CN113507185A - Dual-redundancy high-power series thrust vector servo mechanism - Google Patents
Dual-redundancy high-power series thrust vector servo mechanism Download PDFInfo
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- CN113507185A CN113507185A CN202110829730.2A CN202110829730A CN113507185A CN 113507185 A CN113507185 A CN 113507185A CN 202110829730 A CN202110829730 A CN 202110829730A CN 113507185 A CN113507185 A CN 113507185A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
- H02K5/1732—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings radially supporting the rotary shaft at both ends of the rotor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Transmission Devices (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a dual-redundancy high-power series thrust vector servo mechanism which comprises a rear lug, a locking nut, a sleeve, an actuator end cover, a retainer, a roller, an inner gear ring, a lead screw bearing, a motor, an upper shell, a brake, a rotary transformer, a front lug, a copper sleeve sealing ring, a copper sleeve, a screw rod, a main shell, a motor bearing, a motor end cover, a rotary transformer support, a check ring, a nut, a connector support, a connector, a motor adjusting cover, a potentiometer cover plate and a potentiometer. The servo motor is driven to rotate by an electric signal, the speed is reduced through the gear, the roller screw rod is driven to rotate, the rotary motion is converted into the linear motion of the nut through the transmission of the roller, and the engine is pushed to swing. The servo mechanism has the advantages of high power density, good dynamic performance, flexible operation of cold and hot backup, high reliability, high transmission precision, and larger bearing capacity and axial rigidity.
Description
Technical Field
The invention relates to the technical field of electromechanical actuators, in particular to a redundancy electromechanical actuator.
Background
In order to improve the reliability of the electromechanical actuator, the research on the redundancy control system in the large foreign aerospace industry countries has been tried from concept research, principle, test and verification, and has gone up to the use stage of batch production service. The redundancy technology is a design method for increasing multiple resources for a system, including repeated configuration of hardware and software, so as to realize reasonable management of the multiple resources, thereby improving the reliability of products and systems. The research work in the aspect of China starts late, although a large amount of research work is carried out and the research redundancy electromechanical actuator is verified and tried, the redundancy electromechanical actuator system still has a large amount of problems at present and needs to be subjected to theoretical analysis and experimental research.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a dual-redundancy high-power series thrust vector servo mechanism which has the advantages of high power density, good dynamic performance, flexible operation of cold and hot backup, high reliability, high transmission precision, larger bearing capacity and larger axial rigidity.
A dual-redundancy high-power series thrust vector servo mechanism comprises a planetary roller screw pair, a motor assembly, a shell assembly, a potentiometer 28, a connector 25, a front lug 13 and a locking nut 2;
the planetary roller screw pair comprises a roller 6, a sleeve 3, a retainer ring 22, a retainer 5, a gear ring, a nut 23, a screw and a screw bearing 8;
the motor assembly comprises a motor 9, a motor bearing 19, a brake, a rotary transformer, a brake support and a rotary transformer support; two motors 9 are symmetrically and thermally arranged on a motor shell 18; the outgoing lines of the two motors 9 are directed to a symmetrical plane through the guide keys on the motors 9 and the key slots on the inner wall of the shell; the two ends of a motor shaft are supported through a pair of deep groove ball bearings, a brake support and a brake are sequentially installed along the axis of the motor, the brake support is installed on the main shell 17 and matched with a motor bearing 19, the stator part of the brake is installed on the support, and the rotating part is axially positioned through a shaft stopper; a rotary transformer support and a rotary transformer are sequentially installed along the axis of the motor, the rotary transformer support is fixed on the brake support, and the rotary transformer is installed on the support;
the shell component comprises a rear lug 1, an upper shell, a motor shell 18, a main shell 17, a copper bush 15, a copper bush sealing ring 14, a copper bush end cover, a motor adjusting cover 26, a potentiometer cover plate 27 and a connector support 24; the knuckle bearing is pressed into the groove of the rear lug 1 in an interference manner, and the upper shell and the rear lug 1 are sequentially arranged on the motor shell 18; the copper bush 15 is pressed into a corresponding groove on the main shell 17 in an interference manner;
the planetary roller screw pair is arranged in the main shell 17 through bearing centering and key groove guiding, one end of the planetary roller screw pair is supported by a bearing, and the other end of the planetary roller screw pair is supported by a copper sleeve 15; the planetary roller screw pair is assembled with the main shell 17 into a whole and then is installed with the motor shell 18, so that the screw gear is meshed with the gears of the two motors 9; the linear potentiometer 28 is arranged in a corresponding groove of the main shell 17, and a slide sheet is embedded into a guide key of the lead screw nut; the motor adjusting cover 26, the potentiometer cover plate 27, the connector bracket 24 and the connector 25 are arranged on the shell through screws, the joint bearing presses the front support lug, and the locking nut 2 is screwed on the stud of the front support lug; the connector 25 serves as a signal input/output terminal of the servo mechanism and is used for receiving commands of the controller and providing feedback.
