CN117811298A - Electromechanical actuator - Google Patents
Electromechanical actuator Download PDFInfo
- Publication number
- CN117811298A CN117811298A CN202311837946.9A CN202311837946A CN117811298A CN 117811298 A CN117811298 A CN 117811298A CN 202311837946 A CN202311837946 A CN 202311837946A CN 117811298 A CN117811298 A CN 117811298A
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- rotor
- inner stator
- stator
- shell
- electromechanical actuator
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- 230000009467 reduction Effects 0.000 claims description 17
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 3
- 238000004804 winding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to the technical field of aviation equipment and discloses an electromechanical actuator, which comprises a shell, an outer stator, a rotor, an inner stator, a screw rod, a sleeve and an actuating cylinder, wherein the outer stator is fixed in the shell, the rotor is coaxially inserted into the outer stator, the rotor is provided with a mounting shaft and a rotating shaft, the mounting shaft is rotationally connected with the shell, a first mounting cavity is arranged in the rotor, the inner stator is arranged in the first mounting cavity, the inner stator is coaxially arranged with the rotor and fixedly connected with the shell, the sleeve is fixed at the front end of the shell, the screw rod is coaxially arranged with the rotor and is arranged in the sleeve, the screw rod is connected with the rotating shaft, the actuating cylinder is slidably inserted into the sleeve, and a ball nut in threaded connection with the screw rod is arranged in the actuating cylinder. The invention has high reliability and small overall weight.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to an electromechanical actuator.
Background
With the development of aerospace, multi-electric and all-electric aircrafts gradually become the future development direction, and the electromechanical actuator is used for replacing the traditional hydraulic actuator, so that the electromechanical actuator is used for controlling the vectoring nozzle or the air rudder of the aircrafts to generate six-degree-of-freedom attitude adjustment moment so as to ensure the flying stability of the aircrafts.
In order to ensure the safety of a manned or unmanned aircraft, electromechanical actuators, which are key components for attitude control of the aircraft, are required to have high reliability. Conventional electromechanical actuators have increased actuator reliability through redundancy techniques. Conventional electromechanical actuation systems include two or more redundancy, typically each including an electric motor, a drive system, a fault diagnosis system, a mechanical transmission system, and the like. Redundancy techniques are generally divided into two categories: cold backup and hot backup. Cold backup means that only one redundancy is in operation during operation, when one redundancy fails, the system immediately breaks the failure redundancy, opens the backup redundancy, and the operating power is unchanged. The hot backup means that redundancy works simultaneously when working, when one redundancy fails, the system immediately breaks down the failure redundancy, degrades the work, and reduces the running power by half. However, whether the hot backup or the cold backup is performed, at least two redundancy needs to be set, so that the overall weight of the aircraft is increased, the weight is important to the aircraft, and the lower the weight of the aircraft is, the longer the working time of the aircraft is.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electromechanical actuator with high reliability and small overall weight.
In order to solve the technical problems, the invention provides an electromechanical actuator, which comprises a shell, an outer stator, a rotor, an inner stator, a screw rod, a sleeve and an actuating cylinder, wherein the outer stator is fixed in the shell, the rotor is coaxially inserted into the outer stator, the rotor is provided with a mounting shaft and a rotating shaft, the mounting shaft is rotationally connected with the shell, a first mounting cavity is arranged in the rotor, the inner stator is arranged in the first mounting cavity, the inner stator is coaxially arranged with the rotor and fixedly connected with the shell, the sleeve is fixed at the front end of the shell, the screw rod is coaxially arranged with the rotor and is arranged in the sleeve, the screw rod is connected with the rotating shaft, the actuating cylinder is slidably inserted into the sleeve, and a ball nut in threaded connection with the screw rod is arranged in the actuating cylinder.
As the preferable scheme of the invention, the electromechanical actuator further comprises a speed reducing assembly, the rotating shaft is arranged at the rear end of the first mounting cavity, the inner stator is provided with a central hole, the speed reducing assembly is arranged in the central hole, the speed reducing assembly comprises a gear ring, a sun gear, a planet wheel and a planet carrier, the gear ring is fixedly connected with the inner stator, the sun gear is coaxially arranged in the gear ring, the sun gear is connected with the rotating shaft, the planet wheel is respectively meshed with the gear ring and the sun gear, the planet carrier is arranged at the front end of the sun gear, the rear end of the planet carrier is provided with a connecting shaft connected with the planet wheel, and the front end of the planet carrier is provided with an output shaft coaxially arranged with the sun gear and connected with the screw.
