Unit steering

 

(57) Abstract:

The invention relates to the field of unmanned aerial vehicles and can be used in the development of actuators aerodynamic rudders. The unit consists of four actuators, mounted on the inner surface of the fuselage 19. Each mechanism has a housing 1, a shaft 2 aerodynamic steering, the electric motor 5, a sensor 6 position of the steering wheel and the gearbox of the three series-connected cylindrical gears, ball screw transmission and transfer to a rack and pinion gearing. The sensor 6 is connected with the shaft 2 using a spatial Cam mechanism. The invention is directed to increasing the load capacity, torsional rigidity and stiffness of the mounting actuators to the fuselage of the aircraft. 4 C.p. f-crystals, 2 Il.

The invention relates to the field of unmanned aerial vehicles and can be used in the development of actuators aerodynamic rudders.

Known block steering aerodynamic rudders unmanned aerial vehicles, consisting of four actuators located in the volume, which is limited to the inner surface of the fuselage, Each actuator has a housing, which is installed in the fuselage by means of the connection node, the shaft aerodynamic steering, which is mounted on supports rotation, the electric motor, which shaft through the reduction gear is connected with the shaft aerodynamic steering wheel position sensor specified steering, which is connected kinematic chain with said steering shaft (Krymov C. G., Rabinovich L. C., Steblov Century, actuators, control systems of aircraft. M. , engineering, 1987, page 164, Fig. 4.1.).

The disadvantage of the described construction is the large building height actuators, due to the large number of stages in the gearbox (5 - 6 steps) that does not allow you to build actuators so as to reduce their volume to the size required for unit control surface actuators in the above volume.

Known also block control surface actuators placed in the volume, which is limited to the inner cylindrical surface of the fuselage of the aircraft and coaxially located outer surface of gazivoda jet engine containing four actuator. Each actuator has a housing, which is installed in the fuselage posreal which through a gear connected with said steering shaft, the position sensor mentioned steering, which is connected kinematic chain with said steering shaft. Mentioned the gearbox consists of three types of series-connected transmission - conical, cylindrical and wave. Wave transmission is performed on a two symmetric scheme (Patent RF N 2102282 MKI B 64 C 13/34).

The above block of steering actuators is taken as a prototype.

The layout and design of the unit control surface actuators described in the prototype, provide building height actuators to sizes comparable with the diameter of the motor, which allows you to set the unit control surface actuators in the specified volume. However, in the known unit steering stiffness of the actuator is insufficient because of the presence of the two gear transmission with mechanical volnoobrazovaniye which is in contact with a flexible wheel is not around the perimeter, and two symmetrical zones, resulting in gaps in the system volnoobrazovaniye - flexible wheel - hard wheel.

To eliminate the above disadvantages of the block control surface actuators supplied with the first and second glasses, which are designed to accommodate mentioned supports bradey gear consists of a gear, having serially connected first and second cylindrical pairs, each of which contains a gear wheel, a ball screw transmission, consisting of a screw on the supports rotation and nuts and balls, designed to implement the interaction of the above-mentioned ball screw helical gears and bushings, and transfer to a rack and pinion gearing, consisting of Reiki gears mentioned kinematic chain made in the form of spatial Cam mechanism that allows to copy the mentioned rotation shaft of the steering wheel. The longitudinal axis of the shaft above the motor and the longitudinal axis of the movable links mentioned cylindrical gears, ball screw gear and Cam mechanism are parallel. Gear mentioned first pair of cylindrical gears rigidly mounted on the shaft above the motor, wheel-mentioned second pair of cylindrical gears rigidly mounted on the screw mentioned ball screw transmission, balls located between the inner surface of the nut and the surface of the screw mentioned ball screw transmission slots, made along a helical line, and the nut is installed inside plenium, designed to interact with the wheel, which is fixed on said steering shaft. The first mentioned glass is designed for rigid connection with the said fuselage, the second-mentioned glass is installed coaxially with the first mentioned glass so that the axis referred to the support roller is located outside the said sleeve. The said connection node consists of a threaded rod, which is designed to connect the aforementioned second glass fuselage, disk, earrings, plugs, and a spherical bearing, which is designed for fastening the said casing to said disk so that the earring is installed coaxially with the screw mentioned ballpoint transmission and is connected through the aforementioned spherical bearing with plug, which is located on said disk. Spike angular contact bearing referred to support rotation of the screw mentioned ball screw transmission is made as one piece with the screw, and the outer ring mentioned angular contact bearing mounted in said housing of the actuator. Mentioned Cam mechanism comprises a Cam and nut, and the Cam has the form of a shaft with slots on the outer surface, which are made by wee slots the shaft, which is connected to the position sensor mentioned steering via cross coupling. Nut mentioned Cam mechanism pivotally connected with the said sleeve. Nut mentioned ball screw transmission consists of two or more separate parts.

