Symmetrical link servo driving device

Abstract

A symmetrical link servo driving device, relating to the technical field of servo motors. The symmetrical link servo driving device comprises a driving mechanism, an electric motor, a gear reduction mechanism and a servo shaft rocker arm mechanism, wherein the gear reduction mechanism is in transmission connection with an output shaft of the electric motor, a servo shaft rocker arm mechanism is provided on the side of the gear reduction mechanism facing away from the electric motor, the servo shaft rocker arm mechanism comprises a base body, a servo shaft is rotationally connected to an inner cavity of the base body, and a crank is provided at a shaft body of the servo shaft; a self-locking mechanism capable of locking the servo shaft is provided at the bottom of the inner cavity of the base body; and a driving mechanism is provided on one side of the electric motor, the driving mechanism comprises a housing, a lead screw is rotationally connected in the housing, and the lead screw is correspondingly in transmission connection with an output gear of the gear reduction mechanism. The present invention has a simple structure, and the electric motor and the driving mechanism are arranged in parallel to effectively reduce the overall volume, such that the whole device is compact and small. The self-locking mechanism capable of locking the servo shaft is provided at the bottom of the inner cavity of the base body, that is, when the servo shaft stops rotating, the servo shaft can be locked by means of the self-locking mechanism, thereby preventing an external force from being transmitted to the driving mechanism by means of the servo shaft.

Description

Symmetrical connecting rod servo driving device TECHNICAL FIELD

[0001] The present application relates to the technical field of steering gear, in particular to a symmetrical connecting rod servo driving device. BACKGROUND

[0002] It is known that the servo driving mechanism is used to drive the movement of the adjusted object. When the adjusted object is linear motion, the servo driving mechanism needs to convert the rotary motion of the motor into the linear motion of the adjusted object. When the adjusted object is rotary motion, the servo driving mechanism needs to convert the rotating speed of the motor into the rotating speed required by the adjusted object. At present, the control precision of the servo driving mechanism at home and abroad is generally required to be not more than 0.2°. With the increasing demand for small size and high precision servo driving mechanism in the precise control of unmanned aerial vehicle, etc.

[0003] Chinese patent (publication number: CN207053315U) discloses a long and narrow type steering gear structure. The patent includes a servo motor, a first stage speed reduction mechanism connected to the output shaft of the servo motor, and then two stages of conversion are carried out to convert the rotary motion of the servo motor into the swing of the final output shaft. It is found that the structure of the patent is large, and the overall volume cannot be further reduced under the premise of ensuring the output torque, so it cannot be applied to smaller devices. At the same time, it is also found that the ball screw pair has the problem of uneven load stress, and it is easy to be accidentally stuck during use. In addition, the rudder shaft of the structure of the patent cannot realize self-locking, and most of the existing steering gears with self-locking adopt worm gear mechanism to transmit drive, but the transmission efficiency of the worm gear mechanism is low, and the friction resistance is large during starting. The above defects are problems to be solved by those skilled in the art.

[0004] SUMMARY

[0005] In order to overcome the deficiencies in the background art, the present application discloses a symmetrical connecting rod servo driving device.

[0006] In order to achieve the above-mentioned application purposes, the present application adopts the following technical solutions:

[0007] A symmetrical connecting rod servo driving device, comprising a driving mechanism, a motor, a gear reduction mechanism and a rudder shaft rocker arm mechanism; the output shaft of the motor is drivingly connected with the gear reduction mechanism, and the side of the gear reduction mechanism away from the motor is provided with the rudder shaft rocker arm mechanism; the rudder shaft rocker arm mechanism comprises a seat body, the seat body is rotatably connected with a rudder shaft in the inner cavity of the seat body, and the rudder shaft shaft body is provided with a crank; a self-locking mechanism capable of locking the rudder shaft is arranged at the bottom of the inner cavity of the seat body; one side of the motor is provided with a driving mechanism, and the driving mechanism comprises a shell, a screw rod is rotatably connected in the shell, the screw rod is drivingly connected with the output gear of the gear reduction mechanism in correspondence, the screw rod lever body is threadedly connected with a nut which is slidingly matched with the shell, the nut is hingedly connected with a connecting rod on both sides, and the other end of the two connecting rods is respectively hingedly connected with the crank in correspondence.

