Steering engine harmonic reducer with wave generator flexible supporting structure

Abstract

The utility model discloses a steering engine harmonic reducer provided with a wave generator flexible supporting structure, which comprises a flexible gear output component and a wave generator component sleeved on the flexible gear output component, and the diameter d of an output shaft at the supporting position of the wave generator component on the flexible gear output component is equal to D-(2-4) * delta, when the diameter of an output shaft at the supporting position of the wave generator assembly on the flexible gear output assembly is larger than or equal to 10 mm, an annular groove is formed in the center of the supporting position, and a rubber O-shaped sealing ring is arranged in the annular groove. A gap is kept between the output shaft and the wave generator, and the O-shaped sealing ring is in flexible contact, so that even if the output shaft is bent and deformed, the output shaft and the wave generator are not in rigid contact, bending deformation has no additional acting force on the wave generator, and flexible operation of the wave generator and normal work of the steering engine are guaranteed. The annular groove is formed, the rigidity of the output shaft is weakened, the stress condition of the small bearing is greatly reduced, and the radial load of the small bearing can be reduced by 50%-70%. And under the same volume, weight and motor power, the bending moment bearing capacity is improved by 2-3 times.

Description

TECHNICAL FIELD

[0001] The utility model relates to a rudder harmonic reducer provided with wave generator flexible support structure belongs to rudder harmonic reducer technical field. BACKGROUND

[0002] Servo rudder is the terminal execution mechanism of missile, rocket, unmanned aerial vehicle and other aircraft guidance system, receives the instruction of flight control system or host computer, accurately and rapidly drives rudder surface deflection, changes the aerodynamic moment acting on the rudder surface, thereby reaches the purpose of stabilizing itself and correcting trajectory to hit the target. Nowadays, with the rapid development of modern war, the mode of war changes rapidly, equipment not only has supersonic cruise, superstrong stealth, supermaneuverability, but also has trajectory autonomous planning capacity. Higher requirements are put forward to the dynamic response and carrying capacity of servo rudder, especially in superhigh speed and large angle turning, the rudder needs not only to maintain large output torque, but also to resist great shear bending moment load.

[0003] Servo rudder is composed of motor, reducer, sensor, controller and the like, wherein the reducer usually adopts harmonic reducer, the structure form is that high speed stage adopts bevel gear transmission input to realize 90 DEG turning, low speed stage adopts harmonic gear transmission to realize high precision output. The output shaft of harmonic reducer occurs great bending deformation under the action of great shear bending moment load, the wave generator will additionally bear additional radial extrusion load, the running resistance of wave generator (large bevel gear) increases, which leads to that the motor cannot drive the reducer to work normally, finally leads to mechanism failure and even mission failure.

[0004] In order to improve the bending moment resistance of servo rudder, the support rigidity of output shaft is usually enhanced, a plurality of bearings are installed outside the reducer to resist the bending moment, for example, CN102765475A discloses a kind of aircraft and its anti-large bending moment electric rudder. The scheme increases the size and weight of servo rudder, which does not meet the target requirements of light weight and miniaturization. SUMMARY

[0005] The utility model discloses a kind of servo rudder harmonic reducers provided with wave generator flexible support structure. The utility model eliminates the additional radial extrusion load of wave generator under the bending deformation of output shaft under shear bending moment action, guarantees the flexible operation of wave generator and the normal work of reducer. Under the same volume, weight and motor power, bending moment carrying capacity is improved by 2-3 times, which greatly improves the carrying capacity and reliability of servo rudder.

[0006] The utility model discloses a technical scheme: a rudder harmonic reducer provided with a wave generator flexible support structure, comprising a flexspline output assembly and a wave generator assembly sleeved thereon, the diameter d of the output shaft at the wave generator assembly support position on the flexspline output assembly is D- (2-4) *delta, wherein D is the inner ring diameter of the center bearing of the wave generator assembly, and delta is the maximum bending deformation of the output shaft of the flexspline output assembly under the action of bending moment, when the diameter of the output shaft at the wave generator assembly support position on the flexspline output assembly is greater than or equal to 10mm, an annular groove is arranged at the center of the support position, and a rubber O-shaped sealing ring is arranged in the annular groove, the width b of the wave generator assembly support position on the flexspline output assembly is (1.1-1.2) *B, wherein B is the inner ring width of the center bearing of the wave generator assembly.

