An integrated electric actuator system

Abstract

The application discloses an integrated electric rudder system, which comprises a plurality of rudders, and two adjacent rudders are connected through a first communication line; one of the rudders is connected to a control system through a second communication line and is configured to receive a rudder control signal sent by the control system and send an instruction to other rudders; each rudder comprises a shell, a speed reduction mechanism, a motor, a potentiometer and a rudder control board which are installed in the shell; a rotating shaft of the motor is connected to an input end of the speed reduction mechanism; the potentiometer is connected to the speed reduction mechanism; the rudder control board is installed on an inner wall of the shell and is connected to the motor and the potentiometer through two cables respectively, and the rudder control board has a first interface and a second interface which are arranged to extend out of the shell, the first interface is used for being connected to the first communication line, and the second interface is used for being connected to the second communication line. The integrated electric rudder system makes the volume of the control system circuit board smaller, and can be applied to underwater vehicles which have a small size and limited circuit board mounting space.

Description

Technical Field

[0001] This application relates to the field of servo motor technology, and more particularly to an integrated electric servo motor system. Background Technology

[0002] A servo motor is an electric device used for precise control of mechanical motion. It drives the output shaft to rotate to a specified angle by receiving pulse width modulation signals and uses position feedback to achieve closed-loop control, thereby adjusting the motion posture.

[0003] In underwater vehicles, multiple servos are needed to adjust multiple control plates. However, currently, when controlling multiple servos, each servo is connected to the control system circuit board via multiple communication cables. This requires multiple ports on the control system circuit board corresponding to each servo, resulting in a large space occupation by the control system circuit board. In some smaller underwater vehicles with limited circuit board installation space, it is difficult to accommodate a control system circuit board with multiple ports. Utility Model Content

[0004] This application provides an integrated electric servo system, which solves the technical problem that the control system circuit board in the prior art needs to be equipped with multiple sockets, making it unsuitable for underwater vehicles with small size and limited circuit board installation space.

[0005] The integrated electric servo system provided in this application includes: multiple servos, with adjacent servos connected by a first communication line; one of the servos is connected to a control system via a second communication line and configured to receive servo control signals from the control system and send commands to the other servos; each servo includes a housing, and a reduction gear, a motor, a potentiometer, and a servo control board installed inside the housing; the motor shaft is connected to the input end of the reduction gear; the potentiometer is connected to the reduction gear; the servo control board is installed on the inner wall of the housing and is connected to the motor and the potentiometer via two cables respectively, and the servo control board has a first interface and a second interface extending out of the housing, the first interface being used to connect to the first communication line, and the second interface being used to connect to the second communication line.

[0006] In one possible implementation, the reduction mechanism includes a motor gear, a worm gear assembly, a worm assembly, and an output gear; the motor gear is mounted on the shaft of the motor and is drive-connected to the worm gear assembly; both the worm gear assembly and the worm assembly are rotatably connected to the housing, and the worm gear assembly meshes with the worm assembly; the output gear is drive-connected to the worm assembly; wherein the potentiometer is drive-connected to the worm assembly.

[0007] In one possible implementation, the reduction mechanism further includes a first transmission assembly and a second transmission assembly; the first transmission assembly includes a first transmission gear and a second transmission gear; the first transmission gear is rotatably connected to the housing and meshes with the motor gear; the second transmission gear is coaxially connected to the worm gear assembly and meshes with the first transmission gear; the second transmission assembly includes a third transmission gear, a fourth transmission gear, and a fifth transmission gear; the third transmission gear is coaxially connected to the worm gear assembly, the fourth transmission gear and the fifth transmission gear are coaxially arranged and rotatably connected to the housing, and the fourth transmission gear meshes with the third transmission gear, and the fifth transmission gear meshes with the output gear.

[0008] In one possible implementation, the reduction mechanism further includes an output shaft; the output shaft is mounted in the middle of the output gear, and the output shaft has a square through hole along the axial direction of the output gear; the housing has two mounting through holes, and the two ends of the output shaft are respectively located in the two mounting through holes.

