CN115681434A - Serial type double-lead-screw redundancy control electromechanical servo mechanism - Google Patents
Serial type double-lead-screw redundancy control electromechanical servo mechanism Download PDFInfo
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- CN115681434A CN115681434A CN202211366113.4A CN202211366113A CN115681434A CN 115681434 A CN115681434 A CN 115681434A CN 202211366113 A CN202211366113 A CN 202211366113A CN 115681434 A CN115681434 A CN 115681434A
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Abstract
The invention relates to a serial double-screw redundancy control electromechanical servo mechanism, which adopts a RVI planetary roller screw pair and a RV planetary roller screw pair which are coaxially arranged in a serial manner, wherein the two screw pairs share a screw shaft and are provided with threads with the same bearing capacity and structural parameters, the same hollow structure servo motor drives the two screw pairs to be switched to the RV screw for substitution work when the RVI screw transmission fails, and a motor rotation sensor and a mechanism linear displacement monitoring sensor are utilized to comprehensively judge transmission failures, so that the conversion of static connection bearing and dynamic meshing bearing of the two screw pairs is realized, and EMA transmission redundancy backup is realized.
Description
Technical Field
The invention relates to an electromechanical servo mechanism, in particular to a serial double-screw redundancy control electromechanical servo mechanism.
Background
The reliability improvement problem of the electromechanical servo mechanism is mainly limited by the fact that a transmission part cannot be designed in a redundant mode, redundancy design or fault-tolerant design can be achieved for a servo motor, a control driver, a sensor and the like at present, the increase of volume space is small, the servo motor, the control driver, the sensor and the like are applied to some occasions, the redundancy design of the transmission part is complex, and how to provide a mechanical redundant EMA scheme which is high in integration degree and relatively simple in layout structure becomes the focus problem of engineering design.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides a serial double-screw redundancy control electromechanical servo mechanism, which adopts a RVI planetary roller screw pair and a RV planetary roller screw pair which are coaxially arranged in serial, wherein the two screw pairs share a screw shaft and are provided with threads with the same bearing capacity and structural parameters, the same hollow structure servo motor drives the two screw pairs to be switched to the RV screw for alternative work when the RVI screw transmission fails, and a motor rotation sensor and a mechanism linear displacement monitoring sensor are utilized for comprehensively judging the transmission failure, so that the conversion of the two screw pairs between static connection bearing and dynamic meshing bearing is realized, and EMA transmission redundancy backup is realized.
The technical scheme adopted by the invention is as follows: a serial, dual-lead-screw redundancy control, electro-mechanical servo comprising: the system comprises a servo motor assembly, an RVI roller screw pair assembly, an electromagnetic clutch assembly, an RV roller screw pair assembly, a sensor assembly and a connecting assembly;
the servo motor assembly, the RVI roller screw pair assembly and the RV roller screw pair assembly are coaxially arranged, and the RVI planetary roller screw pair and the RV planetary roller screw pair are installed in series and share a screw rod shaft; the servo motor assembly drives the RVI roller screw pair assembly to transmit or drives the RV roller screw pair assembly to transmit; the electromagnetic clutch assembly is positioned at the output end of the servo motor assembly, and changes of a motor power output path are realized through the attraction or the disengagement of the end face teeth; the sensor assembly is respectively connected with a linear reciprocating end of the RV roller screw pair assembly and a fixed-shaft rotating end of the RVI planet roller screw pair assembly, and is used for detecting the jamming or clamping stagnation faults of the RVI roller screw pair assembly; the connecting assembly connects the shell of the servo motor assembly and the moving end of the RV roller screw pair assembly with the outside.
Furthermore, the servo motor assembly comprises a motor rotor, a motor stator, a motor shell, a motor front end cover, an actuating cylinder and a clutch connecting toothed disc; the surface of the motor rotor is adhered with a permanent magnet and a stainless steel sleeve and is integrated with a long nut of a lead screw pair of an RVI roller lead screw pair assembly, one end of the long nut of the lead screw pair is fixedly connected with a clutch connecting chain wheel, one end of a motor shell is connected with one end of a front end cover of the motor, and the other end of the front end cover of the motor is connected with an actuating cylinder; the motor stator is arranged in the inner cavity of the motor shell and matched with the motor rotor.
