Light-weight small steering engine device

Abstract

The utility model discloses a light-weight small steering engine device which comprises a shell formed by connecting an upper shell body and a lower shell body, and a power transmission mechanism and a power output mechanism which are installed in the shell. The power transmission mechanism comprises a motor and a lead screw nut assembly connected with the motor in an electric transmission mode. The power output mechanism and the lead screw nut assembly are arranged asymmetrically, the power output mechanism is in transmission connection with the lead screw nut assembly, an output shaft of the power output mechanism penetrates through the lower shell to be partially exposed out of the shell, and the power output mechanism drives the lead screw nut assembly to linearly move through a motor so as to rotate relative to the shell. According to the light-weight small steering engine device, screw rod nut assemblies of the power output mechanism and the power transmission mechanism are arranged asymmetrically, so that the whole steering engine structure is more compact; the linear motion of the lead screw nut assembly is ingeniously converted into the rotating force of the output shaft of the force output mechanism through the connecting arm, and therefore the accuracy and quality of navigation operation control of the steering engine device are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of steering gear devices, in particular to a lightweight and small-sized steering gear device. Background Art

[0002] The servo is an important mechanism for adjusting the navigation state of an underwater vehicle, and its function can realize the pitch, yaw and other functions of the vehicle. The performance of the servo directly affects the accuracy and quality of the navigation control of the underwater vehicle. It is a key component of the underwater vehicle and plays a key role in the navigation control of the underwater vehicle. At present, most servos are large in size, so this application provides a lightweight and small servo device to meet market demand. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a lightweight and small-sized steering gear device.

[0004] The technical solution adopted by the utility model is:

[0005] A lightweight small servo device comprises an outer shell formed by connecting an upper shell and a lower shell, and a power transmission mechanism and a power output mechanism installed in the outer shell; the power transmission mechanism comprises a motor and a screw-nut assembly connected to the electric transmission; the power output mechanism and the screw-nut assembly are arranged asymmetrically, the power output mechanism is located in the middle position of one side of the screw-nut assembly, and is transmission-connected to the screw-nut assembly; the output shaft of the power output mechanism passes through the lower shell part and is exposed outside the shell, and the screw-nut assembly is driven by the motor to move linearly, thereby rotating relative to the outer shell; an electric control assembly connected to the motor is also provided in the lower shell.

[0006] Furthermore, the upper shell and the lower shell are both rectangular shell structures, the upper shell and the lower shell are detachably connected by a number of bolts, and the connecting surface of the upper shell and the lower shell is provided with a groove, in which a first sealing ring is installed; one side of the lower shell is formed with an electronic control component installation space and a power output mechanism installation space from front to back, and the other side thereof forms a power transmission mechanism installation space; the lower shell is formed with an upper cover support boss capable of contacting the inner surface of the upper shell at the electronic control component installation space, and a group of first installation bosses are formed at the power output mechanism installation space, and a second installation boss for cooperating with the motor installation and a third installation boss for cooperating with the screw nut assembly installation are formed at the power transmission mechanism installation space.

[0007] Furthermore, the motor is fixedly mounted on the second mounting boss; the screw nut assembly includes a ball screw connected to the motor output shaft through a coupling at one end and rotatably mounted on the second mounting boss through a seat bearing at the other end, a screw nut threadedly connected to the ball screw, and a nut guide assembly for guiding the screw nut.

[0008] Furthermore, the nut guide assembly includes a guide bar parallel to the ball screw and located below the ball screw; guide shafts are provided at the four corners of the bottom of the screw nut, and guide wheels that are in rolling contact with both sides of the guide bar are installed through the guide shafts.

[0009] Furthermore, the power output mechanism includes an output shaft rotatably mounted on the lower shell body through a first bearing, and a second sealing ring is installed on the contact side of the output shaft and the lower shell body, and the top of the output shaft is rotatably connected to a bearing seat fixedly mounted on the first mounting boss through a second bearing; a connecting arm fixedly mounted on the output shaft is provided between the first bearing and the second bearing, and the output shaft is transmission-connected to the screw nut through the connecting arm.

[0010] Furthermore, one end of the connecting arm is a cylindrical sleeve structure that is sleeved on the output shaft and keyed to the output shaft, and the other end is a pair of fork arms extending outward; a square cap is slidably installed between the pair of fork arms, and the square cap is rotatably installed on the small shaft at the top of the screw nut.

[0011] Furthermore, the electronic control component includes a servo PCB circuit board installed with a power module, the servo PCB circuit board is located in the installation space of the electronic control component, and is connected to the motor of the power transmission mechanism; the electronic control component also includes an angle encoder connected to the servo PCB circuit board, the angle encoder is installed on the first mounting boss and is located above the output shaft of the power output mechanism; a magnet matching the angle encoder is installed on the top of the output shaft through a magnet holder; a watertight socket connected to the PCB circuit board is provided on the side of the upper shell away from the power output mechanism.