[0007] In the aforementioned rudder harmonic reducer provided with a wave generator flexible support structure, the width a of the annular groove is (1.2-1.5) *d0, the radial compression amount k of the rubber O-shaped sealing ring after assembly is d0-h=(0.1-0.2) *d0, d0 is the linear diameter of the rubber O-shaped sealing ring, and h is the groove depth of the annular groove.

[0008] In the aforementioned rudder harmonic reducer provided with a wave generator flexible support structure, the rudder wave reducer comprises a shell, a front end cover connected to the front end of the shell, and an installation chamber formed in the interiors of the two, wherein the flexspline output assembly is arranged in the installation chamber, the wave generator assembly, a spacer sleeve and a small bearing are sequentially sleeved on the output shaft of the flexspline output assembly from right to left, a small bevel gear motor assembly is arranged on the shell, and the small bevel gear of the small bevel gear motor assembly extends into the installation chamber and is engaged with the large bevel gear on the wave generator assembly.

[0009] In the aforementioned rudder harmonic reducer provided with a wave generator flexible support structure, the wave generator assembly comprises a center bearing, a large bevel gear is sleeved on the center bearing, the outer contour of the boss on the back taper side of the large bevel gear is an elliptical cam, a flexible bearing is sleeved on the elliptical cam, a baffle is arranged on the outer side of the center bearing, and the baffle is fixed on the large bevel gear through screws.

[0010] The utility model discloses the beneficial effect: compared with prior art, the rudder harmonic reducer of the utility model has the following benefits brought by the wave generator flexible support structure:

[0011] 1) the gap between the output shaft and the wave generator is kept, and the elastic element (rubber O-shaped sealing ring) is flexibly contacted, even if the output shaft is bent and deformed, the output shaft and the wave generator do not have rigid contact, the bending deformation has no additional force on the wave generator, and the flexible operation of the wave generator and the normal work of the rudder are ensured.

[0012] 2) Set annular groove, weaken the rigidity of the output shaft, greatly reduce the stress condition of small bearing, small bearing radial load can reduce 50%-70%.

[0013] 3) In the same volume, weight and motor power, bending moment carrying capacity is improved 2-3 times.

[0014] In summary, the utility model discloses the above-mentioned scheme, through theoretical calculation and engineering verification, in the same volume, weight and motor power, bending moment carrying capacity is improved 2-3 times, small bearing radial load can reduce 50%-70%. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the assembly drawing of the utility model;

[0016] Figure 2 It is the assembly drawing of the utility model;

[0017] Figure 3 It is the connection structure schematic drawing of flexible gear output assembly and wave generator assembly;

[0018] Figure 4 It is the transmission mechanism diagram of steering machine harmonic reducer;

[0019] Figure 5 It is the output shaft schematic drawing of flexible gear output assembly;

[0020] Figure 6 It is the assembly drawing of wave generator assembly.

[0021] Fig. 1, fastener, 2-fore end cover, 3, flexible gear output assembly, 4, rubber O-shaped sealing ring, 5, wave generator assembly, 5-1, flexible bearing, 5-2, baffle, 5-3, center bearing, 5-4, screw, 5-5, big bevel gear, 5-5.1, oval cam, 6, spacer, 7, small bearing, 8, shell, 9, small bevel gear motor assembly, 10, annular groove. DETAILED DESCRIPTION

[0022] The utility model will be further explained in connection with the drawings and examples, but not as the basis for the limitation of the utility model.

[0023] The utility model discloses an embodiment: a steering machine harmonic reducer with wave generator flexible support structure, including flexible gear output assembly 3 and the wave generator assembly 5 of sleeve joint on the output shaft of flexible gear output assembly 3, the output shaft diameter d=D- (2-4) * δ of wave generator assembly 5 support position on the output shaft of flexible gear output assembly 3, wherein D is the inner ring diameter of center bearing 5-3 of wave generator assembly 5, and the output shaft of flexible gear output assembly 3 passes through center bearing 5-3, and δ is the maximum bending deformation of the output shaft of flexible gear output assembly 3 under the bending moment.