As a preferable mode of the invention, a plurality of speed reducing assemblies are arranged, the plurality of speed reducing assemblies are arranged in sequence from back to front, the output shaft is connected with the sun gear of the first speed reducing assembly, the connecting shaft of the first speed reducing assembly is connected with the sun gear of the next speed reducing assembly, and the output shaft of the last speed reducing assembly is connected with the screw.
As a preferable scheme of the invention, a thrust bearing and a supporting pad are arranged between two adjacent speed reduction assemblies in sequence from back to front, and the output shaft of the former speed reduction assembly passes through the thrust bearing and the supporting pad in sequence and then is connected with the sun gear of the latter speed reduction assembly.
As a preferable scheme of the invention, the mounting shaft is arranged at the rear end of the rotor, the front end of the first mounting cavity is an opening, and the front end of the shell is provided with a connecting piece which extends into the first mounting cavity and is fixedly connected with the inner fixed front end.
As a preferable scheme of the invention, the rear end of the shell is connected with a first earring block, and the front end of the actuator cylinder is connected with a second earring block.
As a preferable scheme of the invention, the rotor comprises a core body and a magnetic steel array, wherein the core body is made of magnetic shielding materials.
As a preferable scheme of the invention, the number of teeth of the gear ring is consistent with the number of stator teeth of the inner stator, and the positions of the tooth bottoms of the gear ring are in one-to-one correspondence with the positions of the stator teeth of the inner stator.
As a preferable aspect of the present invention, the ring gear is integrally formed with the inner stator.
Compared with the prior art, the electromechanical actuator has the beneficial effects that: the outer stator and the inner stator of the invention can respectively cooperate with the rotor so as to drive the rotor to rotate relative to the shell, and the rotating shaft of the rotor can drive the screw to rotate together, so that the ball nut moves relative to the shell along the axial direction of the screw, and the extension or contraction action of the actuating cylinder is realized; when one of the outer stator and the inner stator fails and cannot be used, the other one of the outer stator and the inner stator can still cooperate with the rotor to ensure the normal operation of the rotor, so that the normal operation of the electromechanical actuator is ensured, the reliability is high, and compared with the scheme of arranging two motors, the electromechanical actuator has obviously fewer parts, namely the overall weight of the electromechanical actuator is smaller, and the performance of an aircraft is ensured.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is an internal structural view of the housing of the present invention;
FIG. 4 is a block diagram of a rotor of the present invention;
FIG. 5 is a block diagram of a reduction assembly of the present invention;
FIG. 6 is a block diagram of a planet carrier of the present invention;
FIG. 7 is a schematic view of the positional relationship between the bottom of the teeth of the ring gear and the stator teeth of the inner stator of the present invention;
in the figure, 1, a shell; 11. a first earring block; 2. an outer stator; 3. a rotor; 31. a mounting shaft; 32. a rotating shaft; 33. a first mounting cavity; 4. an inner stator; 41. a central bore; 5. a screw; 6. a sleeve; 61. a ball nut; 7. an actuator cylinder; 71. a second earring block; 8. a deceleration assembly; 81. a gear ring; 82. a sun gear; 83. a planet wheel; 84. a planet carrier; 841. a connecting shaft; 842. an output shaft; 85. a thrust bearing; 86. and a support pad.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 6, an electromechanical actuator according to a preferred embodiment of the present invention includes a housing 1, an outer stator 2, a rotor 3, an inner stator 4, a screw 5, a sleeve 6, and an actuator 7, wherein the outer stator 2 is fixed in the housing 1, the rotor 3 is coaxially inserted into the outer stator 2, the rotor 3 is provided with a mounting shaft 31 and a rotating shaft 32, the mounting shaft 31 and the rotating shaft 32 are respectively coaxially disposed with the outer stator 2, the mounting shaft 31 is rotatably connected with the housing 1, generally, the mounting shaft 31 is rotatably connected with the housing 1 through a bearing, a first mounting cavity 33 is disposed in the interior of the rotor 3, the inner stator 4 is disposed in the first mounting cavity 33, the inner stator 4 is coaxially disposed with the rotor 3 and fixedly connected with the housing 1, it can be understood that