[0012] The beneficial effects of the utility model are:

[0013] The lightweight small servo device installs the electronic control component and the power output mechanism on one side of the lower housing, and installs the power transmission mechanism on the other side of the lower housing. At the same time, the screw nut components of the power output mechanism and the power transmission mechanism are arranged asymmetrically, so that the entire servo structure is more compact. The lightweight small servo device drives the screw nut component to move linearly through the motor, and cleverly uses the connecting arm to convert the linear motion of the screw nut component into the rotational force of the output shaft of the power output mechanism; at the same time, the servo PCB circuit board uses an angle encoder to detect the rotation angle of the output shaft of the power output mechanism to adjust the motor of the power transmission mechanism, so as to achieve the accuracy and quality of the navigation control of the servo device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of the lightweight small-sized steering gear device of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the lightweight small servo device of the utility model after the upper shell is removed;

[0016] Figure 3 This is a schematic diagram of the structure of the lightweight small servo device of the utility model after removing the upper housing and the angle encoder;

[0017] Figure 4 It is a structural schematic diagram of the power transmission mechanism and the power output mechanism of the utility model;

[0018] Figure 5 It is a structural schematic diagram of the ball screw of the utility model;

[0019] Figure 6 It is a structural schematic diagram of the power output mechanism of the utility model;

[0020] Figure 7 This is a cross-sectional view of the power output mechanism of the utility model after the magnet is installed;

[0021] Figure 1 —7, 1—upper housing, 2—lower housing, 3—power transmission mechanism, 4—power output mechanism, 5—electronic control component, 6—bolt, 7—groove, 8—first sealing ring, 9—upper cover supporting boss, 10—first mounting boss, 11—second mounting boss, 12—third mounting boss, 13—motor, 14—coupling, 15—seat bearing, 16—ball screw, 17—screw nut, 18—guide strip, 19—guide shaft, 20—guide wheel, 21—first bearing, 22—output shaft, 23—second sealing ring, 24—second bearing, 25—bearing seat, 26—connecting arm, 27—square cap, 28—small shaft, 29—power module, 30—servo PCB circuit board, 31—angle encoder, 32—magnet holder, 33—magnet, 34—watertight socket. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings of the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] This embodiment provides a lightweight small servo device, such as Figure 1As shown, the lightweight small servo device has a small overall size, and includes a shell composed of an upper shell 1 and a lower shell 2 connected together, and both the upper shell 1 and the lower shell 2 are rectangular shell structures; Figure 2 As shown, after removing the upper shell 1, it can be seen that the upper shell 1 and the lower shell 2 are connected by a plurality of bolts 6 on the connecting surface; at the same time, considering the sealing performance, the connecting surface of the upper shell 1 and the lower shell 2 is provided with a groove 7, and a first sealing ring 8 is installed in the groove 7. Figure 2 As shown, in this embodiment, three installation spaces are arranged in the lower housing 2, which are used for installing the power transmission mechanism 3, the power output mechanism 4 and the electronic control component 5 of the lightweight small steering gear device. Figure 2 As shown, for the sake of compact structure, an installation space for the electric control component 5 and an installation space for the power output mechanism 4 are formed on one side of the lower housing 2 from the front to the rear; the lower housing 2 is formed with an upper cover support boss 9 that can contact the inner surface of the upper housing 1 at the installation space for the electric control component 5, and the upper cover support boss 9 can play a certain supporting role for the upper housing 1, and can also play a role in fixing the servo PCB circuit board 30 of the electric control component 5; the lower housing 2 is formed with a group of first installation bosses 10 at the installation space for the power output mechanism 4, and the first installation bosses 10 are used to cooperate with the installation of the power output mechanism 4. The installation space for the power transmission mechanism 3 is formed on the other side of the lower housing 2, and the lower housing 2 is formed with a second installation boss 11 and a third installation boss 12 at the installation space for the power transmission mechanism 3 to cooperate with the motor 13 of the power transmission mechanism 3 and the screw nut 17 assembly to install.

[0024] The lightweight small servo device is provided with a power transmission mechanism 3, a power output mechanism 4 and an electronic control component 5 installed on the housing. The specific structures of the power transmission mechanism 3, the power output mechanism 4 and the electronic control component 5 are explained below:

[0025] Power transmission mechanism 3:

[0026] like Figure 2 , Figure 3 and Figure 4 As shown, the power transmission mechanism 3 includes a motor 13 and a screw nut 17 assembly. The motor 13 is a commercially available motor product that can rotate in both directions, and is fixedly mounted on the second mounting boss 11; the screw nut 17 assembly is arranged in a straight line with the motor 13, and the screw nut 17 assembly includes a ball screw 16 and a screw nut 17, as shown in FIG. Figure 5 As shown, one end of the ball screw 16 is connected to the output shaft of the motor 13 through the coupling 14, and the other end is rotatably mounted on the second mounting boss 11 through the seat bearing 15; the screw nut 17 is threadedly connected to the ball screw 16. When the motor 13 is started, the output shaft of the motor 13 drives the ball screw 16 to rotate through the coupling 14, and the ball screw 16 rotates while the screw nut 17 is limited to move linearly on the ball screw 16.