Further, in the motor assembly, a motor stator adopts optimal pole slot matching and fractional slot concentrated winding, and is made of amorphous alloy iron core materials; the motor rotor adopts a T-shaped embedded rotor magnetic circuit structure.
Furthermore, in the shell assembly, the copper bush 15 is a sliding bearing of the sleeve 3, an oil storage groove is formed in the inner wall of the copper bush 15 and used for storing lubricating oil, and a sealing ring is used for sealing the lubricating oil; the copper bush 15 is axially positioned through the copper bush end cover; the motor adjustment cover 26 is located at the axial end of the motor shaft; the main housing 17 is provided with a groove for mounting the potentiometer 28, and the potentiometer 28 is covered in the groove by a potentiometer cover plate 27.
Furthermore, the matching part of the rear lug 1 and the engine interface adopts an arc structure.
Further, the potentiometer 28 is installed at the end of the roller 6 screw nut, and linear displacement of the screw is collected and fed back to the driving controller to realize position closed-loop control.
Compared with the prior art, the invention has the beneficial effects that:
the dual-redundancy high-power series thrust vector servo mechanism provided by the invention adopts a redundant design of dual-motor parallel drive, so that the power density of the system is effectively improved. Through the transmission form of the force synthesis mechanism and the planetary roller screw rod, the system can flexibly use hot backup and cold backup. In addition, the redundancy design can also ensure that the system can still normally operate under the condition that one motor reports faults, and the reliability of the system is effectively improved.
Compared with the existing planetary roller screw pair, the planetary roller screw pair is a novel light integrated planetary roller screw structure and comprises rollers, a sleeve, a retainer ring, a retainer, a gear ring, a nut and a screw. The gears and the inner gear rings at the two ends of the roller are designed into the height-modified gears, so that the meshing effect of the gears is effectively improved, and the roller gears are prevented from interfering with the screw rod. A five-section type roller thread pitch diameter modification design method is adopted for the roller threads, and the bearing capacity and the axial rigidity of the planetary roller screw are effectively improved. The method for quickly forming the precise threads made of the high-hardness material solves the problems of high-efficiency and high-precision machining of the transmission threads by using a hard turning technology of a PCBN cutter, reduces the cost by turning instead of grinding, and improves the production efficiency. The integrated design of the lead screw and the gear improves the reliability of transmission. The modification design of the lead screw roller path improves the transmission efficiency and precision. The modular nut assembly design provides good versatility to the nut assembly.
The motor component is a permanent magnet synchronous motor, and compared with the existing permanent magnet synchronous motor, the motor stator design technology of the invention adopts the optimal pole slot matching and fractional slot concentrated winding technology, thereby realizing small size and light weight; the amorphous alloy iron core material is adopted to carry out high-voltage low-loss stator design, and the iron loss is reduced by 80%. The motor rotor design technology adopts a T-shaped embedded rotor magnetic circuit structure, so that the torque output capacity is improved by 30%; by designing the cosine curved surface high magnetic energy product samarium cobalt permanent magnet, the working current and the loss are reduced. By adopting a method combining analytical calculation and finite element simulation, comprehensive optimization design is carried out by taking power density, overload multiple and rotational inertia as optimization targets, and the power density and dynamic performance of the motor are improved.