[0009] In one possible implementation, the inner wall of the housing has two grooves, and the two cables are respectively disposed in the two grooves.

[0010] In one possible implementation, the motor is flanged to the housing, so that the housing serves as the stator housing of the motor.

[0011] This application provides an integrated electric servo system, comprising multiple servos connected to adjacent servos via a first communication line. One of the servos is connected to a control system via a second communication line and configured to receive servo control signals from the control system and send commands to the other servos. Each servo includes a housing and a reduction gear, a motor, a potentiometer, and a servo control board installed inside the housing. The motor shaft is connected to the input end of the reduction gear; the potentiometer is connected to the reduction gear; the servo control board is installed on the inner wall of the housing and is connected to the motor and the potentiometer via two cables, respectively. The servo control board has a first interface and a second interface extending out of the housing. The first interface is used to connect to the first communication line, and the second interface is used to connect to the second communication line. This integrated electric servo system connects to the control system via the second communication line, allowing the control system circuit board to have only one connector, resulting in a smaller circuit board size suitable for small underwater vehicles with limited circuit board installation space. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the integrated electric servo system provided in the embodiments of this application; Figure 2 This is a schematic diagram of the servo motor provided in an embodiment of this application; Figure 3 This is a schematic diagram of the internal structure of the servo motor provided in an embodiment of this application.

[0014] Reference numerals: 1-Servo motor; 11-Housing; 12-Reduction gear; 121-Motor gear; 122-Worm gear assembly; 123-Worm assembly; 124-Output gear; 125-First transmission assembly; 1251-First transmission gear; 1252-Second transmission gear; 126-Second transmission assembly; 1261-Third transmission gear; 1262-Fourth transmission gear; 1263-Fifth transmission gear; 127-Output shaft; 1271-Square through hole; 13-Motor; 14-Polypotentiometer; 15-Servo control board; 2-First communication line; 3-Second communication line. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0017] This application provides an integrated electric servo motor 1 system, such as Figure 1 As shown, the integrated electric servo system 1 includes multiple servos 1, with adjacent servos 1 connected by a first communication line 2. One of the servos 1 is connected to the control system via a second communication line 3 and is configured to receive servo control signals from the control system and send commands to the other servos 1.

[0018] In underwater vehicles using this integrated electric servo motor 1 system, the control system circuit board only needs one connector for connecting to the servo motor 1, reducing the number of connectors on the control system circuit board and thus its size. This makes the control system circuit board suitable for smaller underwater vehicles with limited board installation space.

[0019] When the control system controls the integrated electric servo motor 1 system, the control system sends a servo control signal to one of the servo motors 1 through the second communication line 3. The servo motor 1 connected to the control system through the second communication line 3 sends instructions to the other servo motors 1 through the first communication line 2 according to the servo control signal, so that all the servo motors 1 in the integrated electric servo motor 1 system cooperate with each other to control the attitude of the underwater vehicle.

[0020] For example, Figure 1 The integrated electric servo motor 1 system shown includes four servo motors 1, one of which is connected to the control system via a first communication line 2, and adjacent servo motors 1 are connected via the first communication line 2.

[0021] Each servo motor 1 includes a housing 11, and a reduction gear 12, a motor 13, a potentiometer 14, and a servo control board 15 installed inside the housing 11. The shaft of the motor 13 is connected to the input end of the reduction gear 12, and the potentiometer 14 is connected to the reduction gear 12. The servo control board 15 is installed on the inner wall of the housing 11 and is connected to the motor 13 and the potentiometer 14 respectively via two cables. The servo control board 15 has a first interface and a second interface extending out of the housing 11. The first interface is used to connect to a first communication line 2, and the second interface is used to connect to a second communication line 3.

