CN102632988A - Steering engine for underwater vehicle - Google Patents

Abstract

A steering gear for an underwater vehicle, the speed reducer, lead screw nut, resistive position sensor and connector are located on one side of the speed reducer, and the lead screw and the nut are coaxially arranged, the steering gear has a compact structure and reduces the The installation size of the machine. A stroke insert is embedded in the middle of the lead screw. When the lead screw extends out for a certain distance, the stroke insert is in close contact with the inner wall of the outer end cover, which limits the extension distance of the lead screw; one end of the lead screw is matched with the drive nut, and the blind hole in the drive nut With a certain depth, when the lead screw is retreating, the stroke boss near the nut end of the lead screw is in close contact with the end face of the inner hole of the driving nut, which limits the retraction distance of the lead screw. In the present invention, the steering gear realizes reliable mechanical self-locking and maintains the stability of the steering surface by self-locking in the reverse direction of the screw nut mechanism. The hollow cup DC motor used has a small moment of inertia, and the screw nut mechanism is supported and guided by deep groove ball bearings, balls and linear bearings, which reduces frictional resistance and improves the response speed of the steering gear.

Description

A steering gear for an underwater vehicle

technical field

The invention relates to a steering gear, which is specifically applied to an underwater vehicle platform. the

Background technique

Underwater vehicles are more and more widely used in various ocean activities. As the attitude adjustment mechanism of underwater vehicles, the steering gear plays a key role in the performance of the vehicle. According to relevant literature, there are few steering gears currently used in underwater vehicles, and traditional steering gears are difficult to apply to underwater vehicles. The main disadvantages are as follows: (1) The steering gear is installed inside the underwater vehicle The space is small, the impact vibration is large, the size of the traditional steering gear is large under the condition of satisfying the output power, and it is difficult to meet the requirements of anti-shock vibration (2) does not have a reliable self-locking function, and the rudder surface of the underwater vehicle withstands waves The impact must be reliable and self-locking to ensure that the rudder surface is stable and undisturbed. (3) The mechanical frictional resistance in the transmission process of the traditional steering gear is large, and the response time is long, which cannot well meet the needs of real-time adjustment of the attitude of the underwater vehicle. the

Invention patent 200910161480.9 is a sliding type aircraft steering gear applied to helicopter model aircraft. The worm in the worm gear device is fixed and coaxial with the rotating shaft of the driving motor, the worm gear is fixed and coaxial with the transmission screw, and the sleeve and the transmission screw are fixed and coaxial. Through threaded connection, the rotary motion of the transmission screw is converted into linear motion, the sleeve is fixedly connected with the linear position sensor, and the position signal of the sleeve is fed back. The invention uses a worm gear mechanism to decelerate, the deceleration ratio is small, the output torque is small, and the mechanical efficiency is low. The vertical arrangement of the worm gear mechanism takes up a large space and is not compact enough. The sleeve moves linearly in the square slot, and the sleeve and the rudder stock are inconvenient to connect. the

The utility model patent 200820108942.1 is an electric steering gear, including a ball screw, a screw nut, a booster ring, a oscillating body, and an output shaft. The U-shaped groove at the lower end cooperates to drive the oscillating body to rotate, and the oscillating body rotates to a certain angle to contact the inner wall of the shell to limit the stroke. This new patent realizes the angular output of the output shaft, but cannot realize the straight line output. the

The utility model patent 201120006972.3 is a lead screw steering gear of a model aircraft. Bearing holes are opened at both ends of the support body, and the lead screw is fixed on the support body through the bearings. The slider is threaded into the lead screw, and the upper part of the slider is a square structure, passing through the square groove opened by the bracket body. The driving motor and the support body are closely arranged in parallel, and the driving motor and the end of the lead screw are connected with a first-stage gear set for motion transmission and deceleration. The steering gear has a compact structure and a small installation volume. It adopts one-stage gear reduction, and the output torque is limited. The screw is supported by the bearings at both ends. Very good lubrication, high mechanical friction loss. the

Contents of the invention

In order to overcome the deficiencies in the prior art that the size of the steering gear is large, it is difficult to meet the requirements of anti-shock vibration, or the reliability is poor, or the response time is long, and it cannot well meet the needs of real-time adjustment of the attitude of underwater vehicles , the present invention proposes a small steering gear for underwater vehicles. the

