Servo steering engine

Abstract

The utility model relates to a servo steering engine which comprises a driver, a transmission assembly, a ball screw pair, a rocker arm and a rudder shaft. The transmission assembly is connected with the driver and a lead screw in the ball screw pair. The rocker arm is respectively connected with a ball nut in the ball screw pair and the rudder shaft; the rocker arm is connected with the rudder shaft, and the rocker arm is provided with a linear connecting channel; the two ends of the connecting channel in the length direction are closed, and the linear direction of the connecting channel is perpendicular to the axial direction of the rudder shaft. The ball nut is provided with a connecting column perpendicular to the ball nut, and the connecting column extends into the connecting channel. The connecting column is sleeved with a transmission bearing, and the transmission bearing is located between the connecting column and the connecting channel. The clearance of the transmission position can be effectively eliminated through the transmission bearing in the mode that the transmission bearing is connected with the connecting column and the connecting channel, so that the transmission precision is better.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to a servo steering engine. Background Art

[0002] Aircraft are human-made, human-controlled flying machines that can take off the ground and fly in the atmosphere. In aircraft control, the servo is one of the most important control components. Furthermore, the performance of the servo largely affects the attitude control and flight maneuverability of the aircraft. For example, the different transmission structures and transmission forms of the servo will cause nonlinear factors such as transmission clearance, transmission friction, and transmission jamming to a certain extent. Especially when the aircraft is subjected to a large aerodynamic load, the adverse effects of the above nonlinear factors are more obvious, which also causes the servo to easily cause greater wear of the transmission position after a long period of operation, further increasing the transmission clearance, poor control accuracy, and inaccurate output. Utility Model Content

[0003] The purpose of the utility model is to provide a servo steering engine.

[0004] In order to achieve the above-mentioned utility model object, the utility model provides a servo steering engine, including: a driver, a transmission assembly, a ball screw pair, a rocker arm and a rudder shaft;

[0005] The transmission assembly is connected to the driver and the lead screw in the ball screw pair respectively;

[0006] The rocker arm is connected to the ball nut in the ball screw pair and the rudder shaft respectively;

[0007] The rocker arm is connected to the rudder shaft, and the rocker arm is provided with a linear connection channel;

[0008] Both ends of the connecting channel in the length direction are closed, and the linear direction of the connecting channel is perpendicular to the axial direction of the rudder shaft;

[0009] The ball nut is provided with a connecting column perpendicular to the ball nut, and the connecting column extends into the connecting channel;

[0010] A transmission bearing is sleeved on the connecting column, and the transmission bearing is located between the connecting column and the connecting channel.

[0011] According to one aspect of the utility model, the transmission bearing is a rolling bearing or a sliding bearing.

[0012] According to one aspect of the utility model, the inner side wall of the connecting channel is provided with a continuous annular protrusion;

[0013] The transmission bearing is provided with a bearing structure which abuts against the annular protrusion.

[0014] According to one aspect of the utility model, a first inclined annular surface is provided on one side of the annular protrusion in contact with the supporting structure;

[0015] The supporting structure is provided with a second inclined annular surface matching the first inclined annular surface.

[0016] According to one aspect of the utility model, the bearing structure is integrated with the transmission bearing.

[0017] According to one aspect of the utility model, the supporting structure and the transmission bearing are separate bodies, and an elastic pressure member is provided between the supporting structure and the transmission bearing.

[0018] According to one aspect of the utility model, the transmission assembly is a gear assembly or a worm gear assembly.

[0019] According to one aspect of the utility model, a radial deep groove ball bearing is arranged at one end of the lead screw connected to the transmission assembly, and two angular contact bearings abutting against each other are arranged at the other end.

[0020] According to one aspect of the utility model, the rudder shaft comprises: a rudder shaft body and a cross roller bearing sleeved on the rudder shaft body;

[0021] The rocker arm is connected to the rudder shaft body;

[0022] Along the axial direction of the rudder shaft body, the cross roller bearings are respectively arranged on opposite sides of the rocker arm.

[0023] According to one aspect of the utility model, the rocker arm is detachably mounted on the rudder shaft body.

[0024] According to a solution of the utility model, by using a transmission bearing to achieve connection with the connecting column and the connecting channel, the transmission bearing can effectively eliminate the gap at the transmission position, so that the transmission accuracy is better. In addition, by using a transmission bearing, the friction at the transmission position can be effectively reduced, which is beneficial to ensuring the dimensional accuracy of the connecting column and the connecting channel. Furthermore, even if wear occurs at the transmission position, the wear can be further compensated or eliminated by replacing the transmission bearing, which effectively ensures the transmission accuracy and reduces the maintenance cost of the utility model.