[0024] By Figure 2 It is known that the output shaft of the steering engine harmonic reducer is generally supported by two front and rear ball bearings. Under the action of external shear bending moment M, the output shaft is bent and deformed with the two bearings as fulcrums.

[0025] The bending radial deformation δ of the wave generator assembly 5 at the support position of the flexspline output assembly 3 is obtained by simulation or theoretical calculation. The output shaft diameter d of the wave generator assembly 5 at the support position of the flexspline output assembly 3 is reduced by (2-4) times the bending radial deformation δ.

[0026] During operation, the wave generator assembly 5 rotates around the center of the flexspline by relying on the cooperation of the flexspline on the flexspline output assembly 3 and the flexible bearing 3-1. When the output shaft of the flexspline output assembly 3 is subjected to shear bending deformation, since the radial gap between the wave generator assembly 5 and the support position of the output shaft is greater than the bending radial deformation of the output shaft, the bending deformation has no additional effect on the wave generator assembly 5, ensuring that the bending deformation of the output shaft has no effect on the support of the wave generator assembly 5.

[0027] For the output shaft with a diameter greater than or equal to 10 mm at the support position of the wave generator assembly 5 on the flexspline output assembly 3, an annular groove 10 is provided at the center of the support position of the wave generator assembly 5 on the output shaft, and a rubber O-ring seal 4 is provided in the annular groove 10. Since the annular groove 10 is provided on the output shaft of the flexspline output assembly 3, the stiffness of the output shaft is weakened, effectively reducing the stress condition of the small bearing 7, which is the end support bearing of the output shaft.

[0028] The width a of the annular groove 10 is (1.2-1.5)*d0, the radial compression amount k of the assembled rubber O-ring seal 4 is (0.1-0.2)*d0, d0 is the diameter of the rubber O-ring seal 4, and h is the groove depth of the annular groove 10. The wave generator assembly 5 is flexibly supported by the elastic deformation of the rubber O-ring seal 4.

[0029] The steering engine harmonic reducer mainly consists of a fastener 1, a front end cover 2, a flexspline output shaft assembly 3, a rubber O-ring seal 4, a wave generator 5, a spacer 6, a small bearing 7, an outer shell 8, and a small bevel gear motor assembly 9. The front end cover 2 is fixed to the front end face of the outer shell 8 by the fastener 1, and the two form an installation chamber inside. The flexspline output assembly 3 is installed in the installation chamber. The wave generator assembly 5, the spacer 6, and the small bearing 7 are sequentially sleeved on the output shaft of the flexspline output assembly 3 from right to left. The small bevel gear motor assembly 9 is installed on the outer shell 8, and the small bevel gear of the small bevel gear motor assembly 9 extends into the installation chamber and meshes with the large bevel gear 5-5 on the wave generator assembly 5. The rubber O-ring seal 4 is installed in the annular groove 10 of the flexspline output shaft assembly 3. The flexspline output shaft assembly 3 is composed of a flexspline and an output shaft, as shown in Figure 3As shown, the flexible gear is fixed on the output shaft by screws, and two bearings are arranged side by side on the left end of the output shaft.

[0030] The wave generator assembly 5 is composed of a baffle 5-2, a large bevel gear 5-5, a flexible bearing 5-1, a center bearing 5-3 and a screw 5-4. The large bevel gear 5-5 is sleeved on the center bearing 5-3, the outer contour of the convex platform on the back cone side of the bevel gear 5-5 is an elliptical cam 5-5.1, the flexible bearing 5-1 is sleeved on the elliptical cam 5-5.1, the baffle 5-2 is arranged on the outer side of the center bearing 5-3, and the baffle 5-2 is fixed on the large bevel gear 5-5 by the screw 5-4. Figure 1 and Figure 4 It can be seen that the wave generator assembly 5 is sleeved on the output shaft of the flexible gear output shaft assembly 3, specifically, the center bearing 5-3 is sleeved on the output shaft, and the outer ring of the flexible bearing 5-1 cooperates with the annular inner wall of the flexible gear of the flexible gear output shaft assembly 3.

[0031] The structure of the rudder harmonic reducer and the wave generator assembly 5 are both prior art, and their specific structures will not be described in detail here. In addition to being applicable to the above-mentioned structure of the rudder harmonic reducer, the flexible support structure of the wave generator is also applicable to other forms of rudder harmonic reducers.

