Symmetrical connecting rod servo driving mechanism

Abstract

A symmetrical connecting rod servo driving mechanism relates to the technical field of steering engines and comprises a driving mechanism, a motor, a gear reducing mechanism and a rudder shaft rocker arm mechanism. An output shaft of the motor is in transmission connection with a gear reduction mechanism, a rudder shaft rocker arm mechanism is arranged on the side, away from the motor, of the gear reduction mechanism and comprises a base, an inner cavity of the base is rotationally connected with a rudder shaft, and a shaft body of the rudder shaft is provided with a crank. A driving mechanism is arranged on one side of the motor and comprises a shell, a lead screw is rotationally connected into the shell and is in corresponding transmission connection with an output gear of the gear reduction mechanism, a lead screw rod body is in threaded connection with a nut in corresponding sliding fit with the shell, and connecting rods are hinged to the two sides of the nut correspondingly. The other ends of the two connecting rods are correspondingly hinged to the cranks respectively; the motor and the driving mechanism are arranged in parallel, so that the whole size is effectively reduced, and the whole is compact and small; the two connecting rods are symmetrically arranged, so that clamping or unbalance loading abrasion caused by stress on one side of the nut can be effectively prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of steering engines, in particular to a symmetrical connecting rod servo drive mechanism. Background Art

[0002] As is known, a servo drive mechanism is used to drive the movement of an object being regulated. When the object being regulated is linear motion, the servo drive mechanism needs to convert the rotational motion of the motor into linear motion of the object being regulated. When the object being regulated is rotational motion, the servo drive mechanism needs to convert the speed of the motor into a speed that meets the requirements of the object being regulated. Currently, the control accuracy of servo drive mechanisms at home and abroad is generally required to be no greater than 0.2°. However, with the increasing demand for precise control of drones, etc., there is an increasing demand for small-volume, high-precision servo drive mechanisms.

[0003] A Chinese patent (publication number: CN207053315U) discloses a narrow and long servo structure; the patent includes a servo motor, a first-stage reduction mechanism connected to the output shaft of the servo motor, and then through a two-stage conversion, the rotation output by the servo motor is converted into the swing of the final output shaft; in actual use, it was found that the patent structure is large and the overall volume cannot be further reduced while ensuring the output torque, and it cannot be applied to smaller equipment; it is also found that its ball screw pair has the problem of off-center load and force, and is prone to accidental jamming during use; the above defects are problems that need to be urgently solved by technical personnel in this field. Utility Model Content

[0004] In order to overcome the deficiencies in the background technology, the utility model discloses a symmetrical connecting rod servo drive mechanism.

[0005] In order to achieve the above-mentioned purpose of the utility model, the utility model adopts the following technical solutions:

[0006] A symmetrical connecting rod servo drive mechanism comprises a driving mechanism, a motor, a gear reduction mechanism and a rudder shaft rocker arm mechanism; the output shaft of the motor is transmission-connected to the gear reduction mechanism, and the gear reduction mechanism is provided with a rudder shaft rocker arm mechanism on the side away from the motor, the rudder shaft rocker arm mechanism comprises a seat body, the inner cavity of the seat body is rotationally connected to the rudder shaft, and the rudder shaft body is provided with a crank; one side of the motor is provided with a driving mechanism, and the driving mechanism comprises a shell, and a lead screw is rotationally connected in the shell, and the lead screw is correspondingly transmission-connected to the output gear of the gear reduction mechanism, and the lead screw body is threadedly connected to a nut that slides correspondingly with the shell, and connecting rods are hinged on both sides of the nut, and the other ends of the two connecting rods are respectively hinged to the cranks.

[0007] Preferably, a bending portion is provided at one end of the connecting rod corresponding to the hinged connection with the crank.

[0008] Preferably, an opening is provided at one end of the housing away from the rudder shaft rocker arm mechanism, and an end cover is installed at a position corresponding to the opening.

