CN114838629A - Ball screw type gas rudder servo mechanism - Google Patents
Ball screw type gas rudder servo mechanism Download PDFInfo
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- CN114838629A CN114838629A CN202210405907.0A CN202210405907A CN114838629A CN 114838629 A CN114838629 A CN 114838629A CN 202210405907 A CN202210405907 A CN 202210405907A CN 114838629 A CN114838629 A CN 114838629A
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- rudder
- ball screw
- servo
- shifting fork
- shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/62—Steering by movement of flight surfaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Fluid Mechanics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a thrust vector controlled ball screw type gas rudder servo mechanism, which consists of a plurality of servo units, wherein the servo units are arranged around the inner wall of a gas rudder cabin, the output end of each servo unit extends out of the tail end face of the gas rudder cabin and then is connected with a rudder piece, each servo unit comprises a servo motor, a ball screw transmission mechanism, a fixing frame, a shifting fork mechanism, a rudder shaft and an angle sensor, the servo motor is connected with the ball screw through a coupler, the ball screw converts the rotary motion into the linear motion of a screw nut, and the screw nut is rigidly connected with the shifting fork mechanism through a slide block to drive the rudder piece mechanism to deflect. The invention has compact structure, small volume, higher precision and transmission stability, monitors the deflection angle of the rudder sheet in real time through the angle sensor, feeds back the deflection angle to the servo motor controller to realize the closed-loop control of the gas rudder servo system, reduces the influence of interference on the deflection angle of the rudder sheet and greatly improves the control precision of the system.
Description
Technical Field
The invention belongs to the technical field of steering engines, and particularly relates to a ball screw type gas rudder servo mechanism.
Background
The gas rudder steering engine system is a key mechanism for realizing large attack angle thrust vector control of the missile, and the existing gas rudder steering engine system generally adopts an electric steering engine because the electric steering engine has the advantages of high reliability, simplicity and convenience in use and maintenance, lower difficulty in manufacturing, assembly and adjustment and the like. The mechanical structure design is one of the difficulties in the design of the electric steering engine, and the speed reduction transmission mechanism of the electric steering engine not only requires small friction, small clearance and small volume, but also requires the characteristics of small high and low temperature deformation and the like. The most used electric steering engine at present is a gear transmission mechanism, although various gear mechanisms can realize arbitrary design of parameters and large transmission ratio, the clearance is large, the weight and the volume are large, the transmission links are multiple, the nonlinear factors are multiple, and the overall structure requirement of a small missile is not met. In addition, in the actual working process of the gas rudder, the rudder sheet can be subjected to larger hinge moment, great interference is caused to the control of the rudder sheet, and due to the limitation of space, few gas rudders are provided with real-time monitoring devices of the rudder sheet angle, so that the control precision of the system is limited.
Disclosure of Invention
The invention provides a ball screw type gas rudder servo mechanism which takes a ball screw transmission mechanism as a speed reduction transmission mechanism and has the functions of monitoring the rudder piece angle in real time and feeding back.
The technical solution for realizing the invention is as follows: the utility model provides a ball screw formula gas rudder servo, constitute by a plurality of servo unit, a plurality of servo unit encircles the inner wall arrangement in gas rudder cabin, connect a slice rudder piece behind every servo unit's output stretches out gas rudder cabin tail end face, servo unit includes servo motor, ball screw drive mechanism, the mount, fork mechanism, rudder axle and angle sensor, servo motor's output shaft and ball screw drive mechanism's one end directly link through the shaft coupling, servo motor drives ball screw drive mechanism synchronous rotation, ball screw drive mechanism links firmly with fork mechanism's one end again, fork mechanism's the other end passes through the rudder piece of rudder axle connection, realize fork mechanism and stir the rudder piece and deflect, angle sensor sets up on the rudder axle, servo motor and ball screw drive mechanism pass through the mount and fix at gas rudder cabin inner wall.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the transmission mode of the ball screw pair is adopted, so that the gas vane has small clearance, high precision, small volume and compact structure, and the transmission reliability and stability are improved by adopting the guide rail.
(2) The designed servo mechanism can independently control the deflection of the rudder sheet, can be used for driving and controlling any rudder sheet, and greatly improves the integration level and the flexibility of missile design.
(3) In consideration of the high-temperature working environment of the gas rudder, heat insulation measures are taken between the rudder sheet and the rudder shaft, and the working failure of mechanical parts at high temperature is effectively prevented.
(4) The deflection angle of the rudder sheet is monitored in real time by using the angle sensor, the occupied space is small, the angle sensor feeds data back to the motor controller, closed-loop control of a gas rudder servo system can be realized, the influence of interference on the deflection angle of the rudder sheet is reduced, and therefore the control precision of the system is greatly improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the ball screw type rudder servo mechanism of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the steering engine of the ball screw type gas rudder servo mechanism.