The invention is illustrated by drawings. In Fig. 1 shows the layout of the control surface actuators, the cross section b - B in Fig. 2. In Fig. 2 - arrangement of control surface actuators, longitudinal section a-a in Fig. 1.

Block control surface actuators (Fig. 1) consists of four identical actuators, each of which has a body 1. Each actuator includes a shaft 2 aerodynamic steering, mounted on legs of rotation 3 and 4, a motor 5, a sensor 6 provisions aerodynamic steering and gearbox. Mentioned the gearbox contains serially connected two-cylinder pairs 7 and 8, ball screw transmission, consisting of a screw 9 and nut 10, is made of two separate pieces, transfer to a rack and pinion gearing, which includes the rail 11 and the gear wheel 12. For connection of the sensor 6 with the shaft 2 used spatial Cam mechanism consisting of the Cam 13 and nuts 14. The Cam 13 has the form of a shaft with the slots the e transfer gear positioned that their longitudinal axis and the axis of the motor parallel and the transmission are connected as follows: on the shaft of the motor 5 is rigidly mounted cylindrical gear pair 7 and the cylindrical wheel pair 8 is rigidly fixed to the screw 9 ball screw transmission. Nut 10 is fixed inside the sleeve 16 made in the form of a cylindrical Cup, the outer surface of which is rigidly fixed to the rail 11. A gear wheel 12 mounted on the shaft 2. The supports 3 and 4 of the shaft 2 is placed inside the precast glass, consisting of the first glass 17 and the second glass 18. The first glass 17 is rigidly connected to the fuselage 19, the second glass 18 contains the axis 20 of the support roller 21. The support roller 21 and the gear wheel 12 to form a support sleeve 16, while their axes are eccentric. In addition, the spike 22 radial bearing supports rotation of the screw 9 is made in one piece with the screw 9, and the outer ring 23 of the above-mentioned bearing mounted in the housing 1. The sensor 6 is connected with the Cam 13 via cross coupling 24 and the nut 14 by means of the hinge 25 is connected to the sleeve 16. The housing 1 contains a ring 26 mounted coaxially with the screw 9. Earring 26 with a spherical bearing 27 serves to support the housing 1 relative to the fork 28, which is located aqueous attached by a nut 31 to the disk 29, and the other is connected by a threaded connection with a glass of 18 shaft bearing 2. Between the surface of the screw 9 and the inner surface of the nut 10 in the slots, made by helices are balls 32.

Unit steering works as follows.

When applying the control signal to the electric motor 5 of any of the four actuators it starts to rotate and transmits torque through two series-connected cylindrical pairs 7 and 8 of the screw 9. Nut 10 together with the sleeve 16 and the rail 11 performs translational motion and creates a torque on the toothed wheel 12 and rigidly United with him the shaft 2. The progressive movement of the sleeve 16 via the hinge 25 is transmitted to the nut 14. The translational motion of the nut 14 is converted into rotational motion of the Cam 13 via cross coupling 24 rotates the engine sensor 6. The step of the Cam 13 is selected so that the angular displacement of the engine sensor 6 corresponds to the angular movement of the shaft 2.