[0008] Preferably, the self-locking mechanism comprises a locking disc fixedly connected with the rudder shaft coaxially, and a locking sleeve movably sleeved with the rudder shaft coaxially, and a guide flange in the shape of a trumpet is arranged at one end of the locking sleeve corresponding to the locking disc; a plurality of apertures are arranged at the disc surface of the locking disc in the circumferential direction, and a friction block is hingedly connected in each aperture, and a torsion spring for deflecting the friction block to extend out of the locking disc is arranged at the position corresponding to the hinged connection of the friction block and the locking disc, and adjacent two friction blocks are arranged oppositely; an electromagnet capable of driving the locking sleeve to move away from the locking disc along the rudder shaft is fixedly connected in the seat body at the end of the locking sleeve away from the locking disc, and the electromagnet is provided with a fixed sleeve capable of movably inserting the locking sleeve, and the outer wall of the locking sleeve and the inner wall of the fixed sleeve are in sliding fit through the spline; a reset spring for resetting the locking sleeve to lock the rudder shaft is arranged between the locking sleeve and the electromagnet.

[0009] Preferably, the disc surface of the friction block is provided with an arc-shaped groove, and a limiting pin for limiting the deflection angle of the friction block is arranged at the position corresponding to the arc-shaped groove of the locking disc.

[0010] Preferably, a pressure disc is sleeved at one end of the rudder shaft corresponding to the apertures of the locking disc, and a locking nut for pressing the pressure disc is threadedly connected.

[0011] Preferably, a bent portion is arranged at one end of the connecting rod corresponding to the hinge connection with the crank.

[0012] Preferably, an opening is arranged at one end of the housing away from the rudder shaft rocker arm mechanism, and an end cover is mounted at the position corresponding to the opening.

[0013] Preferably, the one end of the lead screw is rotatably connected with the end cover through an angular contact ball bearing, and a gasket for eliminating the assembly gap of the angular contact ball bearing is arranged at the position corresponding to the angular contact ball bearing of the end cover.

[0014] Preferably, an angle encoder for detecting the rotation angle of the rudder shaft is arranged in the seat body.

[0015] By adopting the technical scheme as above, the present application has the following beneficial effects:

[0016] The symmetrical connecting rod servo driving device disclosed by the present application has the advantages of simple structure; the one side of the motor is provided with a driving mechanism, and the motor and the driving mechanism are arranged in parallel to effectively reduce the overall size, so that the whole is compact and small; the symmetrical arrangement of the two connecting rods can effectively prevent the nut from being stuck or eccentrically worn due to the force on one side, and further improve the transmission stability of the lead 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 the carrying capacity of the rudder shaft; the self-locking mechanism capable of locking the rudder shaft is arranged at the bottom of the inner cavity of the seat body, that is, the rudder shaft can be locked by the self-locking mechanism when the rudder shaft stops rotating, so as to prevent external force from being transmitted to the driving mechanism through the rudder shaft. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 is a structural schematic diagram of the present application;

[0018] Fig. 2 is a structural schematic diagram of the driving mechanism;

[0019] Fig. 3 is a structural schematic diagram of the rudder shaft rocker arm mechanism;

[0020] Fig. 4 is a structural schematic diagram of the self-locking mechanism;

[0021] Fig. 5 is a structural schematic diagram of the inside of the self-locking mechanism;

[0022] Fig. 6 is a top view of the locking disc.

[0023] In the figure: 1, driving mechanism; 1-1, housing; 1-2, lead 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 body; 4-2, rudder shaft; 4-3, crank; 5, self-locking mechanism; 5-1, locking disc; 5-2, locking sleeve; 5-3, friction block; 5-4, arc-shaped slot; 5-5, limit pin; 5-6, electromagnet; 5-7, return spring; 5-8, pressure plate; 5-9, locking nut. DETAILED DESCRIPTION

[0024] The present application can be explained in detail by the following examples, the purpose of the disclosure is to protect all technical improvements within the scope of the present application, in the description of the present application, it is understood that if there are terms "upper", "lower", "front", "rear", "left", "right" and other indicating orientation or position relationship, only corresponds to the drawings of the present application, in order to facilitate the description of the present application, and is not indicative or implied that the device or element must have a particular orientation.