Fig. 3 is a schematic view of the transmission structure of the ball screw type gas rudder servo mechanism of the invention.
Fig. 4 is a schematic structural view of a fixing frame of the ball screw type gas vane servo mechanism of the present invention.
Fig. 5 is a half-section schematic view of a rudder shaft rudder piece of the ball screw type gas rudder servo mechanism.
Fig. 6 is a schematic view showing the installation of the angle sensor of the ball screw type rudder servo mechanism according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "connected," "secured," and the like are to be construed broadly, e.g., "secured" may be fixedly connected, releasably connected, or integral; "connected" may be mechanically or electrically connected. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the scope of the claimed invention.
The following further introduces specific embodiments, technical difficulties and inventions of the present invention with reference to the design examples.
With reference to fig. 1 to 6, the ball screw type gas rudder servo mechanism according to the present invention is composed of a plurality of servo units, the plurality of servo units are arranged around the inner wall of the gas rudder cabin 1, the output end of each servo unit extends out of the tail end face of the gas rudder cabin 1 and is connected with a rudder piece 16, the servo units include a servo motor 2, a ball screw transmission mechanism and a fixing frame 12, the gas rudder comprises a shifting fork mechanism, a rudder shaft 17 and an angle sensor 22, wherein an output shaft of a servo motor 2 is directly connected with one end of a ball screw transmission mechanism through a coupler 3, the servo motor 2 drives the ball screw transmission mechanism to synchronously rotate, the ball screw transmission mechanism is fixedly connected with one end of the shifting fork mechanism, the other end of the shifting fork mechanism is connected with a rudder piece 16 through the rudder shaft 17, the shifting fork mechanism shifts the rudder piece 16 to deflect, and the servo motor 2 and the ball screw transmission mechanism are fixed on the inner wall of a gas rudder cabin 1 through a fixing frame 12.
Combine fig. 3 and fig. 4, ball drive mechanism includes gland 4, lead screw fixing base 5, lead screw supporting seat 6, ball 7, first guide rail 9, second guide rail 10 and slider 11, and lead screw fixing base 5 and the parallel interval setting of lead screw supporting seat 6 all link firmly with mount 12 inboard, first guide rail 9, ball 7, the parallel setting of second guide rail 10, ball 7 links firmly with shaft coupling 3 behind the gland 4 that is located 5 preceding terminal surfaces of lead screw fixing base, and slider 11 sets up simultaneously on first guide rail 9 and second guide rail 10, and slider 11 links firmly with the screw nut 8 on the ball 7.
The shifting fork mechanism comprises an actuating rod 13, a pin shaft 14 and a shifting fork 15, one end of the actuating rod 13 is fixedly connected with the sliding block 11, the other end of the actuating rod and the shifting fork 15 form a revolute pair through the pin shaft 14, the shifting fork 15 does not interfere with the lead screw supporting seat 6 during movement, one end of a rudder shaft 17 is fixedly connected with a rudder piece 16, the other end of the rudder shaft is fixed on the shifting fork 15, and the end part of the rudder shaft extends out of the shifting fork 15 and then is connected with an angle sensor 22 through a shaft sleeve 21.
With reference to fig. 5 and 6, the ball screw type gas rudder servo mechanism further comprises a graphite layer 18, a high silica phenolic gasket 19 and a pressing plate 20, a circular groove is formed in the bottom surface of the rudder piece 16, a protrusion is arranged in the circular groove, the graphite layer 18 is filled in the circular groove, a groove is formed in the top surface of one end of the rudder shaft 17, and the protrusion of the rudder piece 16 is matched with the groove of the rudder shaft 17 in a limiting manner and is fixed through the pressing plate 20. A high silica phenolic gasket 19 is arranged between the bottom surface of the rudder sheet 16 and the top surface of the rudder shaft 17.
The rudder sheet 16 is made of a tungsten copper infiltrated material resistant to heat ablation, and the graphite layer 18 and the high-silica phenolic gasket 19 play a role in heat insulation, so that the failure of mechanical parts in a high-temperature working environment is avoided, and the normal work of the rudder steering engine is ensured.
The fixing frame 12 comprises a U-shaped frame 12-1 and a pressing plate 12-2, the opening end of the U-shaped frame 12-1 faces the rudder piece 16, the pressing plate 12-2 is fixed on the top surface of the opening end of the U-shaped frame 12-1, the bottom surface of the U-shaped frame 12-1 is fixedly connected with the inner wall of the gas rudder cabin 1, a motor mounting hole is formed in the center of the sealing end of the U-shaped frame 12-1, the servo motor 2 is fixed in the motor mounting hole of the U-shaped frame 12-1 through screws, and the top surfaces of the lead screw fixing seat 5 and the lead screw supporting seat 6 are fixedly connected with the inner side surface of the pressing plate 12-2 through screws respectively so as to ensure the coaxiality of the installation of the ball lead screw 7 and the servo motor 2.