Further, the RVI roller screw pair assembly comprises a screw pair long nut, a screw shaft and a planetary roller; two ends of a long nut of the lead screw pair are respectively arranged on a motor shell and a bearing seat in a front end cover of the motor through a pair of angular contact ball bearings; one end of the screw rod shaft is provided with a short-stroke thread, the other end of the screw rod shaft is provided with a long-stroke thread, the short-stroke thread is in external meshing transmission with the planetary roller, and the planetary roller is in internal surface thread meshing transmission with the long nut of the screw rod pair.
Furthermore, the RVI roller screw pair assembly also comprises a first retainer, a plurality of planetary rollers are arranged around the circumference of the screw shaft, and two ends of the plurality of planetary rollers are restrained by the first retainer, so that the planetary rollers and the first retainer both perform circulating motion on the short-stroke threads and push the screw shaft to perform linear motion.
Furthermore, the electromagnetic clutch assembly comprises an external spline hollow shaft, a movable double-sided spline chain wheel, an electromagnetic attraction coil, a reset spring, a fixed end face chain wheel, a bearing outer ring seat and a bearing locking nut;
the outer spline hollow shaft and the movable double-sided spline toothed disc are coaxially mounted through inner and outer spline teeth, the outer spline hollow shaft and the movable double-sided spline toothed disc can move relatively, a pair of deep groove ball bearings are mounted on the outer ring of the outer spline hollow shaft, inner ring fixing of the deep groove ball bearings is carried out by utilizing bearing locking nuts, the deep groove ball bearings are simultaneously mounted in bearing outer ring seat holes and are fixed by utilizing the holes through retaining rings; the fixed end face chain wheel is sleeved on the bearing outer ring base, teeth are arranged at one end of the fixed end face chain wheel, the fixed end face chain wheel and the bearing outer ring base are matched with each other, a plurality of reset springs are set around the circumference to reset the movable double-face spline chain wheel, the electromagnetic attraction coil is installed in a U-shaped hole in one end of the fixed end face chain wheel, the movable double-face spline chain wheel is adsorbed, and the fixed end face chain wheel and the bearing outer ring base are fixed on a step structure in a front end cover of the motor.
Furthermore, the RV roller screw pair assembly comprises a nut, a planet roller and a second retainer;
the long-stroke thread section of the screw shaft is inserted into the actuating cylinder and the nut; two ends of the planetary roller are in meshing transmission with the long-stroke external thread of the screw shaft and the internal thread at one end of the inner wall of the nut under the limitation of the revolving motion of the second retainer; the nut, the planetary roller and the second retainer are combined to reciprocate in a long threaded section of the screw shaft, stay at a zero position of (-2L, + 2L) to serve as a static bearing connection to drive the connecting assembly to realize reciprocating movement, when the RVI roller screw assembly fails, the RVI roller screw assembly is started to be converted into a transmission component, and L is half of the linear movement stroke of the planetary roller in the inner cavity of the long nut of the screw assembly.
Further, the sensor assembly comprises an electric brush, a linear displacement plate, a countersunk screw, a rotary transformer rotor, a rotary transformer stator and a fixing screw; the electric brush is of a pressure spring structure and is connected with a limiting bulge on the outer ring of the big end of the nut through a countersunk screw, a limiting groove matched with the limiting bulge on the outer ring of the big end of the nut is longitudinally formed in the side wall of the actuating cylinder, and the linear displacement plate is arranged on the outer surface of the limiting groove, is in sliding contact with the electric brush and is used for detecting the linear position of the nut; the rotary transformer rotor is arranged in the port at the other end of the long nut of the screw pair, the rotary transformer stator is fixed at the other end of the motor shell through a group of fixing screws, and the rotary transformer rotor and the rotary edge stator acquire the rotation angle of the servo motor of the motor through mutual magnetic field induction; the electric brush and the linear displacement plate form a linear displacement sensor.
Furthermore, the connecting assembly comprises a front support lug, a rear support lug, a long bolt and a nut; the rear lug is arranged at the other end of the motor shell, and the front lug is arranged at one end of the nut extending out of the actuating cylinder; the front support lug and the rear support lug are respectively provided with a connecting pin hole and are installed and connected with an external pin shaft, and the actuating cylinder is connected with the motor shell and the motor front end cover by utilizing a long bolt and a nut.