[0027] Furthermore, in order to ensure the stability of the movement of the lead screw nut 17; Figure 4 As shown, in this embodiment, a nut guide assembly is provided, which includes a guide bar 18 parallel to the ball screw 16 and located below the ball screw 16; guide shafts 19 are provided at the four corners of the bottom of the screw nut 17, and guide wheels 20 that are in rolling contact with both sides of the guide bar 18 are installed through the guide shafts 19. When the screw nut 17 moves linearly on the ball screw 16, the guide wheels 20 move along both sides of the guide bar 18.

[0028] Power output mechanism 4:

[0029] like Figure 2 , Figure 3 and Figure 6 As shown, the power output mechanism 4 and the screw nut 17 assembly are arranged asymmetrically, so that the entire steering gear structure is more compact. The power output mechanism 4 is located in the middle position of one side of the screw nut 17 assembly, and is in transmission connection with the screw nut 17 assembly. The power output mechanism 4 includes an output shaft 22, a first bearing 21, a second bearing 24 and a connecting arm 26; the output shaft 22 is rotatably mounted on the lower housing 2 through the first bearing 21; as shown in FIG. Figure 1 As shown, the lower part of the output shaft 22 passes through the lower shell 2 and is partially exposed outside the shell to connect other equipment of the underwater vehicle that requires angle adjustment; considering the sealing performance, a second sealing ring 23 is installed on the contact side of the output shaft 22 and the lower shell 2; the top of the output shaft 22 is rotatably connected to the bearing seat 25 fixedly mounted on the first mounting boss 10 through the second bearing 24; the output shaft 22 can rotate relative to the lower shell 2 through the first bearing 21 and the second bearing 24.

[0030] The function of the connecting arm 26 is to realize the transmission connection between the lead screw nut 17 and the output shaft 22. One end of the connecting arm 26 adopts a cylindrical sleeve structure, which is sleeved on the output shaft 22 and key-connected with the output shaft 22. The cylindrical sleeve structure is located between the first bearing 21 and the second bearing 24. The other end of the connecting arm 26 adopts a pair of fork arms extending outwards. The inner side surfaces of the pair of fork arms are provided with a slide groove. A square cap 27 is slidably installed between the pair of fork arms through the slide groove. At the same time, a small shaft 28 is fixed at the top center of the lead screw nut 17. The square cap 27 is rotatably installed on the small shaft 28. When the lead screw nut 17 moves linearly on the ball screw 16, it drives the connecting arm 26 to swing through the square cap 27. While the connecting arm 26 swings, it drives the output shaft 22 to rotate relative to the lower housing 2.

[0031] Electronic control components 5:

[0032] like Figure 2 and Figure 3As shown, the electric control assembly 5 includes a steering gear PCB circuit board 30 with a power module 29 installed. The steering gear PCB circuit board 30 is located in the installation space of the electric control assembly 5. The steering gear PCB circuit board 30 is detachably installed on the upper housing 1 by screws, and is provided with a through hole that matches the upper cover support boss 9. The steering gear PCB circuit board 30 is wiredly connected to the motor 13 of the power transmission mechanism 3. The electric control assembly 5 also includes an angle encoder 31 connected to the steering gear PCB circuit board 30. The angle encoder 31 is installed on the first installation boss 10 and is located above the output shaft 22 of the power output mechanism 4; at the same time, as shown Figure 7 As shown, a magnet 33 matching the angle encoder 31 is installed on the top of the output shaft 22 through a magnet holder 32. In addition, as Figure 1 , Figure 2 and Figure 3 As shown, a watertight socket 34 connected to the PCB circuit board is provided on the side of the upper housing 1 away from the power output mechanism 4.

[0033] The servo PCB circuit board 30, power module 29, angle encoder 31 and watertight socket 34 in this embodiment are all commercially available finished equipment. The servo PCB circuit board 30 can be connected to the power supply system and control system of the underwater vehicle through the watertight socket 34, so that the motor 13 of the power transmission mechanism 3 is powered and controlled; at the same time, the servo PCB circuit board 30 supplies power to the angle encoder 31, and the angle encoder 31 is used to detect the rotation angle of the output shaft 22 of the power output mechanism 4, and the angle encoder 31 is fed back to the control system of the underwater vehicle.