[0009] Preferably, one end of the lead screw is rotatably connected to the end cover via an angular contact ball bearing, and a gasket for eliminating the assembly clearance of the angular contact ball bearing is provided at a position of the end cover corresponding to the angular contact ball bearing.

[0010] Preferably, an angle encoder for detecting the rotation angle of the rudder shaft is provided in the base.

[0011] Preferably, the gear reduction mechanism is a three-stage gear reducer.

[0012] Due to the adoption of the above-mentioned technical solution, the utility model has the following beneficial effects:

[0013] The utility model discloses a symmetrical connecting rod servo drive mechanism with a simple structure. A drive mechanism is provided on one side of the motor, and the motor and the drive mechanism are arranged in parallel, which effectively reduces the overall volume and makes the overall structure compact and small. The symmetrical arrangement of the two connecting rods can effectively prevent one side of the nut from being subjected to force and causing jamming or unbalanced load wear, further improving the transmission stability performance of the screw-nut pair. The connecting rod and the crank cooperate to form a crank-connecting rod mechanism, which can effectively increase the output torque and bearing capacity of the rudder shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of the utility model;

[0015] Figure 2 It is a structural diagram of the driving mechanism;

[0016] Figure 3 It is a structural diagram of the rudder shaft rocker arm mechanism.

[0017] In the figure: 1. driving mechanism; 1-1. housing; 1-2. screw; 1-3. nut; 1-4. connecting rod; 1-5. end cover; 1-6. angular contact ball bearing; 2. motor; 3. gear reduction mechanism; 4. rudder shaft rocker arm mechanism; 4-1. seat; 4-2. rudder shaft; 4-3. crank. DETAILED DESCRIPTION

[0018] The present invention will be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", and "right" indicating directions or positional relationships, they are only corresponding to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0019] Example 1, combined with the attached Figures 1 to 3A symmetrical connecting rod servo drive mechanism comprises a drive mechanism 1, a motor 2, a gear reduction mechanism 3 and a rudder shaft rocker mechanism 4; the output shaft of the motor 2 is connected to the gear reduction mechanism 3, which is a three-stage gear reducer. The gear reduction mechanism 3 is provided with a rudder shaft rocker mechanism 4 on the side away from the motor 2. The rudder shaft rocker mechanism 4 comprises a seat body 4-1, the housing of the gear reduction mechanism 3 is correspondingly fastened to the seat body 4-1, and the outer shell of the motor 2 is correspondingly fastened to the housing of the gear reduction mechanism 3, so that the motor 2 can output power; the inner cavity of the seat body 4-1 is rotatably connected to the rudder shaft 4-2, and the shaft body of the rudder shaft 4-2 is provided with a crank 4-3;

[0020] A driving mechanism 1 is provided on one side of the motor 2. The motor 2 and the driving mechanism 1 are arranged in parallel to effectively reduce the overall volume, making the overall compact and small. The driving mechanism 1 includes a shell 1-1, which is fastened to the base 4-1. A screw 1-2 is rotatably connected in the shell 1-1, and the screw 1-2 is correspondingly connected to the output gear of the gear reduction mechanism 3. The screw 1-2 is threadedly connected to a nut 1-3 that slides in correspondence with the shell 1-1, that is, the screw 1-2 and the nut 1-3 cooperate to form a screw. The ball screw pair is preferably a ball screw pair, which has high transmission efficiency, stable transmission, and high transmission precision. Connecting rods 1-4 are hinged on both sides of the nut 1-3, and the other ends of the two connecting rods 1-4 are respectively hinged to the crank 4-3. The symmetrical arrangement of the two connecting rods 1-4 can effectively prevent one side of the nut 1-3 from being stuck or wearing due to uneven load, further improving the transmission stability of the screw nut pair. The connecting rod 1-4 cooperates with the crank 4-3 to form a crank-connecting rod mechanism, which can effectively increase the output torque and bearing capacity of the rudder shaft 4-2.

[0021] When in use, the motor 2 drives the gear reduction mechanism 3, the gear reduction mechanism 3 outputs power and drives the screw 1-2, the screw 1-2 drives the nut 1-3, the nut 1-3 drives the connecting rod 1-4 and drives the crank 4-3, and the crank 4-3 drives the rudder shaft 4-2 to rotate.