When the RVI roller screw pair assembly works normally, under the driving of the servo motor assembly, a screw shaft and a planet roller reciprocate in a long nut of the screw pair together; when the screw rod shaft does not rotate, the planetary roller of the RV roller screw pair assembly stays at a zero position of (-2L, + 2L) and serves as static bearing connection to drive the connecting assembly to realize reciprocating movement.
When the servo mechanism works in a fault, the electromagnetic clutch assembly is electrified, the movable double-sided spline toothed disc is pushed out by overcoming the spring force by utilizing the electromagnetic attraction coil and is combined with the clutch connecting toothed disc, so that a lead screw pair nut, a lead screw shaft and a planetary roller of the RVI roller lead screw pair assembly rotate simultaneously and are converted into static bearing connection, the lead screw shaft converts the RV roller lead screw pair assembly into a transmission part, and calculation and recovery are carried out at the position of the jamming/clamping stagnation fault of the RVI roller lead screw pair assembly, the integral (-L, + L) rated working stroke of the servo mechanism is finally met, and EMA transmission redundancy backup is realized.
Compared with the prior art, the invention has the advantages that:
(1) The invention provides a serial double-lead-screw redundancy control electromechanical servo mechanism which adopts a servo motor and an electromagnetic clutch to realize the conversion of static bearing connection and transmission of two lead screws.
(2) According to the serial dual-screw redundancy control electromechanical servo mechanism provided by the invention, 2L of travel and zero setting are reserved for the RV planetary roller screw, so that zero returning operation can be carried out when jamming or jamming faults occur at any position of the RVI planetary roller screw, and normal bearing and movement functions are recovered.
(3) The serial dual-screw redundancy control electromechanical servo mechanism provided by the invention is suitable for radial or flat installation space, is suitable for occasions with larger axial zero length, and is suitable for application of a deformation actuating mechanism.
Drawings
FIG. 1 is an internal component view of a serial-type dual-lead-bar redundancy control electromechanical servo mechanism of the present invention;
fig. 2 is a schematic external view of a serial-type dual-screw redundancy control electromechanical servo mechanism of the present invention.
Detailed Description
The invention is described with reference to the accompanying drawings.
As shown in fig. 1 and 2, a serial-type dual-screw redundancy control electromechanical servo mechanism includes: servo motor subassembly, RVI roller screw vice subassembly, electromagnetic clutch subassembly, RV roller screw vice subassembly, sensor subassembly, coupling assembling.
The servo motor assembly, the RVI roller screw pair assembly and the RV roller screw pair assembly are coaxially arranged, the RVI planetary roller screw pair and the RV planetary roller screw pair are installed in a serial mode, and share a screw rod shaft; after a rotor of the servo motor assembly is integrated with a long nut of the RVI roller screw pair assembly, the RVI roller screw pair assembly can be independently driven to transmit or the RV roller screw pair assembly can be driven to transmit; the electromagnetic clutch assembly is positioned at the right output end of the servo motor assembly, and the change of the power output path of the motor is realized through the engagement/disengagement of end face teeth; the sensor assembly is respectively connected with the linear reciprocating end of the RV roller screw pair assembly and the fixed-shaft rotating end of the RVI planetary roller screw pair, and can comprehensively detect jamming/clamping faults; the connecting assembly realizes reliable connection between the shell of the motor assembly and the moving end of the RV roller screw pair assembly and the outside.
When the screw pair works normally, the screw shaft 2b and the planet roller 2c reciprocate in the long nut 2a of the screw pair under the driving of the servo motor assembly; when the screw shaft 2b does not rotate, the planet roller 4b of the RV roller screw pair assembly stays at the zero position of (-2L, + 2L) and serves as static bearing connection to drive the connecting assembly to realize reciprocating movement; l is half of the linear motion stroke of the planet roller 2c in the inner cavity of the long nut 2a of the screw pair.