[0025] According to a solution of the utility model, the connecting channel adopts a linear channel with closed ends, which can better accurately limit the movement range of the transmission bearing, so that the swing angle of this solution can be better controlled.

[0026] According to a solution of the utility model, the transmission bearing is set as a rolling bearing to effectively reduce the friction during the operation of the rocker arm, making the operation of the utility model smoother and having a longer service life. In addition, by using the transmission bearing as a connecting piece, it can better match the connecting channel, which is more beneficial to controlling and eliminating the gap at the connection position.

[0027] According to a solution of the utility model, the annular protrusion can be arranged to abut against the transmission bearing, thereby enabling the rocker arm and the lead screw to support each other in the vertical direction (i.e., the axial direction of the connecting column), which can effectively offset the influence of the deadweight of the ball nut on the lead screw 31, thereby ensuring the smooth operation and high precision of the solution. Especially in the case of a large swing amplitude and a long lead screw, the effect of this mutual support is more prominent.

[0028] According to a scheme of the utility model, the supporting structure and the transmission bearing are separated and an elastic pressure piece is arranged between the supporting structure and the transmission bearing, so that the supporting structure can always bear on the annular protrusion. Even after long-term operation and wear, the elastic pressure of the elastic pressure piece can still automatically correct the position of the connecting column and the connecting channel to ensure that the front and rear positions of the transmission bearing are fixed relative to the inner wall of the connecting channel, which is more beneficial to ensuring the transmission accuracy of the long-term operation of this scheme.

[0029] According to a scheme of the utility model, by adopting two angular contact bearings that abut against each other and are installed at the end of the screw away from the transmission assembly, the axial force of the ball screw pair during operation can be effectively borne, which is beneficial to ensuring the reliable operation of the ball screw pair and the accuracy of the position during operation, so as to further achieve the advantage of high control precision of this scheme. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a perspective view schematically showing a servo steering engine according to an embodiment of the present utility model;

[0031] Figure 2 is a cross-sectional view schematically showing a servo steering engine according to an embodiment of the present utility model;

[0032] Figure 3 is a schematic diagram showing a connection structure of a transmission bearing and a connection channel according to an embodiment of the utility model;

[0033] Figure 4 is a schematic diagram showing a connection structure of a transmission bearing and a connection channel according to another embodiment of the present utility model;

[0034] Figure 5It is a structural diagram schematically showing a rudder shaft according to an embodiment of the utility model. DETAILED DESCRIPTION

[0035] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the drawings required for the implementation are briefly introduced below. Obviously, the drawings described below are only some implementations of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] When describing the embodiments of the present invention, the orientation or positional relationship expressed by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms cannot be understood as limiting the present invention.

[0037] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. The implementation methods cannot be described one by one here, but the implementation methods of the present invention are not therefore limited to the following implementation methods.

[0038] Combination Figure 1 and Figure 2 As shown, according to an embodiment of the present invention, a servo steering engine of the present invention comprises: a driver 1, a transmission assembly 2, a ball screw pair 3, a rocker arm 4 and a rudder shaft 5; in this embodiment, the transmission assembly 2 is connected to the driver 1 and the screw 31 in the ball screw pair 3 respectively; the rocker arm 4 is connected to the ball nut 32 in the ball screw pair 3 and the rudder shaft 5 respectively. In this embodiment, the rocker arm 4 is connected to the rudder shaft 5, and the rocker arm 4 is provided with a linear connection channel 41; both ends of the connection channel 41 in the length direction are closed, and the linear direction of the connection channel 41 is perpendicular to the axial direction of the rudder shaft 5. In this embodiment, the ball nut 32 is provided with a connection column 321 perpendicular to it, and the connection column 321 extends into the connection channel 41; a transmission bearing 322 is sleeved on the connection column 321, and the transmission bearing 322 is located between the connection column 321 and the connection channel 41.

[0039] In this embodiment, the driver 1 is implemented by a motor, for example, a servo motor. The rotation shaft of the driver 1 rotates to drive the ball screw pair 3 to operate, wherein the ball nut 32 reciprocates under the driving action of the screw 31 to drive the rocker arm 4 to swing back and forth, so that the rudder shaft 5 connected to the rocker arm 4 swings back and forth. In this embodiment, when the ball nut 32 moves along the screw 31, the transmission bearing 322 moves in the connecting channel 41 to achieve the driving effect on the rocker arm 4.