The invention includes a connector, a DC motor, a reducer, a guide sleeve shell, a bearing shell, an outer end cover, a scale plate, a screw nut mechanism and a position feedback assembly; and:

a. The lead screw and nut mechanism includes a lead screw, a linear bearing, a drive nut and a stroke insert; wherein, the linear bearing is set on the lead screw, and the through groove on the circumference of the linear bearing is aligned with the position feedback component installation groove on the lead screw. Corresponding; the drive nut is set on the threaded end of the lead screw; the stroke insert is fixed in the position feedback component installation groove on the lead screw;

b. The position feedback assembly includes connecting rod, guide bearing, pointer, guide rod, sensor mounting base, connector mounting plate, position sensor and connecting nut; the lower end of the connecting rod is inserted into the connecting rod on the lead screw through the mounting hole on the stroke insert the upper end of the connecting rod into the through groove on the outer surface of the connecting nut; the guide bearing is set on the end of the connecting rod adjacent to the stroke insert, and is located in the guide bearing chute on the circumferential surface of the guide sleeve shell; the pointer is fixed on the connecting rod The positioning threaded sleeve in the middle of the rod; one end of the guide rod is inserted into the threaded hole of the connecting nut, and the shaft of the position sensor is connected with the other end of the guide rod through a coupling; a connector mounting plate is set on the position sensor ; A sensor mounting seat is set on the position sensor between the connector mounting plate and the connecting nut; the position sensor is fixedly connected with the sensor mounting seat; the clearance fit between the connector mounting plate and the position sensor;

c. The guide sleeve shell is set on the linear bearing, and the two are closely matched; one end face of the guide sleeve shell is fixedly connected with the bearing shell, and the other end face has an outer end cover; the scale plate is pasted on the outer circular surface of the guide sleeve shell;

d. The bearing shell is set on the drive nut, and the end face of the bearing shell matches the end face of the guide sleeve shell; there is a ball groove on the inner hole surface of the guide sleeve shell, and the balls are used to make the guide sleeve shell and the drive nut move fit; the bearing shell The end connected with the guide sleeve shell is loosely fitted with the drive nut; the other end of the bearing shell is fitted on the bearing, and the two are tightly fitted; the bearing is fitted on the outer surface of the drive nut and the spiral ring, and passes through the bearing end cover Fasten; the bearing end cover is set on the shaft sleeve; the screw ring is set on the inner side of the shaft sleeve; the connector is fixed on the connecting flange at the end of the bearing housing where the bearing end cover is installed; the output shaft of the reducer is installed on the shaft In the connection hole of the sleeve, the shaft sleeve is set on the drive nut; the input shaft of the reducer and the output shaft of the DC motor are connected through a coupling. the

The lead screw is divided into two sections, one of which has a mounting groove for the position feedback component on the circumferential surface, and a socket that passes through the connecting rod of the leading screw on the bottom surface of the mounting groove, and on the side of the socket of the connecting rod is a The screw hole is used to fix the stroke insert; the centerlines of the socket of the connecting rod and the stroke insert fixing hole are both perpendicular to the centerline of the lead screw; the other circumferential surface of the lead screw is a thread matched with the drive nut ; There is an axially protruding stroke limit boss on the end face of the mating section between the lead screw and the drive nut. the

On the circumferential surface of the guide sleeve shell, there is a guide bearing chute distributed along the axial direction of the guide sleeve shell, and the guide bearing chute runs through the guide sleeve shell shell; the width of the guide bearing chute is slightly larger than that of the guide bearing Outer diameter; one end surface of the guide sleeve housing is evenly distributed with fixing holes of the outer end cover; the other end surface of the guide sleeve housing is provided with a connecting flange connecting the bearing housing. the

The inner hole of the outer end cover is stepped, wherein the small aperture part is in clearance with the lead screw, and the larger aperture part is larger than the external dimension of the stroke insert; the stepped end surface in the inner hole of the outer end cover forms the limit of the stroke insert. plane. the