During the fault work, the angle sensor is installed at the left end of the servo motor, the rotating angle of the servo motor can be measured, and the linear displacement sensor is installed on the outer side of the nut of the RV roller screw pair assembly, and the position of the linear displacement sensor can be measured. When the servo system sends that the motor rotates for a certain angle, if the feedback of the rotation angle is normal and the feedback value of the linear displacement sensor is smaller than the theoretical value and exceeds a certain range, the RVI roller screw pair component is judged to be in a clamping stagnation fault; when the servo system sends that the motor rotates for a certain angle, if the feedback of the rotation angle is abnormal, the current of the servo motor is increased suddenly and the feedback of the linear displacement sensor is abnormal, the RVI roller screw pair component is judged to be a jamming fault; at the moment, the electromagnetic clutch assembly is electrified and controlled, the electromagnetic clutch coil 3c is used for enabling the movable double-faced spline chain wheel 3b to overcome the spring force and push out a certain distance, and the movable double-faced spline chain wheel is combined with a clutch connecting chain wheel 1f at the output end of one side of the servo motor, so that a screw pair nut 2a, a screw shaft 2b, a planetary roller 2c and a retainer of the RVI roller screw pair assembly rotate simultaneously, the static bearing connection is converted, and the faults of the static bearing connection are isolated; the screw shaft 2b converts the RV roller screw pair assembly into a transmission component, and calculates and recovers at the position of the jamming/clamping fault of the RVI roller screw pair assembly, so that the whole (-L, + L) rated working stroke of the servo mechanism is finally met, and EMA transmission redundancy backup is realized.
The servo motor component comprises a motor rotor 1a, a motor stator 1b, a motor shell 1c, a motor front end cover 1d, a actuating cylinder 1e and a clutch connecting toothed disc 1f. The surface of the motor rotor 1a is stuck with a permanent magnet and a stainless steel sleeve and is integrated with a long nut 2a of a screw pair, one end of the long nut 2a of the screw pair is fixedly connected with a clutch connecting chain wheel 1f, one end of a motor shell 1c is connected with one end of a front end cover 1d of a motor, and the other end of the front end cover 1d of the motor is connected with an actuating cylinder 1e; two ends of a long nut 2a of the lead screw pair are respectively installed on bearing seats in a motor shell 1c and a motor front end cover 1d through a pair of angular contact ball bearings, a motor stator 1b is arranged in the inner cavity of the motor shell 1c through hot installation, and the outer ring of the bearing is connected with a seat hole of the motor front end cover 1 d. The actuating cylinder 1e is connected with the motor shell 1c and the motor front end cover 1d by four groups of long bolts 6c and nuts 6d, so that a pair of angular contact ball bearings are ensured to be in a pre-tightening state.
The RVI roller screw pair assembly comprises a long nut 2a, a screw shaft 2b, a planetary roller 2c and a first retainer 2d. The left end of the screw shaft 2b is provided with a short-stroke thread, the right end of the screw shaft is provided with a long-stroke thread, the left end of the screw shaft is provided with the short-stroke thread which is in external meshing transmission with the planetary rollers 2c, the planetary rollers 2c are in internal surface thread meshing transmission with the long nut 2a, the planetary rollers 2c are arranged in a plurality of numbers around the circumference of the screw shaft 2b, and the two ends of the planetary rollers 2c are restrained by the two first retainers 2d, so that the planetary rollers 2c and the first retainers 2d can only perform revolving motion for the short-stroke thread at the left end together and push the screw shaft 2b to perform linear motion.
The electromagnetic clutch assembly comprises an external spline hollow shaft 3a, a movable double-faced spline chain wheel 3b, an electromagnetic attraction coil 3c, a reset spring 3d, a fixed end face chain wheel 3e, a bearing outer ring seat 3f and a bearing locking nut 3g. The external spline hollow shaft 3a and the movable double-sided spline chain wheel 3b are coaxially installed through internal and external spline teeth and can relatively move, a pair of deep groove ball bearings is installed on the outer ring of the external spline hollow shaft 3a, inner ring fixing is carried out through a bearing locking nut 3g, a bearing is simultaneously installed in a hole of a bearing outer ring seat 3f and is fixed through a hole check ring, a fixed end face chain wheel 3e is sleeved on the bearing outer ring seat 3f, teeth are arranged at one end of the fixed end face chain wheel 3e and can be matched with the teeth of the movable double-sided spline chain wheel 3b, a plurality of reset springs 3d are circumferentially set to reset the movable double-sided spline chain wheel 3b, an electromagnetic attraction coil 3c is installed in a U-shaped hole at one end of the fixed end face chain wheel 3e in a hot mode and can adsorb the movable double-sided spline chain wheel 3b, and the fixed end face chain wheel 3e and the bearing outer ring seat 3f are fixed on a step structure in a motor front end cover 1 d.