[0025] Example 1, combined with figures 1-3, a symmetrical connecting rod servo drive device, including driving mechanism 1, motor 2, gear reduction mechanism 3 and rudder shaft rocker arm mechanism 4; the output shaft of the motor 2 is drivingly connected with the gear reduction mechanism 3, the gear reduction mechanism 3 is provided with the rudder shaft rocker arm mechanism 4 on the side away from the motor 2, the rudder shaft rocker arm mechanism 4 includes a seat body 4-1, the box body of the gear reduction mechanism 3 is fastened and connected with the seat body 4-1 in correspondence, the motor 2 housing is fastened and connected with the box body of the gear reduction mechanism 3 in correspondence, so that the motor 2 can output power; the seat body 4-1 inner cavity is rotatably connected with the rudder shaft 4-2, the rudder shaft 4-2 shaft body is provided with a crank 4-3; the seat body 4-1 inner cavity bottom is provided with a self-locking mechanism 5 capable of locking the rudder shaft 4-2, that is, when the rudder shaft 4-2 stops rotating, the rudder shaft 4-2 can be locked by the self-locking mechanism 5, preventing external force from being transmitted to the driving mechanism 1 through the rudder shaft 4-2;

[0026] The motor 2 is provided with a driving mechanism 1, and the motor 2 and the driving mechanism 1 are arranged in parallel, so that the overall volume is effectively reduced, and the whole is compact and small; the driving mechanism 1 comprises a shell 1-1, the shell 1-1 is fastened and connected with the seat body 4-1 in correspondence; a lead screw 1-2 is rotationally connected in the shell 1-1, the lead screw 1-2 is drivingly connected with an output gear of the gear reduction mechanism 3 in correspondence, a nut 1-3 which is slidingly matched with the shell 1-1 in correspondence is threadedly connected with a rod body of the lead screw 1-2, that is, the lead screw 1-2 and the nut 1-3 are matched to form a lead screw nut pair, preferably a ball screw pair, the transmission efficiency is high, the transmission is stable, and the transmission precision is high; the nut 1-3 is hingedly connected with connecting rods 1-4 on both sides, the other ends of the two connecting rods 1-4 are respectively hingedly connected with cranks 4-3 in correspondence; the symmetrical arrangement of the two connecting rods 1-4 can effectively prevent the nut 1-3 from being stuck or unevenly worn due to force on one side, and further improve the transmission stability of the lead screw nut pair; the connecting rod 1-4 and the crank 4-3 cooperate to form a crank connecting rod mechanism, which can effectively increase the output torque and bearing capacity of the rudder shaft 4-2;

[0027] In use, the motor 2 drives the gear reduction mechanism 3 through the motor drive gear reduction mechanism 3, the gear reduction mechanism 3 outputs power to drive the lead screw 1-2, the lead screw 1-2 drives the nut 1-3, the nut 1-3 drives the connecting rod 1-4 to drive the crank 4-3, and the crank 4-3 drives the rudder shaft 4-2 to rotate.

[0028] Embodiment 2, in combination with Figs. 4-6, a symmetrical connecting rod servo driving device, which is different from embodiment 1 in that on the basis of embodiment 1, the self-locking mechanism 5 comprises a locking disc 5-1 which is coaxially fastened with the rudder shaft 4-2, and a locking sleeve 5-2 which is coaxially movably sleeved with the rudder shaft 4-2, one end of the locking sleeve 5-2 corresponding to the locking disc 5-1 is provided with a guide flange in the shape of a trumpet; a plurality of apertures are arranged on the disc surface of the locking disc 5-1 in a ring direction, a friction block 5-3 is hingedly connected in the aperture, and a torsion spring for making the friction block 5-3 deflect to extend out of the locking disc 5-1 is arranged at the position where the friction block 5-3 is hingedly connected with the locking disc 5-1, and adjacent two friction blocks 5-3 are arranged in opposite directions, that is, the adjacent two friction blocks 5-3 are arranged in the shape of an "eight";