The brake can effectively ensure that the servo mechanism is kept unchanged at a zero position in the transportation process, and the rotary transformer can accurately identify the rotary position information of the motor, so that the system is closed to achieve the aim of accurate control.
According to the invention, accumulated errors such as machining errors of structural parts, assembly errors of the structural parts and the engine are fully considered, the front and rear lug mounting interfaces of the servo mechanism can be self-adapted to the existing assembly environment in a structural design mode on the premise that the errors cannot be avoided, and the smooth assembly of the servo mechanism is ensured by adopting a joint bearing and line-surface matching mode.
Drawings
FIG. 1 is a schematic diagram of a dual-redundancy high-power series thrust vector servo mechanism of the present invention;
FIG. 2 is a schematic diagram of a planetary roller screw of the dual-redundancy high-power series thrust vector servo mechanism of the present invention;
FIG. 3 is an isometric view of the housing of the dual-redundancy high-power series thrust vector servo of the present invention;
FIG. 4 is a cross-sectional view of a potentiometer of the dual-redundancy high-power series thrust vector servo mechanism of the present invention.
In the figure: 1 rear lug, 2 locknuts, 3 sleeves, 4 actuator end covers, 5 retainers, 6 rollers, 7 inner gear rings, 8 lead screw bearings, 9 motors, 10 upper shells, 11 brakes, 12 rotary transformers, 13 front lugs, 14 copper sleeve sealing rings, 15 copper sleeves, 16 screw rods, 17 main shells, 18 motor shells, 19 motor bearings, 20 motor end covers, 21 rotary variable supports, 22 retainer rings, 23 nuts, 24 connector supports, 25 connectors, 26 motor adjusting covers, 27 potentiometer cover plates and 28 potentiometers
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in the attached figures 1-4, the dual-redundancy high-power series thrust vector servo mechanism comprises a planetary roller 6 screw rod pair, a motor assembly, a shell assembly, a potentiometer 28, a connector 25, a front lug 13 and a locking nut 2. The motor assembly comprises a motor 9, a motor bearing 19, a brake 11, a rotary transformer 12, a brake 11 support and a rotary transformer support. The two motors 9 are symmetrically and thermally arranged on the motor shell 18, and are guided by the guide keys on the motors 9 and the key grooves on the inner wall of the shell, so that the outgoing line directions of the two motors 9 face to a symmetrical plane. Two ends of the motor shaft are supported by a pair of deep groove ball bearings. The brake 11 support and the brake 11 are sequentially installed along the axis of the motor, the brake 11 support is installed on the main shell 17 through screws and matched with a motor bearing 19, the stator part of the brake 11 is installed on the support through screws, and the rotating part is axially positioned through a shaft stopper. And continuously and sequentially installing a rotary transformer support and a rotary transformer 12 along the axis of the motor, wherein the rotary transformer support is fixed on the brake 11 support through screws, and the rotary transformer 12 is installed on the support through a pressing block. To this end, the complete installation of the motor assembly is accomplished in reliance upon motor housing 18.