The RV roller screw pair assembly comprises a nut 4a, a planetary roller 4b and a second retainer 4c. The screw rod shaft 2b is a screw rod part of the RV roller screw rod pair assembly, the right end of the screw rod shaft is provided with long-stroke threads, two ends of the planetary roller 4b are in meshing transmission with external threads of the screw rod shaft 2b under the constraint of the revolving motion of the second retainer 4c and are in meshing transmission with an internal thread section at one end of the inner wall of the nut 4a, and the nut 4a, the planetary roller 4b and the second retainer 4c assembly move in a reciprocating mode on the long threads of the screw rod shaft 2b, stay at a zero position of (-2L, + 2L) and serve as static bearing connection to drive the connecting assembly to move in a reciprocating mode, and when the RVI screw rod fails, the RVI screw rod assembly is started to be converted into a transmission component.
The sensor assembly comprises an electric brush 5a, a linear displacement plate 5b, a countersunk head screw 5c, a rotary transformer 5d, a rotary transformer stator 5e and a fixing screw 5f. The electric brush 5a is of a pressure spring structure in appearance, one end plane of the electric brush is connected with a limiting bulge of the nut 4a through a countersunk head screw 5c, the linear displacement plate 5b is located above the electric brush 5a and generates sliding contact, the linear position of the nut 4a is detected, the linear displacement plate 5b is installed on the outer surface of the actuating cylinder 1e through a group of fixing screws 5f, and the electric brush 5a and the linear displacement plate 5b form a linear displacement sensor; the rotary transformer rotor 5d is connected with the long nut 2a in an interference fit mode, the rotary transformer stator 5e is installed on the motor shell 1c through a group of fixing screws 5f, and the mutual magnetic field induction between the rotary transformer rotor and the stator obtains the rotation angle of the motor.
The connecting assembly comprises a front support lug 6a, a rear support lug 6b, a long bolt 6c and a nut 6d. The rear lug 4b is arranged at the other end of the motor shell 1c, and the front lug 6a is arranged at one end of the nut 4a extending from the actuating cylinder 1e; the front support lug 6a and the rear support lug 6b are respectively provided with a connecting pin hole and can be installed and connected with an external pin shaft, and the long bolt 6c penetrates through the front support lug 6a, the motor shell 1c, the motor front end cover 1d and the actuating cylinder 1e.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (10)
1. The utility model provides a serial formula double-screw redundancy control electromechanical servo mechanism which characterized in that includes: the system comprises a servo motor assembly, an RVI roller screw pair assembly, an electromagnetic clutch assembly, an RV roller screw pair assembly, a sensor assembly and a connecting assembly;
the servo motor assembly, the RVI roller screw pair assembly and the RV roller screw pair assembly are coaxially arranged, and the RVI planetary roller screw pair and the RV planetary roller screw pair are installed in series and share a screw rod shaft; the servo motor component drives the RVI roller screw pair component to transmit or drives the RV roller screw pair component to transmit; the electromagnetic clutch assembly is positioned at the output end of the servo motor assembly, and changes of a motor power output path are realized through the attraction or the disengagement of the end face teeth; the sensor assembly is respectively connected with a linear reciprocating end of the RV roller screw pair assembly and a fixed-axis rotary motion end of the RVI planetary roller screw pair assembly, and is used for detecting jamming or clamping stagnation faults of the RVI roller screw pair assembly; the connecting assembly connects the shell of the servo motor assembly and the moving end of the RV roller screw pair assembly with the outside.
2. The serial-type dual-screw redundancy control electromechanical servo mechanism is characterized in that the servo motor assembly comprises a motor rotor (1 a), a motor stator (1 b), a motor shell (1 c), a motor front end cover (1 d), a actuating cylinder (1 e) and a clutch connecting toothed disc (1 f); the surface of a motor rotor (1 a) is adhered with a permanent magnet and a stainless steel sleeve and is integrated with a long nut (2 a) of a lead screw pair of an RVI roller lead screw assembly, one end of the long nut (2 a) of the lead screw pair is fixedly connected with a clutch connecting chain wheel (1 f), one end of a motor shell (1 c) is connected with one end of a motor front end cover (1 d), and the other end of the motor front end cover (1 d) is connected with an actuating cylinder (1 e); the motor stator (1 b) is arranged in the inner cavity of the motor shell (1 c) and is matched with the motor rotor (1 a).