[0040] According to the utility model, by using the transmission bearing 322 to achieve the connection with the connecting column 321 and the connecting channel 41, the clearance of the transmission position can be effectively eliminated through the transmission bearing 322, so that the transmission accuracy is better. In addition, by using the transmission bearing 322, the friction of the transmission position can be effectively reduced, which is beneficial to ensure the dimensional accuracy of the connecting column 321 and the connecting channel 41. Furthermore, even if wear occurs at the transmission position, the wear can be further compensated or eliminated by replacing the transmission bearing 322, which effectively ensures the transmission accuracy and reduces the maintenance cost of the utility model.

[0041] According to the present invention, the connecting channel 41 adopts a linear channel with closed ends, which can better accurately limit the moving range of the transmission bearing 322, so that the swing angle of this solution can be better controlled.

[0042] Combination Figure 1 and Figure 2 As shown, according to one embodiment of the utility model, the transmission bearing 322 is a rolling bearing; wherein, the rolling bearing can be a deep groove ball bearing. In this embodiment, the connecting channel 41 is an oblong hole that penetrates the body of the rocker arm 4, and both ends of the length direction are closed. Furthermore, the outer diameter of the transmission bearing 322 is matched with the width dimension of the connecting channel 41 to achieve a rolling connection between the transmission bearing 322 and the connecting channel 41, which effectively reduces the friction during the movement process. In this embodiment, the transmission bearing 322 can be fixed to the connecting column 321 by a threaded connector or a clamping member (such as a retaining spring).

[0043] Through the above configuration, the transmission bearing 322 is set as a rolling bearing to effectively reduce the friction during the operation of the rocker arm 4, making the operation of the utility model smoother and having a longer service life. In addition, by using the transmission bearing 322 as a connecting member, it can better match the connecting channel 41, which is more beneficial to controlling and eliminating the gap at the connection position.

[0044] According to another embodiment of the utility model, the transmission bearing 322 is a sliding bearing, wherein the sliding bearing can be made of copper. In this embodiment, the connecting channel 41 is an oblong hole that penetrates the body of the rocker arm 4, and both ends of the length direction are closed. Furthermore, the outer diameter of the transmission bearing 322 is matched with the width dimension of the connecting channel 41 to achieve sliding connection between the transmission bearing 322 and the connecting channel 41, which effectively reduces the friction during the movement process. In this embodiment, the transmission bearing 322 can be fixed to the connecting column 321 by a threaded connector or a clamping member (such as a retaining spring).

[0045] like Figure 3 As shown, according to an embodiment of the present invention, the inner wall of the connecting channel 41 is provided with a continuous annular protrusion 41a; wherein the transmission bearing 322 is provided with a bearing structure 3221 that abuts against the annular protrusion 41a. In this embodiment, along the thickness direction of the rocker arm 4, the annular protrusion 41a is provided at the lower edge position of the inner wall of the connecting channel 41, and is provided protruding in a direction away from the inner wall of the connecting channel 41 to form the annular protrusion 41a.

[0046] Through the above arrangement, the annular protrusion 41a can be abutted against the transmission bearing 322, so that the rocker arm 4 and the lead screw 31 can be supported each other in the vertical direction (i.e., the axial direction of the connecting column 321), which can effectively offset the influence of the deadweight of the ball nut 32 on the lead screw 31, thereby ensuring the smooth operation and high precision of the present solution. Especially in the case of a large swing amplitude and a large length of the lead screw 31, the effect of this mutual support is more prominent.

[0047] like Figure 3 As shown, according to an embodiment of the present invention, a first inclined annular surface 41a1 is provided on one side of the annular protrusion 41a in contact with the supporting structure 3221; and the supporting structure 3221 is provided with a second inclined annular surface 3221a matching the first inclined annular surface 41a1.

[0048] In this embodiment, by setting the position where the annular protrusion 41a contacts the supporting structure 3221 as an inclined plane, a self-centering effect is generated between the annular protrusion 41a and the supporting structure 3221, and thus in the process of driving the rocker arm 4 to swing back and forth, the front and rear positions of the transmission bearing 322 and the relative positions of the connecting channel 41 on both sides can be effectively kept fixed, which is beneficial to reducing or eliminating the slight shaking of the front and rear positions of the transmission bearing 322 and the relative positions of the connecting channel 41 on both sides, and is more beneficial to improving the control accuracy of this scheme.

[0049] like Figure 3As shown, according to one embodiment of the present utility model, the supporting structure 3221 is integrated with the transmission bearing 322 .