[0022] When the servo motor 1 is working, the servo control board 15 controls the motor 13 to rotate. The motor 13 drives the servo plate through the reduction mechanism 12. The reduction mechanism 12 drives the potentiometer 14. The potentiometer 14 is used to detect the angle of rotation of the servo plate and feeds the angle information back to the servo control board 15.

[0023] like Figure 3 As shown, in some embodiments of this application, the reduction mechanism 12 includes a motor 13, a gear 121, a worm gear assembly 122, a worm assembly 123, and an output gear 124. The motor 13 gear 121 is mounted on the shaft of the motor 13 and is drive-connected to the worm gear assembly 122. Both the worm gear assembly 122 and the worm assembly 123 are rotatably connected to the housing 11, and the worm gear assembly 122 meshes with the worm assembly 123. The output gear 124 is drive-connected to the worm assembly 123. The potentiometer 14 is drive-connected to the worm assembly 123.

[0024] The worm gear assembly 122 and the worm assembly 123 can achieve a large reduction ratio transmission and can self-lock, thereby keeping the rudder plate fixed after rotation.

[0025] When the reduction mechanism 12 is working, the motor 13 drives the motor 13 gear 121 to rotate, and the motor 13 gear 121 transmits power to the worm gear assembly 123. The worm gear assembly 123 meshes with the worm wheel assembly 122, and the worm gear assembly 123 drives the worm wheel assembly 122 to rotate. The worm wheel assembly 122 is connected to the output gear 124, and the rotation of the output gear 124 drives the rudder plate to rotate by a preset angle.

[0026] Furthermore, such as Figure 3As shown, the reduction mechanism 12 further includes a first transmission assembly 125 and a second transmission assembly 126. The first transmission assembly 125 includes a first transmission gear 1251 and a second transmission gear 1252. The first transmission gear 1251 is rotatably connected to the housing 11 and meshes with the gear 121 of the motor 13. The second transmission gear 1252 is coaxially connected to the worm gear assembly 122 and meshes with the first transmission gear 1251. The second transmission assembly 126 includes a third transmission gear 1261, a fourth transmission gear 1262, and a fifth transmission gear 1263. The third transmission gear 1261 is coaxially connected to the worm gear assembly 122, the fourth transmission gear 1262 and the fifth transmission gear 1263 are coaxially arranged and rotatably connected to the housing 11, and the fourth transmission gear 1262 meshes with the third transmission gear 1261, and the fifth transmission gear 1263 meshes with the output gear 124.

[0027] In the first transmission assembly 125, the first transmission gear 1251 is a transition gear, ensuring sufficient space between the central axis of the worm gear assembly 123 and the central axis of the motor 13 for arranging the motor 13 and the worm gear assembly 123. Furthermore, a preset transmission ratio is achieved by setting the number of teeth on the motor 13 gear 121 and the second transmission gear 1252. Exemplarily, the motor 13 gear 121 achieves speed reduction through the first transmission assembly 125.

[0028] When the reduction mechanism 12 is working, the motor 13 gear 121 drives the first transmission gear 1251 to rotate, the first transmission gear 1251 drives the second transmission gear 1252 to rotate, and the worm gear assembly 123, which is coaxially arranged with the second transmission gear 1252, rotates with the second transmission gear 1252.

[0029] In the second transmission assembly 126, the number of teeth of the third transmission gear 1261 and the fourth transmission gear 1262 are set to achieve a preset first-stage transmission ratio; the number of teeth of the fifth transmission gear 1263 and the output gear 124 are set to achieve a preset second-stage transmission ratio. Exemplarily, the third transmission gear 1261 and the fourth transmission gear 1262 achieve first-stage reduction, and the fifth transmission gear 1263 and the output gear 124 achieve second-stage reduction.

[0030] When the reduction mechanism 12 is working, the third transmission gear 1261 rotates with the worm gear assembly 122 arranged on the same axis, and the third transmission gear 1261 drives the fourth gear, the fifth gear rotates with the fourth gear arranged on the same axis, and the fifth gear drives the output gear 124 to rotate.