3. A serial dual-lead-screw redundancy control electromechanical servo mechanism according to claim 2, wherein said RVI roller-lead screw assembly comprises a lead screw pair long nut (2 a), a lead screw shaft (2 b), planetary rollers (2 c); two ends of a long nut (2 a) of the screw rod pair are respectively installed on bearing seats in a motor shell (1 c) and a motor front end cover (1 d) through a pair of angular contact ball bearings; one end of the screw rod shaft (2 b) is provided with a short-stroke thread, the other end of the screw rod shaft is provided with a long-stroke thread, the short-stroke thread is in external meshing transmission with the planetary roller (2 c), and the planetary roller (2 c) is in internal surface thread meshing transmission with the long nut (2 a) of the screw rod pair.
4. The serial-type dual-screw redundancy control electromechanical servo mechanism is characterized in that the RVI roller screw pair assembly further comprises a first retainer (2 d), a plurality of planetary rollers (2 c) are arranged around the circumference of the screw shaft (2 b), and the two ends of the plurality of planetary rollers (2 c) are restrained by the first retainer (2 d), so that the planetary rollers (2 c) and the first retainer (2 d) make a circulating motion on the short-stroke threads together and push the screw shaft (2 b) to make a linear motion.
5. The electromechanical servo mechanism of a serial type double screw redundancy control of claim 4, characterized in that the electromagnetic clutch assembly comprises an external spline hollow shaft (3 a), a movable double-sided spline chain wheel (3 b), an electromagnetic pull-in coil (3 c), a reset spring (3 d), a fixed end face chain wheel (3 e), a bearing outer ring seat (3 f), a bearing lock nut (3 g);
the outer spline hollow shaft (3 a) and the movable double-sided spline toothed disc (3 b) are coaxially mounted through inner and outer spline teeth, the outer spline hollow shaft (3 a) and the movable double-sided spline toothed disc (3 b) can move relatively, a pair of deep groove ball bearings are mounted on the outer ring of the outer spline hollow shaft (3 a), the inner ring of each deep groove ball bearing is fixed by using a bearing locking nut, and the deep groove ball bearings are simultaneously mounted in holes of a bearing outer ring seat (3 f) and are fixed by using retaining rings for the holes; fixed terminal surface chain wheel (3 e) cover is in bearing outer lane seat (3 f), the one end of fixed terminal surface chain wheel (3 e) is equipped with the tooth, mutually support with the tooth that removes double-sided spline chain wheel (3 b), it resets the action to remove double-sided spline chain wheel (3 b) to set for a plurality of reset spring (3 d) around the circumference, install in the U-shaped hole of the one end of fixed terminal surface chain wheel (3 e) electromagnetism actuation coil (3 c), adsorb removing double-sided spline chain wheel (3 b), fixed terminal surface chain wheel (3 e) and bearing outer lane seat (3 f) are fixed on the stair structure in motor front end housing (1 d).
6. A serial dual-lead redundancy control electro-mechanical servo according to claim 5, wherein said RV roller-lead assembly comprises a nut (4 a), planetary rollers (4 b), a second cage (4 c);
the long-stroke threaded section of the screw shaft (2 b) is inserted into the actuating cylinder (1 e) and the nut (4 a); two ends of the planetary roller (4 b) are in meshing transmission with the long-stroke external thread of the screw rod shaft (2 b) and in meshing transmission with the internal thread at one end of the inner wall of the nut (4 a) under the constraint of the revolving motion of the second retainer (4 c); the nut (4 a), the planetary roller (4 b) and the second retainer (4 c) are combined to reciprocate in the long threaded section of the screw shaft (2 b), stay at a zero position of (-2L, + 2L), and serve as static bearing connection to drive the connecting assembly to reciprocate, when the RVI roller screw pair assembly breaks down, the RVI roller screw pair assembly is started to be converted into a transmission component, and L is half of the linear motion stroke of the planetary roller (2 c) in the inner cavity of the long nut (2 a) of the screw pair.