the outer stator 2 and the inner stator 4 can respectively cooperate with the rotor 3, so that the rotor 3 rotates relative to the housing 1, the specific principle thereof is that in the prior art, in this embodiment, the inner side of the outer stator 2 is provided with an outer stator 2 winding, the outer magnetic steel corresponding to the outer stator 2 winding is disposed on the outer stator 3, and the inner stator 4 is rotatably disposed with the inner stator winding 4 corresponding to the inner stator 4 after the inner stator 4 is disposed in the first mounting cavity, and the inner stator winding is rotatably disposed with the inner stator winding 4; the sleeve 6 is fixed at the front end of the casing 1, the screw 5 is coaxially arranged with the rotor 3 and is arranged in the sleeve 6, the screw 5 is connected with the rotating shaft 32, the screw 5 is coaxially arranged with the rotating shaft 32, the actuator cylinder 7 is slidably inserted in the sleeve 6, the ball nut 61 in threaded connection with the screw 5 is arranged in the actuator cylinder 7, and generally, the actuator cylinder 7 is coaxially arranged with the screw 5.
The working principle of the embodiment is as follows: the outer stator 2 and the inner stator 4 can respectively cooperate with the rotor 3 to drive the rotor 3 to rotate relative to the shell 1, and as the rotating shaft 32 of the rotor 3 is connected with the screw 5, the rotating shaft 32 drives the screw 5 to rotate together, so that the ball nut 61 moves relative to the shell 1 along the axial direction of the screw 5, and the extension or contraction action of the actuator 7 is realized; the embodiment is provided with the outer stator 2 and the inner stator 4, the outer stator 2 and the inner stator 4 can respectively cooperate with the rotor 3 to drive the rotor 3 to rotate, when one of the outer stator 2 and the inner stator 4 fails and cannot be used, the other of the outer stator 2 and the inner stator 4 can still cooperate with the rotor 3 to ensure the normal operation of the rotor 3, so that the normal operation of the electromechanical actuator is ensured, the reliability is high, and compared with the scheme provided with two motors, the parts of the embodiment are obviously fewer, namely, the overall weight of the electromechanical actuator is smaller, and the performance of an aircraft is ensured.
The conventional electromechanical actuator generally has the characteristic of high rotation speed and low torque, so that a reducer is required to be additionally arranged for transition to obtain the target torque and rotation speed, which inevitably increases the overall weight of the electromechanical actuator, and the electromechanical actuator also comprises a reduction assembly 8, wherein the rotation shaft 32 is arranged at the rear end of the first mounting cavity 33, the inner stator 4 is provided with a central hole 41, the reduction assembly 8 is arranged in the central hole 41, the reduction assembly 8 comprises a gear ring 81, a sun gear 82, a planet gear 83 and a planet carrier 84, the gear ring 81 is fixedly connected with the inner stator 4, the sun gear 82 is coaxially arranged in the gear ring 81, the sun gear 82 is connected with the rotation shaft 32, generally, the sun gear 82 is connected with the rotation shaft 32 through a flat key, the planet gears 83 are respectively meshed with the gear ring 81 and the sun gear 82, three planet gears 83 are uniformly distributed around the axis of the sun gear 82, the planet carrier 84 is arranged at the front end of the sun gear 82, the rear end of the planet carrier 84 is provided with a connecting shaft 841 connected with the planet gears 83, namely the planet gears 83 are arranged on the connecting shaft 841, the number of the connecting shaft 841 is consistent with the number of the output shafts 83, and the output shafts of the planet gears 83 are coaxially connected with the planet gears 841 and the sun gear 83 are arranged at the front end of the planet gear shafts 842; the working principle is that the rotating shaft 32 of the rotor 3 drives the sun gear 82 to rotate, the planet gears 83 are respectively meshed with the sun gear 82 and the gear ring 81, and the gear ring 81 is fixedly connected with the inner stator 4, so that the planet gears 83 rotate around the axis of the sun gear 82 to drive the output shaft 842 of the planet carrier 84 to rotate, and the transmission speed reduction is realized through corresponding gears, so that the output shaft 842 has the characteristics of low rotating speed and high torque, the overall equivalent moment of inertia is small, the angular acceleration of the rotating mechanism is proportional to the torque and inversely proportional to the moment of inertia, so that the design has larger angular acceleration, which means that the electromechanical actuator of the design has faster response speed.