The planetary roller 6 screw pair comprises a roller 6, a sleeve 3, a retainer ring 22, a retainer 5, a gear ring, a nut 23, a screw and a screw bearing 8. The specific embodiment of the planetary roller 6 screw pair is well known to those skilled in the art and will not be described in detail herein. The shell assembly comprises a rear support lug 1, an upper shell 10, a motor shell 18, a main shell 17, a copper bush 15, a copper bush sealing ring 14, a copper bush end cover, a motor adjusting cover 26, a potentiometer cover plate 27 and a connector support 24. The knuckle bearing is pressed into the groove of the rear support lug 1 in an interference mode, the upper shell 10 and the rear support lug 1 are sequentially installed on the motor shell 18 through screws, and the relative position relation between the shells is accurately controlled through the positioning pins. And pressing the copper bush 15 into a corresponding groove on the main shell 17 in an interference manner, and completing the installation of the copper bush sealing ring 14 and the copper bush end cover. The planetary roller screw pair 6 is centered by a bearing and is installed in the main shell 17 through key groove guiding, one end of the planetary roller screw pair 6 is supported by the bearing, and the other end is supported by a copper sleeve. The planetary roller screw pair is assembled with the main shell (17) into a whole, the assembly and the motor shell (18) are installed through screws and positioning pins, and the screw gear is meshed with gears of the two motors. The linear potentiometer 28 is mounted in a corresponding slot in the main housing 17 and the slide is inserted into the guide key of the lead screw nut. After the related work such as cable manufacturing and motor zero setting is finished, the motor adjusting cover 26, the potentiometer cover plate 27, the connector bracket 24 and the connector 25 can be installed on the shell through screws, and cover opening inspection can be performed if needed in the debugging process. And pressing the knuckle bearing into the front support lug 13, screwing the locking nut 2 onto a stud of the front support lug 13 in advance, screwing the assembly onto an internal thread at the extending end of the screw rod sleeve 3, and locking the locking nut 2 after adjusting the zero position length of the servo mechanism. And finishing the whole assembly of the dual-redundancy high-power series thrust vector servo mechanism.
The invention comprises a rear support lug 1, a locking nut 2, a sleeve 3, an actuator end cover 4, a retainer 5, a roller 6, an inner gear ring 7, a screw rod bearing 8, a motor, an upper shell 10, a brake 11, a rotary transformer 12, a front support lug 13, a copper bush sealing ring 14, a copper bush 15, a screw rod 16, a main shell 17, a motor shell 18, a motor bearing 19, a motor end cover 20, a rotary transformer support 21, a retainer ring 22, a nut 23, a connector support 24, a connector 25, a motor adjusting cover 26, a potentiometer cover plate 27 and a potentiometer 28. The servo motor is driven to rotate by an electric signal, the speed is reduced through a gear, the roller 6 screw rod is driven to rotate, the rotary motion is converted into the linear motion of the nut 23 through the transmission of the roller 6, and the engine is pushed to swing. The potentiometer 28 is a linear potentiometer and is arranged at the end of a roller 6 screw nut, and linear displacement of the screw is collected and fed back to the driving controller to realize position closed-loop control. The connector 25 serves as a signal input/output terminal of the servo mechanism for receiving commands from the controller and providing feedback.
The planetary roller 6 screw pair is a novel structure of a light integrated planetary roller 6 screw, and comprises a roller 6, a sleeve 3, a retainer ring 22, a retainer 5, a gear ring, a nut 23, a screw and a screw bearing 8. The rollers 6 are engaged with the ring gears mounted at both ends of the nut 23 through the modified gears at both ends, and are mounted on the holder 5 in a circumferentially uniform manner. The gear ring is axially positioned by a retaining ring 22. The sleeve 3 and the nut 23 are screwed together to maintain the same form of movement.
The motor component is a permanent magnet synchronous motor and comprises a motor, a motor bearing 19, a brake 11, a rotary transformer 12, a brake 11 support and a rotary transformer support. The motor assembly has the characteristics of small size, light weight, high torque output capacity, high power density and dynamic performance. The motor stator design technology adopts the optimal pole slot matching and fractional slot concentrated winding technology and selects amorphous alloy iron core materials. The motor rotor design technology adopts a T-shaped embedded rotor magnetic circuit structure, and by designing the cosine curved surface high magnetic energy product samarium cobalt permanent magnet. The motor bearing 19 is used for supporting and fixing the motor, and the outer ring of the motor bearing is pressed into the steel sleeve in an interference mode to prevent the aluminum shell from being greatly deformed and further clamping stagnation in the running process of the bearing. The tail end of the motor shaft is matched with the brake 11 and the rotary transformer 12, the brake 11 is used for ensuring that the motor shaft keeps still in the transportation process and further ensuring that the servo mechanism keeps zero unchanged, and the rotary transformer 12 is used for accurately positioning the rotating position of the motor and further accurately controlling the motor.