With reference to fig. 6 and fig. 1, the ball screw type gas rudder servo mechanism further includes a rudder shaft protective housing 23, and the rudder shaft protective housing 23 is fixed at the tail of the gas rudder nacelle 1 and plays a role in supporting and protecting the rudder shaft 17.
The working process of the system is described by taking the non-zero deflection angle of the rudder sheet of the gas rudder as an example:
in the embodiment of fig. 1, the four sets of rudder pieces 16 are in a cross-shaped layout, and the four sets of rudder pieces are independent from each other, so that the pitch, yaw and roll of the missile can be realized through differential motion and follow-up motion. When the gas rudder piece 16 needs to deflect by a certain angle, an angle instruction is sent to the servo motor 2, the servo motor 2 rotates to enable the ball screw 7 directly connected with the servo motor 2 through the coupler 3 to synchronously rotate, the rotary motion of the ball screw 7 is converted into the linear motion of the screw nut 8, and the screw nut 8 drives the sliding block 11 to synchronously linearly move; the sliding block 11 is slidably supported through the first guide rail 9 and the second guide rail 10, so that the ball screw 7 is prevented from bearing extra bending torque, and the stability and the reliability of transmission are ensured. One end of the actuating rod 13 is fixedly connected with the sliding block 11 and is parallel to the axis of the ball screw 7, so that the axial displacement of the actuating rod 13 relative to the sliding block 11 is limited; the other end of the actuating rod 13 is rotatably connected with the shifting fork 15 by a pin shaft 14, the slide block 11 drives the actuating rod 13 to push the shifting fork 15 to swing along the axial direction, and the actuating rod 13 does not interfere with the screw rod support seat 6. Driven by the pin shaft 14, the shifting fork 15, the rudder shaft 17 and the rudder piece 16 synchronously rotate; the angle sensor 22 is used for monitoring the deflection angle of the rudder piece 16 in real time, continuously feeding back data in the working process of the gas rudder, adjusting an angle instruction to the servo motor 2 according to the feedback data, compensating the influence of interference on the deflection angle of the rudder piece 16, and correcting the deflection error of the rudder piece 16, thereby realizing the closed-loop control of a gas rudder servo system and greatly improving the control precision of the system. Therefore, the ball screw type gas rudder servo mechanism is used for controlling the rotation of the gas rudder blade.
Claims (8)
1. The utility model provides a ball screw formula rudder servo mechanism which characterized in that: the gas rudder cabin comprises a plurality of servo units, the servo units are arranged around the inner wall of the gas rudder cabin (1), the output end of each servo unit extends out of the tail end face of the gas rudder cabin (1) and then is connected with a rudder piece (16), each servo unit comprises a servo motor (2), a ball screw transmission mechanism, a fixing frame (12), a shifting fork mechanism, a rudder shaft (17) and an angle sensor (22), the output shaft of each servo motor (2) is directly connected with one end of each ball screw transmission mechanism through a coupler (3), each servo motor (2) drives each ball screw transmission mechanism to synchronously rotate, each ball screw transmission mechanism is fixedly connected with one end of each shifting fork mechanism, the other end of each shifting fork mechanism is connected with the rudder piece (16) through the rudder shaft (17), the fact that the shifting fork mechanism shifts the rudder piece (16) to deflect is achieved, the angle sensor (22) is arranged on the rudder shaft (17), and the servo motors (2) and the ball screw transmission mechanisms are fixed on the inner wall of the gas rudder cabin (1) through the fixing frames (12).
2. The ball screw type rudder servo mechanism according to claim 1, wherein: the ball screw transmission mechanism comprises a gland (4), a screw fixing seat (5), a screw supporting seat (6), a ball screw (7), a first guide rail (9), a second guide rail (10) and a sliding block (11), wherein the screw fixing seat (5) and the screw supporting seat (6) are arranged at intervals in parallel and are fixedly connected with the inner side of a fixing frame (12), the first guide rail (9), the ball screw (7) and the second guide rail (10) are arranged in parallel, the ball screw (7) penetrates through the gland (4) on the front end face of the screw fixing seat (5) and then is fixedly connected with a coupler (3), the sliding block (11) is simultaneously arranged on the first guide rail (9) and the second guide rail (10), and the sliding block (11) is fixedly connected with a screw nut (8) on the ball screw (7).