[0029] Working principle: when the locking sleeve 5-2 moves away from the locking disc 5-1 along the rudder shaft 4-2, the friction block 5-3 is separated from the locking sleeve 5-2, at this time, the unlocking is realized, and the driving mechanism 1 can drive the rudder shaft 4-2 to rotate; when the locking sleeve 5-2 moves in the opposite direction along the rudder shaft 4-2, the friction block 5-3 is inwardly retracted under the action of the guide flange of the locking sleeve 5-2, until the friction block 5-3 is in frictional contact with the inner wall of the locking sleeve 5-2, at this time, the locking state is realized, no matter the rudder shaft 4-2 is rotated in the positive direction or the reverse direction, the frictional force between the corresponding friction block 5-3 and the locking sleeve 5-2 will be received;

[0030] The electromagnet 5-6 is fixedly connected with the locking sleeve 5-2 at the end of the locking sleeve 5-2 away from the locking disc 5-1, and can drive the locking sleeve 5-2 to move away from the locking disc 5-1 along the rudder shaft 4-2, and the electromagnet 5-6 is provided with a fixed sleeve in which the locking sleeve 5-2 is movably inserted, and the outer wall of the locking sleeve 5-2 and the inner wall of the fixed sleeve are in spline sliding fit, which can effectively limit the axial rotation of the locking sleeve 5-2; the electromagnet 5-6 is a prior art, and therefore its structure and working pressure will not be described herein; the reset spring 5-7 is arranged between the locking sleeve 5-2 and the electromagnet 5-6, and is used to reset the locking sleeve 5-2 to lock the rudder shaft 4-2.

[0031] When the electromagnet 5-6 is powered on to generate a magnetic attraction force, the locking sleeve 5-2 can be attracted to move away from the locking disc 5-1 along the rudder shaft 4-2, thereby achieving the purpose of unlocking the rudder shaft 4-2; when the electromagnet 5-6 loses the magnetic attraction force, the locking sleeve 5-2 moves towards the locking disc 5-1 along the rudder shaft 4-2 under the action of the reset spring 5-7, so that the friction block 5-3 and the inner wall of the locking sleeve 5-2 are in friction contact again, thereby achieving the purpose of automatically locking the rudder shaft 4-2.

[0032] The friction block 5-3 is provided with an arc-shaped groove 5-4, and the locking disc 5-1 is provided with a limiting pin 5-5 at a position corresponding to the arc-shaped groove 5-4, which is used to limit the deflection angle of the friction block 5-3, that is, the deflection angle of the friction block 5-3 can be limited by the limiting pin 5-5, so as to prevent the deflection angle of the friction block 5-3 from being too large in the unlocked state, thereby preventing the locking sleeve 5-2 from being unable to reset and further preventing the locking action from being unable to be achieved.

[0033] The rudder shaft 4-2 is provided with a pressure disc 5-8 at the end corresponding to the opening of the locking disc 5-1, and is threadedly connected with a locking nut 5-9 for pressing the pressure disc 5-8, that is, the pressure disc 5-8 can effectively prevent the friction block 5-3 from accidentally separating from the locking disc 5-1.

[0034] In embodiment 3, in combination with FIG. 1, a symmetrical connecting rod servo driving device is provided, and the connecting rod 1-4 is provided with a bent portion at the end corresponding to the crank 4-3, which can effectively prevent the crank 4-3 from being deflected too much and causing the connecting rod 1-4 and the crank 4-3 to be accidentally stuck.

[0035] In embodiment 4, in combination with Fig. 1, a symmetrical connecting rod servo driving device is provided, based on any one of embodiments 1 to 3, an opening is arranged at one end of the housing 1-1 away from the rudder shaft rocker mechanism 4, an end cover 1-5 is arranged at a position corresponding to the opening, lubricating grease can be injected into the housing 1-1 through the end cover 1-5, and the stability and smoothness of the operation of the driving mechanism 1 are ensured; one end of the lead screw 1-2 is rotatably connected to the end cover 1-5 through an angular contact ball bearing 1-6, the end cover 1-5 is provided with a gasket for eliminating the assembly gap of the angular contact ball bearing 1-6 at a position corresponding to the angular contact ball bearing 1-6, the axial play of the lead screw 1-2 can be effectively eliminated, the transmission accuracy of the driving mechanism 1 is effectively improved, and the rotation accuracy of the rudder shaft 4-2 is further improved; further, the seat body 4-1 is provided with an angle encoder for monitoring the rotation angle of the rudder shaft 4-2, the rotation angle of the rudder shaft 4-2 is monitored in real time through the angle encoder, and is fed back to a control system, and the rotation accuracy of the rudder shaft 4-2 is further improved.