[0034] In summary, the lightweight small servo device installs the electronic control component 5 and the power output mechanism 4 on one side of the lower housing 2, and installs the power transmission mechanism 3 on the other side of the lower housing 2. At the same time, the power output mechanism 4 and the screw nut 17 components of the power transmission mechanism 3 are arranged in an asymmetrical manner, so that the entire servo structure is more compact and the space occupied by the device as a whole is greatly reduced. The servo PCB circuit board 30 supplies power to the motor 13 of the power transmission mechanism 3 after changing the current and voltage through the power module 29, and sends a forward or reverse start signal to it; after the motor 13 is started, it drives the ball screw 16 to rotate forward or reverse, so that the screw nut 17 moves forward or backward; while the screw nut 17 moves forward or backward, it drives the output shaft 22 to rotate relative to the lower housing 2 through the connecting arm 26 of the power output mechanism 4, so as to achieve narrow side vertical large torque output. While the output shaft 22 rotates relative to the lower housing 2, the servo PCB circuit board 30 uses the angle encoder 31 to detect its rotation angle, so as to achieve the accuracy and quality of the navigation control of the servo device.

[0035] In addition, the housing, the lead screw nut 17 assembly, and the power output mechanism 4 in the light-weight small-sized steering gear device are all made of titanium alloy material, which greatly reduces the overall weight of the steering gear device.

[0036] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A lightweight small steering gear device, characterized in that: It includes a shell formed by connecting an upper shell and a lower shell, and a power transmission mechanism and a power output mechanism installed in the shell; the power transmission mechanism includes a motor and a screw-nut assembly connected to the electric transmission; the power output mechanism and the screw-nut assembly are arranged asymmetrically, and the power output mechanism is located in the middle position of one side of the screw-nut assembly, and is transmission-connected to the screw-nut assembly; the output shaft of the power output mechanism passes through the lower shell part and is exposed outside the shell, and the screw-nut assembly is driven by the motor to move linearly, thereby rotating relative to the shell; an electronic control assembly connected to the motor is also provided in the lower shell.

2. The lightweight small steering gear device according to claim 1, characterized in that: The upper shell and the lower shell are both rectangular shell structures, the upper shell and the lower shell are detachably connected by a plurality of bolts, and a groove is provided on the connecting surface of the upper shell and the lower shell, and a first sealing ring is installed in the groove; One side of the lower housing from front to rear forms an electric control component installation space and a power output mechanism installation space, and the other side forms a power transmission mechanism installation space; The lower shell is formed with an upper cover support boss capable of contacting the inner surface of the upper shell at the installation space of the electronic control component, and a group of first installation bosses are formed at the installation space of the power output mechanism, and a second installation boss for cooperating with the motor installation and a third installation boss for cooperating with the screw nut assembly are formed at the installation space of the power transmission mechanism.

3. The lightweight small steering gear device according to claim 2, characterized in that: The motor is fixedly mounted on the second mounting boss; the screw nut assembly includes a ball screw connected to the motor output shaft through a coupling at one end and rotatably mounted on the second mounting boss through a seat bearing at the other end, a screw nut threadedly connected to the ball screw, and a nut guide assembly for guiding the screw nut.

4. The lightweight small steering gear device according to claim 3, characterized in that: The nut guide assembly includes a guide bar parallel to the ball screw and located below the ball screw; guide shafts are provided at the four corners of the bottom of the screw nut, and guide wheels that are in rolling contact with both sides of the guide bar are installed through the guide shafts.

5. The lightweight small steering gear device according to claim 3, characterized in that: The power output mechanism comprises an output shaft rotatably mounted on the lower housing through a first bearing, a second sealing ring is mounted on the contact side of the output shaft with the lower housing, and the top of the output shaft is rotatably connected to a bearing seat fixedly mounted on the first mounting boss through the second bearing; A connecting arm fixedly sleeved on the output shaft is arranged between the first bearing and the second bearing, and the output shaft is drivingly connected with the lead screw nut through the connecting arm.

6. The lightweight small steering gear device according to claim 5, characterized in that: One end of the connecting arm is a cylindrical sleeve structure which is sleeved on the output shaft and key-connected to the output shaft, and the other end is a pair of fork arms extending outwards; a square cap is slidably installed between the pair of fork arms, and the square cap is rotatably installed on the small shaft at the top of the screw nut.

7. The lightweight small steering gear device according to claim 2, characterized in that: The electric control assembly includes a steering gear PCB circuit board installed with a power module, the steering gear PCB circuit board is located in the installation space of the electric control assembly, and is connected to the motor of the power transmission mechanism; The electronic control assembly also includes an angle encoder connected to the steering gear PCB circuit board, the angle encoder is mounted on the first mounting boss and is located above the output shaft of the power output mechanism; a magnet matching the angle encoder is mounted on the top of the output shaft through a magnet holder; A watertight socket connected to the PCB circuit board is provided on the side of the upper shell away from the power output mechanism.

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