[0022] Example 2, combined with the attached Figure 1 , a symmetrical connecting rod servo drive mechanism, based on Example 1, the connecting rod 1-4 and the crank 4-3 are hinged at one end with a bending portion, which can effectively prevent the crank 4-3 from deflecting and transitioning, causing the connecting rod 1-4 and the crank 4-3 to be accidentally stuck.

[0023] Example 3, combined with the attached Figure 1, a symmetrical connecting rod servo drive mechanism, based on embodiment 1 or 2, the shell 1-1 is provided with an opening at one end away from the rudder shaft rocker arm mechanism 4, and an end cover 1-5 is installed at the position corresponding to the opening, and grease can be injected into the shell 1-1 through the end cover 1-5 to ensure the smooth and smooth operation of the drive mechanism 1; one end of the screw 1-2 is rotatably connected to the end cover 1-5 through an angular contact ball bearing 1-6, and the position of the end cover 1-5 corresponding to the angular contact ball bearing 1-6 is provided with a gasket for eliminating the assembly gap of the angular contact ball bearing 1-6, which can effectively eliminate the axial clearance of the screw 1-2, effectively improve the transmission accuracy of the drive mechanism 1, and thus improve the rotation accuracy of the rudder shaft 4-2; further, the base body 4-1 is provided with an angle encoder for monitoring the rotation angle of the rudder shaft 4-2, and the rotation angle of the rudder shaft 4-2 is monitored in real time by the angle encoder and fed back to the control system, further improving the rotation accuracy of the rudder shaft 4-2.

[0024] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the present invention.

Claims

1. A symmetrical connecting rod servo drive mechanism, characterized by: The invention comprises a driving mechanism (1), a motor (2), a gear reduction mechanism (3) and a rudder shaft rocker mechanism (4); the output shaft of the motor (2) is connected to the gear reduction mechanism (3); the side of the gear reduction mechanism (3) facing away from the motor (2) is provided with a rudder shaft rocker mechanism (4); the rudder shaft rocker mechanism (4) comprises a seat body (4-1); the inner cavity of the seat body (4-1) is rotatably connected to the rudder shaft (4-2); the shaft body of the rudder shaft (4-2) is provided with a crank (4-3); one side of the motor (2) is provided with A drive mechanism (1) includes a housing (1-1), a lead screw (1-2) rotatably connected in the housing (1-1), the lead screw (1-2) correspondingly connected to an output gear of a gear reduction mechanism (3), a nut (1-3) correspondingly slidingly matched with the housing (1-1) being threadedly connected to the lead screw (1-2) shaft, connecting rods (1-4) being hinged on both sides of the nut (1-3), and the other ends of the two connecting rods (1-4) being hinged to the cranks (4-3) respectively.

2. The symmetrical connecting rod servo drive mechanism according to claim 1, wherein: One end of the connecting rod (1-4) corresponding to the hinged end of the crank (4-3) is provided with a bending portion.

3. The symmetrical connecting rod servo drive mechanism according to claim 1, wherein: An opening is provided at one end of the housing (1-1) facing away from the rudder shaft rocker arm mechanism (4), and an end cover (1-5) is installed at a position corresponding to the opening.

4. The symmetrical connecting rod servo drive mechanism according to claim 3, wherein: One end of the lead screw (1-2) is rotatably connected to the end cover (1-5) via an angular contact ball bearing (1-6); a gasket for eliminating assembly clearance of the angular contact ball bearing (1-6) is provided at a position of the end cover (1-5) corresponding to the angular contact ball bearing (1-6).

5. The symmetrical connecting rod servo drive mechanism according to claim 1, wherein: An angle encoder for monitoring the rotation angle of the rudder shaft (4-2) is provided in the seat body (4-1).

6. The symmetrical connecting rod servo drive mechanism according to claim 1, wherein: The gear reduction mechanism (3) is a three-stage gear reducer.

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