Illustratively, a plurality of speed reducing assemblies 8 are provided, the plurality of speed reducing assemblies 8 are sequentially provided from the rear to the front, the output shaft 842 is connected with the sun gear 82 of the first speed reducing assembly 8, the connecting shaft 841 of the first speed reducing assembly 8 is connected with the sun gear 82 of the next speed reducing assembly 8, the output shaft 842 of the last speed reducing assembly 8 is connected with the screw 5, and the plurality of speed reducing assemblies 8 cooperate to increase the speed reducing ratio of the whole system.
Illustratively, a thrust bearing 85 and a supporting pad 86 are sequentially disposed between two adjacent speed reduction assemblies 8 from rear to front, specifically, a rear end face of the thrust bearing 85 is connected with a front end face of a planet carrier 84 of a previous speed reduction assembly 8, a front end face of the thrust bearing 85 is connected with a rear end face of the supporting pad 86, a front end face of the supporting pad 86 is connected with a rear end face of a sun gear 82 of the next speed reduction assembly 8, an output shaft 842 of the previous speed reduction assembly 8 passes through the thrust bearing 85 and the supporting pad 86 in sequence and then is connected with the sun gear 82 of the next speed reduction assembly 8, the thrust bearing 85 is arranged to effectively prevent the speed reduction assembly 8 from axially moving, and the supporting pad 86 is arranged to prevent the sun gear 82 from directly contacting with the thrust bearing 85.
Illustratively, the mounting shaft 31 is disposed at a rear end of the rotor 3, the front end of the first mounting cavity 33 is open, so that the inner stator 4 is conveniently placed in the first mounting cavity 33, and a connecting piece (such as a bolt) extending into the first mounting cavity 33 and fixedly connected to the inner stator front end is disposed at a front end of the casing 1, so that the inner stator 4 is conveniently fixedly connected to the casing 1.
Illustratively, a first ear loop block 11 is connected to the rear end of the housing 1 for mounting and securing the housing 1, and a second ear loop block 71 is connected to the front end of the actuator cylinder 7 for connecting the actuator to a vector nozzle or rudder of an aircraft.
Illustratively, the rotor 3 includes a core body and a magnetic steel array, and the core body is made of magnetic shielding materials, so that a magnetic field at the outer side of the core body and a magnetic field at the inner side of the rotor 3 are isolated from each other, mutual interference between the inner stator 4 and the outer stator 2 is prevented, and normal operation of the device is ensured.
As shown in fig. 7, in particular, the position of the tooth bottom of the gear ring 81 is in one-to-one correspondence with the position of the stator teeth of the inner stator 4, and in contrast, when the position of the tooth bottom of the gear ring 81 is not in one-to-one correspondence with the position of the stator tooth bottom of the inner stator 4, that is, the position of the tooth top of the gear ring 81 is in one-to-one correspondence with the position of the stator tooth slot of the inner stator 4, that is, when the gear ring 81 is made of a magnetically conductive material, the magnetic force lines pass through the gear ring 81 when the inner stator 4 works, and the position of the tooth bottom of the gear ring 81 is just in a position where no magnetic force lines pass through, that is, the magnetic field generated when the gear ring 81 is arranged and the position of the tooth bottom of the gear ring 81 does not affect the inner stator 4 when the position of the tooth bottom of the inner stator 4 is in one-to-one correspondence, the magnetic force lines pass through the position of the tooth bottom of the gear ring 81 when the inner stator 4 works, and the tooth bottom of the gear ring 81 is hollowed out, so that has an influence is caused to the magnetic force lines pass through the tooth bottom of the inner stator is generated when the inner stator 4.