[0050] like Figure 4 As shown, according to another embodiment of the utility model, the supporting structure 3221 and the transmission bearing 322 are separate, and an elastic pressure piece is arranged between the supporting structure 3221 and the transmission bearing 322. In this embodiment, the supporting structure 3221 can be set as a metal ring, which is coaxial and slidable with the connecting column 321, wherein when the annular protrusion 41a is set at the lower edge of the inner side wall of the connecting channel 41, the second inclined annular surface 3221a is arranged on the supporting structure 3221 to contact the first inclined annular surface 41a1 on the annular protrusion 41a, and then the transmission bearing 322 is located above the supporting structure 3221, and the elastic pressure piece is arranged between the transmission bearing 322 and the supporting structure 3221, when the transmission bearing 322 is fixed on the connecting column 321, the supporting structure 3221 can be pressed against the annular protrusion 41a. In this embodiment, the elastic pressure piece can be implemented by a compression spring.

[0051] Through the above-mentioned arrangement, by separately arranging the supporting structure 3221 and the transmission bearing 322, and arranging an elastic pressure piece between the supporting structure 3221 and the transmission bearing 322, the supporting structure 3221 can always be supported on the annular protrusion 41a, and even after long-term operation and wear, the elastic pressure of the elastic pressure piece can still always produce an automatic correction effect on the position of the connecting column 321 and the connecting channel 41, so as to ensure that the front and rear positions of the transmission bearing 322 are fixed relative to the inner wall of the connecting channel 41, which is more beneficial to ensuring the transmission accuracy of the long-term operation of the present scheme.

[0052] Combination Figure 1 and Figure 2 As shown, according to an embodiment of the utility model, the transmission assembly 2 is a gear assembly or a worm gear assembly. In this embodiment, the transmission assembly 2 is implemented by a gear assembly, which includes: a first gear 21 and a second gear 22; wherein the first gear 21 is connected to the rotating shaft of the driver 1, and the second gear 22 is connected to one end of the lead screw 31. In this embodiment, the first gear 21 and the second gear 22 are spur gears. Of course, the first gear 21 and the second gear 22 can also be helical gears. When helical gears are used, the meshing during the transmission process is smoother, which is more conducive to the precise control of the swing angle of the rocker arm 4.

[0053] In another embodiment, the transmission assembly 2 can be implemented by a worm gear assembly, wherein the turbine can be mounted on the lead screw 31, and the worm can be coaxially arranged with the rotating shaft of the driver 1, and the turbine is driven by the driving action of the driver 1 to drive the lead screw 31 to rotate. Through the above arrangement, the worm gear has a good self-locking effect, which can better eliminate the shaking of the gap between teeth in the gear transmission, and is more beneficial to improving the control accuracy of the present solution.

[0054] Combination Figure 1 and Figure 2 As shown, according to an embodiment of the present invention, a radial deep groove ball bearing 311 is disposed at one end of the lead screw 31 connected to the transmission assembly 2, and two angular contact bearings 312 abutting against each other are disposed at the other end. In this embodiment, the radial deep groove ball bearing 311 is disposed adjacent to the transmission assembly 2.

[0055] Through the above arrangement, by using two angular contact bearings 312 that abut against each other and are installed at the end of the screw 31 away from the transmission assembly 2, the axial force of the ball screw pair 3 during operation can be effectively borne, which is beneficial to ensuring the reliable operation of the ball screw pair 3 and the accuracy of the position during operation, so as to further achieve the advantage of high control accuracy of this solution.

[0056] Combination Figure 1 , Figure 2 and Figure 5 As shown, according to an embodiment of the present invention, the rudder shaft 5 comprises: a rudder shaft body 51 and a cross roller bearing 52 sleeved on the rudder shaft body 51. In this embodiment, the rocker arm 4 is connected to the rudder shaft body 51; wherein, along the axial direction of the rudder shaft body 51, the cross roller bearings 52 are respectively arranged on opposite sides of the rocker arm 4.

[0057] In this embodiment, the rudder shaft 5 can be installed on the corresponding housing through the cross-stick bearing 52 to ensure that the rudder shaft 5 has a high load-bearing capacity in both the axial and radial directions, thereby improving the system rigidity and operational reliability of the entire device. In addition, the cross-stick bearing 52 effectively improves the load-bearing capacity and also effectively enhances the bending moment resistance of the rudder shaft 5.