[0032] The inner diameter of the center bearing 5-3 of the wave generator assembly 5 is D, and the width is B. The diameter of the corresponding position of the wave generator assembly 5 installed on the output shaft is d, and the width is b, and an annular groove 10 is arranged. The groove width a and the groove depth h of the annular groove 10. The wire diameter of the rubber O-shaped sealing ring 4 is d0. The maximum bending deformation of the output shaft of the flexible gear output shaft assembly 3 under the action of bending moment is δ. The compression amount of the rubber O-shaped sealing ring 4 is K. The size parameter design of the flexible support structure is as follows:

[0033] d=D-(2-4)*δ;

[0034] b=(1.1-1.2)*B;

[0035] K=d0-h=(0.1-0.2)*d0;

[0036] a=(1.2-1.5)*d0.

[0037] In addition, the output shaft of the flexible gear output shaft assembly 3 is supported by two front and rear bearings (as shown in Figure 4 As shown, the left end of the output shaft is supported in the front end cover 2 by two bearings arranged side by side, and the right end of the output shaft is supported in the housing 8 by a small bearing 7), under the action of bending moment, the small bearing 7 resists deformation and bears a large radial force. After the annular groove 10 is arranged, the stiffness of the output shaft is weakened, and the stress condition of the small bearing 7 is greatly reduced.

[0038] Theoretical calculation and engineering verification show that the bending moment carrying capacity is increased by 2-3 times, and the radial load of the small bearing is reduced by 50%-70% under the same volume, weight and motor power.

Claims

1. A servo motor harmonic reducer with a flexible support structure for a wave generator, comprising a flexible output assembly (3) and a wave generator assembly (5) sleeved thereon, characterized in that: The output shaft diameter d of the wave generator assembly (5) supporting the flexible wheel output assembly (3) is d = D - (2 ~ 4) * δ, where D is the inner ring diameter of the central bearing (5-3) of the wave generator assembly (5), and δ is the maximum bending deformation of the output shaft of the flexible wheel output assembly (3) under bending moment. When the output shaft diameter of the wave generator assembly (5) supporting the flexible wheel output assembly (3) is ≥ 10 mm, an annular groove (10) is provided at the center of the supporting position, and a rubber O-ring seal (4) is provided in the annular groove (10). The width b of the supporting position of the wave generator assembly (5) supporting the flexible wheel output assembly (3) is b = (1.1 ~ 1.2) * B, where B is the inner ring width of the central bearing (5-3) of the wave generator assembly (5).

2. A servo motor harmonic reducer with a flexible support structure for a wave generator as described in claim 1, characterized in that: The width of the annular groove (10) is a = (1.2~1.5)*d0, and the radial compression of the assembled rubber O-ring (4) is k = d0-h = (0.1~0.2)*d0, where d0 is the wire diameter of the rubber O-ring (4) and h is the groove depth of the annular groove (10).

3. A servo motor harmonic reducer with a flexible support structure for a wave generator according to claim 1, characterized in that: The servo harmonic reducer includes a housing (8), with a front cover (2) connected to the front end of the housing (8), and the two forming an installation chamber. A flexible output assembly (3) is installed in the installation chamber. A wave generator assembly (5), a spacer (6), and a small bearing (7) are sequentially sleeved on the output shaft of the flexible output assembly (3) from right to left. A small bevel gear motor assembly (9) is installed on the housing (8). The small bevel gear of the small bevel gear motor assembly (9) extends into the installation chamber and meshes with the large bevel gear (5-5) on the wave generator assembly (5).

4. A servo motor harmonic reducer with a flexible support structure for a wave generator according to claim 1, characterized in that: The wave generator assembly (5) includes a central bearing (5-3), a large bevel gear (5-5) is sleeved on the central bearing (5-3), the outer circle of the boss on the back cone side of the large bevel gear (5-5) is an elliptical cam (5-5.1), a flexible bearing (5-1) is sleeved on the elliptical cam (5-5.1), and a baffle (5-2) is provided on the outside of the central bearing (5-3), and the baffle (5-2) is fixed on the large bevel gear (5-5) by screws (5-4).

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