[0036] The parts of the application not described in detail are prior art, and it is obvious for those skilled in the art that the application is not limited to the details of the above exemplary embodiments, and the application can be implemented in other specific forms without departing from the spirit or essential characteristics of the application; therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and all changes falling within the meaning and scope of the equivalent elements are intended to be included in the application.

Claims

1. A symmetrical link servo drive characterized by: The utility model provides a rudder shaft rocker mechanism, drive mechanism, motor and gear reduction mechanism, the output shaft of motor is drivenly connected with gear reduction mechanism, the side away from motor of gear reduction mechanism is equipped with rudder shaft rocker mechanism, rudder shaft rocker mechanism includes seat body, the inner chamber rotation of seat body is connected with rudder shaft, and the shaft body of rudder shaft is equipped with crank, the inner chamber bottom of seat body is equipped with the self locking mechanism (5) of the locking rudder shaft, one side of motor is equipped with drive mechanism, drive mechanism includes shell, the rotation of shell is connected with lead screw, and the output gear of gear reduction mechanism is correspondingly drivenly connected with lead screw, and the rod body of lead screw is threadedly connected with the nut (1-3) of the sliding fit of shell, and the both sides of nut are hinged with connecting rod, and the other end of two connecting rods is correspondingly hinged with crank.

2. The symmetrical link servo drive of claim 1, wherein: The self locking mechanism (5) includes the locking disc (5-1) coaxial fastening connection with rudder shaft, and the locking sleeve (5-2) coaxial activity sleeve of rudder shaft, and the one end of locking sleeve is equipped with the guide flanging of horn shape corresponding locking disc, and the disc surface is equipped with a plurality of gaps along the interval of locking disc, and the hinge of gap is connected with friction block, and the position of friction block and locking disc corresponding hinge is equipped with the torsion spring for making friction block deflection and extending locking disc, and the adjacent two friction blocks are oppositely arranged, and the one end fastening connection of seat body is equipped with the electromagnet (5-6) of the locking sleeve (5-2) away from locking disc along rudder shaft corresponding locking sleeve away from locking disc, and the fixed sleeve of electromagnet is inserted into locking sleeve, and the inner wall of locking sleeve and the inner wall of fixed sleeve are slidably connected through spline, and the reset spring (5-7) for making locking sleeve reset and locking rudder shaft is arranged between locking sleeve and electromagnet.

3. The symmetrical link servo drive of claim 2, wherein: The disc surface of friction block (5-3) is equipped with arc slot (5-4), and the position of locking disc (5-1) corresponding arc slot is equipped with the limiting pin (5-5) for limiting the deflection angle of friction block (5-3).

4. The symmetrical link servo drive of claim 2, wherein: The one end of rudder shaft (4-2) corresponding the gap of locking disc (5-1) is sleeved with pressure disc (5-8), and is threadedly connected with locking nut (5-9) for pressing pressure disc (5-8).

5. The symmetrical link servo drive of claim 1, wherein: The one end of connecting rod (1-4) corresponding crank (4-3) is equipped with the bending part.

6. The symmetrical link servo drive of claim 1, wherein: The one end of shell (1-1) away from rudder shaft rocker mechanism is equipped with opening, and the end cover (1-5) is installed corresponding the position of opening.

7. A symmetrical link servo drive as claimed in claim 6, characterized in that: One end of the lead screw (1-2) is rotatably connected to the end cover (1-5) through the angular contact ball bearing (1-6), and the end cover (1-5) is provided with a gasket corresponding to the position of the angular contact ball bearing (1-6) to eliminate the assembly gap of the angular contact ball bearing (1-6).

8. The symmetrical link servo drive of claim 1, wherein: An angle encoder is arranged in the seat body (4-1) to monitor the rotation angle of the rudder shaft (4-2).

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