[0031] Specifically, potentiometer 14 is coaxially connected to the fifth transmission gear 1263. Potentiometer 14 can detect the rotation angle of the fifth transmission gear 1263, and then determine the rotation angle of the rudder plate based on the transmission ratio between the fifth transmission gear 1263 and the output gear 124.

[0032] Reference Figure 2 and Figure 3 The reduction mechanism 12 also includes an output shaft 127. The output shaft 127 is installed in the middle of the output gear 124, and the output shaft 127 has a square through hole 1271 along the axial direction of the output gear 124; the housing 11 has two mounting through holes, and the two ends of the output shaft 127 are respectively located in the two mounting through holes.

[0033] When the servo motor 1 is installed on the underwater vehicle, the rudder plate's shaft extends into the square through hole 1242. When the output gear 124 rotates, the output shaft 127 drives the rudder plate to rotate.

[0034] In some embodiments of this application, two wire grooves are formed on the inner wall of the housing 11, and two cables are respectively disposed in the two wire grooves. The wire grooves can accommodate and fix the cables, preventing the cables from shaking inside the housing 11 and interfering with other moving structures.

[0035] In some embodiments of this application, the motor 13 is flanged to the housing 11, so that the housing 11 serves as the stator housing 11 of the motor 13. This structure can reduce the size of the motor 13, thereby making the housing 11 of the servo motor 1 smaller.

[0036] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0037] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. An integrated electric servo motor system, characterized in that, include: Multiple servo motors are provided, with adjacent servo motors connected by a first communication line; one of the servo motors is connected to the control system via a second communication line and is configured to receive servo control signals from the control system and send commands to the other servo motors. Each of the servo motors includes a housing, and a reduction gear, a motor, a potentiometer, and a servo control board installed inside the housing; The motor shaft is connected to the input end of the reduction mechanism; The potentiometer is connected to the deceleration mechanism; The rudder control board is installed on the inner wall of the housing and is connected to the motor and the potentiometer respectively via two cables. The rudder control board has a first interface and a second interface that extend out of the housing. The first interface is used to connect to the first communication line, and the second interface is used to connect to the second communication line.

2. The integrated electric servo system according to claim 1, characterized in that, The reduction mechanism includes a motor gear, a worm gear assembly, a worm assembly, and an output gear; The motor gear is mounted on the motor shaft and is connected to the worm gear assembly for transmission. Both the worm gear assembly and the worm assembly are rotatably connected to the housing, and the worm gear assembly meshes with the worm assembly; The output gear is connected to the worm gear assembly; The potentiometer is connected to the worm gear assembly.

3. The integrated electric servo system according to claim 2, characterized in that, The deceleration mechanism further includes a first transmission assembly and a second transmission assembly; The first transmission assembly includes a first transmission gear and a second transmission gear; the first transmission gear is rotatably connected to the housing and meshes with the motor gear; the second transmission gear is coaxially connected to the worm gear assembly and meshes with the first transmission gear. The second transmission assembly includes a third transmission gear, a fourth transmission gear, and a fifth transmission gear; The third transmission gear is coaxially connected to the worm gear assembly, the fourth transmission gear and the fifth transmission gear are coaxially arranged and rotatably connected to the housing, and the fourth transmission gear meshes with the third transmission gear, and the fifth transmission gear meshes with the output gear.

4. The integrated electric servo system according to claim 2 or 3, characterized in that, The speed reduction mechanism also includes an output shaft; The output shaft is installed in the middle of the output gear, and the output shaft has a square through hole along the axial direction of the output gear; The housing has two mounting through holes, and the two ends of the output shaft are respectively located in the two mounting through holes.

5. The integrated electric servo system according to claim 1, characterized in that, The inner wall of the housing has two grooves, and the two cables are respectively installed in the two grooves.

6. The integrated electric servo system according to claim 1, characterized in that, The motor is flanged and connected to the housing so that the housing serves as the stator housing of the motor.

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