[0058] like Figure 1As shown, according to an embodiment of the utility model, the rocker arm 4 is detachably sleeved on the rudder shaft body 51. In this embodiment, the rocker arm 4 is provided with a first through hole for sleeve connection with the rudder shaft body 51, and can be installed on the rudder shaft body 51 through the first through hole. In addition, at least one threaded hole and a positioning screw matched with the threaded hole can be provided in the circumferential direction of the first through hole, and the positioning screw is connected with the rudder shaft body 51 to achieve the positioning installation of the rocker arm 4. In this embodiment, in order to ensure the stability of the installation position of the rocker arm 4 and the rudder shaft body 51, a plurality of positioning holes can be provided on the rudder shaft body 51 at equal intervals along the circumferential direction to facilitate the abutment connection of the positioning screw.

[0059] Through the rocker arm 4 and the rudder shaft shaft body 51 arranged as above, the circumferential installation position of the rocker arm 4 and the rudder shaft shaft body 51 can be flexibly adjusted to further facilitate the adjustment of the movable range of the ball nut 32 on the screw 31, making the use of this solution more flexible.

[0060] like Figure 1 As shown, according to an embodiment of the present invention, the connecting column 321 and the transmission bearing 322 can be respectively arranged on opposite sides of the ball nut 32, and the arrangement of the connecting column 321 and the transmission bearing 322 on opposite sides of the ball nut 32 is consistent.

[0061] Through the above arrangement, it is possible to control a plurality of rocker arms 4 connected to the same rudder shaft 5 , and it is also possible to expand the number of rudder shafts 5 and achieve synchronous control of two rudder shafts 5 .

[0062] The above contents are merely examples of specific solutions of the present invention. For the equipment and structures not described in detail, it should be understood that they are implemented by adopting the general equipment and general methods available in the art.

[0063] The above is only one solution of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model can be modified and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A servo actuator, characterized in that: include: A driver (1), a transmission assembly (2), a ball screw pair (3), a rocker arm (4) and a rudder shaft (5); The transmission assembly (2) is connected to the driver (1) and the lead screw (31) in the ball screw pair (3) respectively; The rocker arm (4) is respectively connected to the ball nut (32) in the ball screw pair (3) and the rudder shaft (5); The rocker arm (4) is connected to the rudder shaft (5), and the rocker arm (4) is provided with a linear connection channel (41); Both ends of the connecting channel (41) in the length direction are closed, and the linear direction of the connecting channel (41) is perpendicular to the axial direction of the rudder shaft (5); The ball nut (32) is provided with a connecting column (321) perpendicular thereto, and the connecting column (321) extends into the connecting channel (41); A transmission bearing (322) is sleeved on the connecting column (321), and the transmission bearing (322) is located between the connecting column (321) and the connecting channel (41).

2. The servo actuator according to claim 1, characterized in that: The transmission bearing (322) is a rolling bearing or a sliding bearing.

3. The servo actuator according to claim 2, characterized in that: The inner side wall of the connecting channel (41) is provided with a continuous annular protrusion (41a); The transmission bearing (322) is provided with a bearing structure (3221) that abuts against the annular protrusion (41a).

4. The servo actuator according to claim 3, characterized in that: A first inclined annular surface (41a1) is provided on the side of the annular protrusion (41a) that contacts the supporting structure (3221); The supporting structure (3221) is provided with a second inclined annular surface (3221a) matching the first inclined annular surface (41a1).

5. The servo steering engine according to claim 4, characterized in that: The supporting structure (3221) is integrated with the transmission bearing (322).

6. The servo actuator according to claim 5, characterized in that: The supporting structure (3221) and the transmission bearing (322) are separate bodies, and an elastic pressure member is provided between the supporting structure (3221) and the transmission bearing (322).

7. The servo actuator according to claim 6, characterized in that: The transmission assembly (2) is a gear assembly or a worm gear assembly.

8. The servo actuator according to claim 7, characterized in that: One end of the lead screw (31) connected to the transmission assembly (2) is provided with a radial deep groove ball bearing (311), and the other end is provided with two angular contact bearings (312) abutting against each other.

9. The servo steering engine according to claim 8, characterized in that: The rudder shaft (5) comprises: a rudder shaft body (51) and a cross roller bearing (52) sleeved on the rudder shaft body (51); The rocker arm (4) is connected to the rudder shaft body (51); Along the axial direction of the rudder shaft body (51), the cross roller bearings (52) are respectively arranged on opposite sides of the rocker arm (4).

10. The servo actuator according to claim 9, characterized in that: The rocker arm (4) is detachably sleeved on the rudder shaft body (51).

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