel (12-2) in sequence.

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