3. The ball screw type rudder servo according to claim 2, wherein: the shifting fork mechanism comprises an actuating rod (13), a pin shaft (14) and a shifting fork (15), one end of the actuating rod (13) is fixedly connected with the sliding block (11), the other end of the actuating rod and the shifting fork (15) form a revolute pair through the pin shaft (14), the shifting fork (15) does not interfere with the screw rod supporting seat (6) during movement, one end of a rudder shaft (17) is fixedly connected with a rudder piece (16), the other end of the rudder shaft is fixed on the shifting fork (15), and the end portion of the end portion is connected with an angle sensor (22) through a shaft sleeve (21) after extending out of the shifting fork (15).
4. The ball screw type rudder servo mechanism according to claim 3, wherein: the fixing frame (12) comprises a U-shaped frame (12-1) and a pressing plate (12-2), the opening end of the U-shaped frame (12-1) faces the rudder piece (16), the pressing plate (12-2) is fixed on the top surface of the opening end of the U-shaped frame (12-1), the bottom surface of the U-shaped frame (12-1) is fixedly connected with the inner wall of the gas rudder cabin (1), a motor mounting hole is formed in the center of the sealing end of the U-shaped frame (12-1), the servo motor (2) is fixed in the motor mounting hole of the U-shaped frame (12-1) through screws, and the top surfaces of the lead screw fixing seat (5) and the lead screw supporting seat (6) are fixedly connected with the inner side surface of the pressing plate (12-2) so as to guarantee the coaxiality of installation of the ball lead screw (7) and the servo motor (2).
5. The ball screw type rudder servo mechanism according to claim 4, wherein: still include graphite layer (18) and clamp plate (20), rudder piece (16) bottom surface is opened there is the circular slot, sets up a arch in the circular slot to pack graphite layer (18) in the circular slot, rudder axle (17) one end top surface is equipped with the recess, and the arch of rudder piece (16) is spacing with rudder axle (17) recess cooperation, and is fixed through clamp plate (20).
6. The ball screw type rudder servo mechanism according to claim 5, wherein: and the high-silica phenolic gasket (19) is arranged between the bottom surface of the rudder sheet (16) and the top surface of the rudder shaft (17).
7. The ball screw type rudder servo mechanism according to claim 6, wherein: the rudder blade (16) is made of tungsten copper which is resistant to thermal ablation.
8. The ball screw type rudder servo mechanism according to claim 7, wherein: the gas rudder engine room further comprises a rudder shaft protective shell (23), wherein the rudder shaft protective shell (23) is fixed at the tail of the gas rudder engine room (1) and plays a role in supporting and protecting the rudder shaft (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210405907.0A CN114838629A (en) | 2022-04-18 | 2022-04-18 | Ball screw type gas rudder servo mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210405907.0A CN114838629A (en) | 2022-04-18 | 2022-04-18 | Ball screw type gas rudder servo mechanism |
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| CN114838629A true CN114838629A (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210405907.0A Pending CN114838629A (en) | 2022-04-18 | 2022-04-18 | Ball screw type gas rudder servo mechanism |
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Citations (6)
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| JP2003232699A (en) * | 2002-02-12 | 2003-08-22 | Tech Res & Dev Inst Of Japan Def Agency | Dynamic wind testing model having rudder surface driving mechanism |
| CN103231797A (en) * | 2013-04-18 | 2013-08-07 | 中国科学院长春光学精密机械与物理研究所 | Four-axle-linkage electric steering engine |
| CN106976550A (en) * | 2017-03-09 | 2017-07-25 | 南京理工大学 | A kind of aircraft gas rudder and airvane link gear |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN108945420A (en) * | 2018-08-15 | 2018-12-07 | 东北大学 | A kind of four axis tilting rotor mechanisms and method of verting based on unmanned plane |
| CN113865447A (en) * | 2021-08-26 | 2021-12-31 | 南京理工大学 | Motor-driven gas rudder servo control mechanism testing device |
-
2022
- 2022-04-18 CN CN202210405907.0A patent/CN114838629A/en active Pending
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| JP2003232699A (en) * | 2002-02-12 | 2003-08-22 | Tech Res & Dev Inst Of Japan Def Agency | Dynamic wind testing model having rudder surface driving mechanism |
| CN103231797A (en) * | 2013-04-18 | 2013-08-07 | 中国科学院长春光学精密机械与物理研究所 | Four-axle-linkage electric steering engine |
| CN106976550A (en) * | 2017-03-09 | 2017-07-25 | 南京理工大学 | A kind of aircraft gas rudder and airvane link gear |
| CN108286918A (en) * | 2017-12-29 | 2018-07-17 | 中国航天空气动力技术研究院 | A kind of how shaft-driven annular rudder control unit |
| CN108945420A (en) * | 2018-08-15 | 2018-12-07 | 东北大学 | A kind of four axis tilting rotor mechanisms and method of verting based on unmanned plane |
| CN113865447A (en) * | 2021-08-26 | 2021-12-31 | 南京理工大学 | Motor-driven gas rudder servo control mechanism testing device |
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