Illustratively, the gear ring 81 and the inner stator 4 are integrally formed, that is, when the inner wall of the central hole 41 of the inner stator 4 is machined with each tooth bottom of the gear ring 81 to form the gear ring 81, which helps to reduce the weight of the inner stator 4, and reduce the connecting parts of the gear ring 81 and the inner stator 4, without affecting the magnetic field generated when the inner stator 4 works.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (9)
1. An electromechanical actuator, characterized by: the novel motor rotor comprises a shell, an outer stator, a rotor, an inner stator, a screw rod, a sleeve and an actuating cylinder, wherein the outer stator is fixed in the shell, the rotor is coaxially inserted in the outer stator, the rotor is provided with a mounting shaft and a rotating shaft, the mounting shaft is rotationally connected with the shell, a first mounting cavity is formed in the rotor, the inner stator is arranged in the first mounting cavity, the inner stator is coaxially arranged with the rotor and fixedly connected with the shell, the sleeve is fixed at the front end of the shell, the screw rod is coaxially arranged with the rotor and is arranged in the sleeve, the screw rod is connected with the rotating shaft, the actuating cylinder is slidably inserted in the sleeve, and a ball nut in threaded connection with the screw rod is arranged in the actuating cylinder.
2. The electromechanical actuator according to claim 1, wherein: the planetary gear is characterized by further comprising a speed reducing assembly, the rotating shaft is arranged at the rear end of the first mounting cavity, the inner stator is provided with a central hole, the speed reducing assembly is arranged in the central hole, the speed reducing assembly comprises a gear ring, a sun gear, a planet wheel and a planet carrier, the gear ring is fixedly connected with the inner stator, the sun gear is coaxially arranged in the gear ring, the sun gear is connected with the rotating shaft, the planet wheel is respectively meshed with the gear ring and the sun gear, the planet carrier is arranged at the front end of the sun gear, the rear end of the planet carrier is provided with a connecting shaft connected with the planet wheel, the front end of the planet carrier is provided with an output shaft coaxially arranged with the sun gear, and the output shaft is connected with the screw.
3. The electromechanical actuator according to claim 2, wherein: the speed reducing assembly is provided with a plurality of speed reducing assemblies, the plurality of speed reducing assemblies are sequentially arranged from back to front, the output shaft is connected with the sun gear of the first speed reducing assembly, the connecting shaft of the first speed reducing assembly is connected with the sun gear of the second speed reducing assembly, and the output shaft of the last speed reducing assembly is connected with the screw.
4. The electromechanical actuator according to claim 3, wherein: a thrust bearing and a supporting pad are sequentially arranged between two adjacent speed reduction assemblies from back to front, and an output shaft of the former speed reduction assembly penetrates through the thrust bearing and the supporting pad in sequence and then is connected with a sun gear of the latter speed reduction assembly.
5. The electromechanical actuator according to claim 1, wherein: the installation shaft is arranged at the rear end of the rotor, the front end of the first installation cavity is an opening, and the front end of the shell is provided with a connecting piece which extends into the first installation cavity and is fixedly connected with the inner fixed front end.
6. The electromechanical actuator according to claim 1, wherein: the rear end of the shell is connected with a first earring block, and the front end of the actuating cylinder is connected with a second earring block.
7. The electromechanical actuator according to claim 1, wherein: the rotor comprises a core body and a magnetic steel array, wherein the core body is made of magnetic shielding materials.
8. The electromechanical actuator according to claim 2, wherein: the number of teeth of the gear ring is consistent with the number of stator teeth of the inner stator, and the positions of the tooth bottoms of the gear ring are in one-to-one correspondence with the positions of the stator teeth of the inner stator.
9. The electromechanical actuator according to claim 8, wherein: the gear ring and the inner stator are integrally formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311837946.9A CN117811298A (en) | 2023-12-28 | 2023-12-28 | Electromechanical actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311837946.9A CN117811298A (en) | 2023-12-28 | 2023-12-28 | Electromechanical actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117811298A true CN117811298A (en) | 2024-04-02 |
Family
ID=90433162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311837946.9A Pending CN117811298A (en) | 2023-12-28 | 2023-12-28 | Electromechanical actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117811298A (en) |
-
2023
- 2023-12-28 CN CN202311837946.9A patent/CN117811298A/en active Pending
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