7. A serial-type dual-lead-screw redundancy control electromechanical servo mechanism according to claim 6, wherein the sensor assembly comprises a brush (5 a), a linear displacement plate (5 b), a countersunk screw (5 c), a rotary transformer (5 d), a rotary transformer stator (5 e), a set screw (5 f); the electric brush (5 a) is of a pressure spring structure and is connected with a limiting bulge on the outer ring of the big end of the nut (4 a) through a countersunk screw (5 c), a limiting groove matched with the limiting bulge on the outer ring of the big end of the nut (4 a) is longitudinally formed in the side wall of the actuating cylinder (1 e), and a linear displacement plate (5 b) is arranged on the outer surface of the limiting groove and is in sliding contact with the electric brush (5 a) and used for detecting the linear position of the nut (4 a); the rotary transformer rotor (5 d) is installed in the other end port of the long nut (2 a) of the screw pair, the rotary transformer stator (5 e) is fixed to the other end of the motor shell (1 c) through a group of fixing screws (5 f), and the rotary transformer rotor (5 d) and the rotary edge stator (5 e) obtain the rotation angle of the servo motor through mutual magnetic field induction; the electric brush (5 a) and the linear displacement plate (5 b) form a linear displacement sensor.
8. A serial-type dual-screw redundancy control electromechanical servo mechanism according to claim 7, wherein the connecting assembly comprises a front lug (6 a), a rear lug (6 b), a long bolt (6 c), a nut (6 d); the rear lug (4 b) is arranged at the other end of the motor shell (1 c), and the front lug (6 a) is arranged at one end of the nut (4 a) extending out of the actuating cylinder (1 e); the front support lug (6 a) and the rear support lug (6 b) are respectively provided with a connecting pin hole and are connected with an external pin shaft in an installing mode, and the actuating cylinder (1 e) is connected with the motor shell (1 c) and the motor front end cover (1 d) through a long bolt (6 c) and a nut (6 d).
9. The electromechanical servo mechanism of the serial type dual-screw redundancy control of any one of claims 1 to 8, wherein in normal operation, the RVI roller screw pair assembly is driven by the servo motor assembly, and the screw shaft (2 b) and the planet rollers (2 c) move reciprocally in the screw pair long nut (2 a); when the screw shaft (2 b) does not rotate, the planetary rollers (4 b) of the RV roller screw pair assembly stay at the zero position of (-2L, + 2L) and serve as static bearing connection to drive the connecting assembly to realize reciprocating movement.
10. The electromechanical servo mechanism of the tandem type double-lead-screw redundancy control of any one of claims 1 to 8, characterized in that during failure operation, the electromagnetic clutch assembly is energized, the electromagnetic clutch coil (3 c) is used to push the moving double-sided spline toothed disc (3 b) out against the spring force, and the moving double-sided spline toothed disc is combined with the clutch connection toothed disc (1 f), so that the lead screw pair nut (2 a), the lead screw shaft (2 b) and the planet roller (2 c) of the RVI roller lead screw pair assembly rotate simultaneously and are converted into static load-bearing connection, the lead screw shaft (2 b) converts the RVI roller lead screw pair assembly into a transmission part, and the calculation and the recovery are carried out at the position of the jamming/jamming failure of the RVI roller lead screw pair assembly, and finally the rated working stroke of the whole (-L, + L) of the servo mechanism is met, and the EMA transmission redundancy backup is realized.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211366113.4A CN115681434A (en) | 2022-10-31 | 2022-10-31 | Serial type double-lead-screw redundancy control electromechanical servo mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211366113.4A CN115681434A (en) | 2022-10-31 | 2022-10-31 | Serial type double-lead-screw redundancy control electromechanical servo mechanism |
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| CN115681434A true CN115681434A (en) | 2023-02-03 |
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| CN202211366113.4A Pending CN115681434A (en) | 2022-10-31 | 2022-10-31 | Serial type double-lead-screw redundancy control electromechanical servo mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117856523A (en) * | 2024-03-07 | 2024-04-09 | 吉林大学 | Compact integrated telescopic rotary electric cylinder |
-
2022
- 2022-10-31 CN CN202211366113.4A patent/CN115681434A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117856523A (en) * | 2024-03-07 | 2024-04-09 | 吉林大学 | Compact integrated telescopic rotary electric cylinder |
| CN117856523B (en) * | 2024-03-07 | 2024-05-07 | 吉林大学 | Compact integrated telescopic rotary electric cylinder |
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