The shell assembly comprises a rear lug 1, an upper shell 10, a motor shell 18, a main shell 17, a copper bush 15, a copper bush sealing ring 14, a copper bush end cover, a motor adjusting cover 26, a potentiometer cover plate 27 and a connector support 24. All fix a position through bolted connection and adoption locating pin between the adjacent casing to guarantee the relative position relation of two motor axes and lead screw axis, and then guarantee that the axis that front and back journal stirrup 1 is located is collineated with the lead screw axis, guarantees the installation of servo and engine. The copper bush 15 acts as a sliding bearing for the sleeve 3 to ensure smooth operation of the roller 6 screw. An oil storage tank is arranged on the inner wall of the copper sleeve 15 and used for storing lubricating oil, and a sealing ring is used for sealing the lubricating oil. The copper bush 15 is axially positioned by the copper bush end cap. The motor adjusting cover 26 is located at the axial tail end of the motor shaft, and under the condition that the motor shaft is not electrified, the telescopic length of the servo mechanism can be adjusted by rotating the motor shaft after the motor shaft is opened, so that the trouble that the telescopic length of the lead screw can be adjusted only by integrally disassembling the servo mechanism is avoided. The main housing 17 is provided with a groove for mounting the potentiometer 28, and the potentiometer 28 is covered in the groove by a potentiometer cover plate 27. The connector holder 24 is used to provide support for the connector 25.
The potentiometer 28 is a linear potentiometer, monitors the linear displacement of the roller 6 screw in real time, can feed back the linear displacement to the controller without conversion, improves the reliability of the system, realizes closed-loop control, and effectively improves the overall precision of the servo system.
The front support lug 13 and the rear support lug 1 are used as mechanical interfaces to be assembled with an engine, and inner holes of the front support lug and the rear support lug are pressed into the knuckle bearing by interference so as to adjust the accumulated error of machining and assembly. Particularly, the matching part of the rear support lug 1 and the engine interface adopts an arc structure, and the accumulated error of assembly is adjusted by the contact of a line and a surface, so that smooth installation is ensured. The front lug 13 is mounted to the screw sleeve 3 by means of a screw connection, and the rear lug 1 is connected to the upper housing 10 by means of a bolt as part of the housing assembly.
The locking nuts 2 are composed of thin nuts and thick nuts and are used in pairs, and the screwing position of the front support lug 13 and the screw rod sleeve 3 is fixed and unchanged by the principle of double nut looseness prevention. In particular, the thicker nut has a larger diameter than the thinner nut and serves as a mechanical stop during the retraction movement of the spindle sleeve 3.
When the servo mechanism works, the controller applies an actuating instruction to the servo mechanism, the operation of the motor is controlled to drive the screw gear to operate, the planetary roller 6 is used for reducing the speed of the screw pair and then converting the rotary motion into linear motion, and meanwhile, the torque of the motor is converted into linear force to be output. The cold and hot backups of the two motors can be flexibly operated, the two motors can simultaneously operate and output power when the hot backup works, and the dual-redundancy high-power series thrust vector servo mechanism can realize power confluence, namely can provide double power input for the system, thereby widening the power range of the system; when the cold backup works, one motor is used as a power source, and the other motor keeps following. Under two working modes, when one motor fails due to short circuit, overload and other reasons, the other motor can still keep normal operation so as to ensure normal operation of the system, and the reliability of the system is improved.
The above embodiments are only for explaining and explaining the technical solution of the present invention, but should not be construed as limiting the scope of the claims. It should be clear to those skilled in the art that any simple modification or replacement based on the technical solution of the present invention may be adopted to obtain a new technical solution, which falls within the scope of the present invention.