Use the gear actuator unit control surface actuators ball screw transmission and transfer to a rack and pinion gearing, deployed and executed as specified in the invention method enables the led is th block steering rods 30 are threaded, one end rigidly attached to the disk 29, mounted in the fuselage 19, and the other is connected by a threaded connection with the second Cup 18 shaft bearing 2 aerodynamic steering, and the connection support each actuator through a spherical bearing 27 with a fork 28 of the above-mentioned disk 29 increase the rigidity of the housing 1 of the actuator to the fuselage 19. In addition, side-by-side longitudinal axes of the cylindrical and ball screw gear reducer, spatial Cam mechanism and the electric motor 5 allows you to save the co measurement of building height actuators with the diameter of the selected motor 5, that is, provides the possibility of placing a block of steering actuators in the volume, which is limited to the inner cylindrical surface of the fuselage 19 aircraft and coaxially located outer surface of gazivoda jet engine mentioned aircraft.

1. Block control surface actuators of the aircraft, intended for placement between the inner surface of the fuselage of the aircraft and coaxially located outer surface of gazivoda jet dvigatel through a connection node, shaft aerodynamic steering, which is mounted on supports rotation, the electric motor, which shaft through the reduction gear is connected with said steering shaft, the position sensor mentioned steering, which is connected kinematic chain with said steering shaft, characterized in that each of the mentioned actuator is supplied with the first and second glasses, which are designed to accommodate the aforementioned pillars of rotation of the steering shaft, the sleeve and the supporting roller, designed to create a support mentioned sleeve, the said gear consists of a cylindrical gear having serially connected first and second cylindrical pairs, each of which contains the gear and wheel, ball transfer, consisting of a screw on the supports rotation, nuts and balls, designed to implement the interaction of the above-mentioned ball screw helical gears and bushings, and transfer to a rack and pinion gearing, consisting of a rack and gear mentioned kinematic chain made in the form of spatial Cam mechanism that allows to copy the mentioned rotation of the steering wheel, the longitudinal axis of the shaft above the motor and the longitudinal axis of the movable parts of the said cylindricus the first mentioned cylindrical pair of rigidly mounted on the shaft above the motor, wheel-mentioned second cylindrical pair is rigidly fixed to the screw mentioned ball screw transmission, balls located between the inner surface of the nut and the surface of the mentioned screw screw transmission slots, made along a helical line, and the nut is installed inside the said sleeve, the outer surface of which is rigidly fixed to the rail mentioned gear with the rack and pinion gearing, designed to interact with the wheel, which is fixed on said steering shaft, the first mentioned glass is designed for rigid connection with the said fuselage, the second-mentioned glass is installed coaxially with the first mentioned glass so that the axis referred to the support roller is located outside the said sleeve, the said connection node consists of a threaded rod, which is designed to connect the aforementioned second glass fuselage, disk, earrings, plugs, and a spherical bearing, which is designed for fastening the said casing to said disk so that the earring is installed coaxially with the screw mentioned ball screw transmission and is connected through the aforementioned spherical bearing with plug, which is located on upon the ka mentioned fulcrum of rotation of the screw mentioned ball screw transmission is made as one piece with the said screw, and the outer ring mentioned angular contact bearing mounted in said housing of the actuator.

3. Block control surface actuators under item 1, characterized in that the said Cam mechanism comprises a Cam and nut, and the Cam has the form of a shaft with slots on the outer surface, which are made along a helical line, and the nut are spring-loaded balls that are designed to interact with the said slots of the shaft, which is connected to the position sensor mentioned steering via cross coupling.

4. Block control surface actuators on p. 3, characterized in that the nut mentioned Cam mechanism pivotally connected with the said sleeve.

5. Block control surface actuators under item 1, characterized in that the nut mentioned ballpoint transmission consists of two or more separate parts.

 

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