Claims (5)
1. A dual-redundancy high-power series thrust vector servo mechanism is characterized by comprising a planetary roller screw pair, a motor assembly, a shell assembly, a potentiometer (28), a connector (25), a front lug (13) and a locking nut (2);
the planetary roller screw pair comprises a roller (6), a sleeve (3), a retainer ring (22), a retainer (5), a gear ring, a nut (23), a screw and a screw bearing (8);
the motor assembly comprises a motor (9), a motor bearing (19), a brake, a rotary transformer, a brake support and a rotary transformer support; two motors (9) are symmetrically and thermally arranged on the motor shell (18); the guide is carried out through a guide key on the motors (9) and a key groove on the inner wall of the shell, so that the wire outlet directions of the two motors (9) face to a symmetrical plane; the two ends of a motor shaft are supported through a pair of deep groove ball bearings, a brake support and a brake are sequentially installed along the axis of the motor, the brake support is installed on a main shell (17) and matched with a motor bearing (19), the stator part of the brake is installed on the support, and the rotating part is axially positioned through a shaft stopper; a rotary transformer support and a rotary transformer are sequentially installed along the axis of the motor, the rotary transformer support is fixed on the brake support, and the rotary transformer is installed on the support;
the shell assembly comprises a rear support lug (1), an upper shell, a motor shell (18), a main shell (17), a copper bush (15), a copper bush sealing ring (14), a copper bush end cover, a motor adjusting cover (26), a potentiometer cover plate (27) and a connector support (24); the knuckle bearing is pressed into a groove of the rear support lug (1) in an interference manner, and the upper shell and the rear support lug (1) are sequentially arranged on a motor shell (18); the copper bush (15) is pressed into a corresponding groove on the main shell (17) in an interference manner;
the planetary roller screw pair is arranged in a main shell (17) through bearing centering and key groove guiding, one end of the planetary roller screw pair is supported by a bearing, and the other end of the planetary roller screw pair is supported by a copper sleeve (15); the planetary roller screw pair is assembled with the main shell (17) into a whole, and then is installed with the motor shell (18) to enable the screw gear to be meshed with gears of the two motors (9); the linear potentiometer (28) is arranged in a corresponding groove of the main shell (17), and the sliding sheet is embedded into a guide key of the screw nut; a motor adjusting cover (26), a potentiometer cover plate (27), a connector bracket (24) and a connector (25) are arranged on the shell through screws, a joint bearing presses a front support lug, and a locking nut (2) is screwed on a stud of the front support lug; the connector (25) is used as a signal input and output end of the servo mechanism and is used for receiving commands of the controller and providing feedback.
2. The dual-redundancy high-power series thrust vector servo mechanism of claim 1, wherein in the motor assembly, a motor stator adopts an optimal pole slot fit and fractional slot concentrated winding and is made of amorphous alloy iron core material; the motor rotor adopts a T-shaped embedded rotor magnetic circuit structure.
3. The dual-redundancy high-power series thrust vector servo mechanism is characterized in that in the shell assembly, the copper sleeve (15) is a sliding bearing of the sleeve (3), an oil storage groove is formed in the inner wall of the copper sleeve (15) and used for storing lubricating oil, and a sealing ring is used for sealing the lubricating oil; the copper bush (15) is axially positioned through the copper bush end cover; the motor adjusting cover (26) is positioned at the axial tail end of the motor shaft; the main shell (17) is provided with a groove for installing a potentiometer (28), and the potentiometer (28) is covered in the groove through a potentiometer cover plate (27).
4. The dual-redundancy high-power series thrust vector servo mechanism as claimed in claim 1, wherein the matching part of the rear lug (1) and the engine interface adopts a circular arc structure.
5. The dual-redundancy high-power series thrust vector servo mechanism as claimed in claim 1, wherein the potentiometer (28) is installed at the end of a roller (6) screw nut, and linear displacement of the screw is collected and fed back to a drive controller to realize position closed-loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110829730.2A CN113507185A (en) | 2021-07-22 | 2021-07-22 | Dual-redundancy high-power series thrust vector servo mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110829730.2A CN113507185A (en) | 2021-07-22 | 2021-07-22 | Dual-redundancy high-power series thrust vector servo mechanism |
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| CN202110829730.2A Pending CN113507185A (en) | 2021-07-22 | 2021-07-22 | Dual-redundancy high-power series thrust vector servo mechanism |
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