In the middle of the bearing housing, there are a pair of radially protruding mounting platforms connected to the aircraft shell, on which mounting holes for sensor mounting seats are arranged; the mounting platforms are located on the outer circular surface of the bearing housing Corresponds to the position of the annular stopper in the inner hole of the bearing housing. the

The circumference of the connecting rod in the position feedback assembly is provided with a positioning table that limits the depth of the connecting rod inserted into the connecting rod jack, a mating surface of the guide bearing and a mounting surface of the pointer; the mounting surface of the pointer and the guiding bearing The positioning thread sleeve of the pointer is set between the mating surfaces of the pointer, and the other end of the pointer is tightened by pressing the end face of the pointer through the tightening nut; the other end of the connecting rod is a polished rod matched with the connecting nut. the

The middle part of the lower surface of the base of the sensor mounting seat has an arc-shaped groove matching the outer circular surface of the bearing shell; there are clamping blocks on both sides of the middle part near the upper surface of the base; there are position sensor installations on each clamping block. hole; there is a strip-shaped opening on one side surface of each clamping block, which divides the side of the clamping block into upper and lower layers; the opening groove runs through the thickness of the clamping block, and is connected with the position sensor on the clamping block The mounting holes are connected; the centerline of the through hole is parallel to the centerline of the connecting hole on the base. the

The lower surface of the connector mounting plate has a concave surface matched with the outer circular surface of the bearing housing; there is a through hole for the position sensor on the connector mounting plate; there is a hole through the connector mounting plate above the position sensor through hole Mounting holes for connectors. the

The reducer adopts a three-stage spur reducer, including a reducer housing, four gear shafts and a three-stage reduction gear; the four gear shafts are installed on the reducer housing through bearings, and the four gear shafts are parallel to each other ; The output end of the reducer is on the same side as the input end; one end of the fourth gear shaft of the reducer is the output end, and the other end of the fourth gear shaft extends to the outside of the reducer housing. the

In the present invention, the DC motor is connected to the input shaft of the reducer through a coupling, and the output shaft of the reducer is connected to the drive nut through a shaft sleeve. It plays a supporting role; at the large-diameter end where the drive nut matches the lead screw, there is an annular groove in the inner hole of the guide sleeve shell, and balls are placed in the groove to support the nut and reduce frictional resistance. The thrust ball bearing is fixed in the thrust ball bearing shell, and the bearing shell is connected with the reducer through a flange. The threaded end of the screw is matched with the drive nut, and the other end of the screw is inserted into the linear bearing that acts as a guide. The linear bearing is fixedly embedded in the guide sleeve shell. The other end is connected with the outer end cover through the flange, and the lead screw passes through the outer end cover. The guide sleeve shell is provided with a guide bearing chute, and the middle part of the screw is provided with an installation slot for the position feedback assembly. The stroke insert is embedded in the installation slot of the position feedback assembly opened by the screw, and passes through the slot opened by the linear bearing along the axial direction. , is connected with the position sensor through the connecting rod, the guide rod and the connecting nut, and the guide rod and the position sensor extend out from the shaft to connect and synchronously feedback the position of the screw; 0 on the corresponding; the pointer moves with the lead screw, indicating the position of the lead screw on the scale plate. The position sensor is installed on the sensor installation seat, and the sensor installation seat and the thrust ball bearing housing are connected together through nuts; the connector seat plate and the bearing housing are connected together through nuts. The whole steering gear is integrated with the aircraft through the screw holes on the bearing housing, realizing a firm mechanical connection. the

The DC motor, lead screw and nut mechanism, position feedback assembly, guide sleeve shell, bearing shell and connectors of the present invention are all arranged on one side of the reducer, and the lead screw and nut are coaxially arranged, and the structure of the steering gear is compact, reducing the The installation size of the machine. A stroke insert is embedded in the middle of the lead screw. When the lead screw extends out for a certain distance, the stroke insert is in close contact with the stepped end face of the outer end cover, which limits the extension distance of the lead screw; one end of the lead screw is matched with the drive nut, and The blind hole has a certain depth. When the lead screw is retracted, the stroke boss near the nut end of the lead screw is in close contact with the end face of the inner hole of the drive nut, which limits the retraction distance of the lead screw. the

In the present invention, the steering gear realizes reliable mechanical self-locking and maintains the stability of the steering surface through self-locking in the opposite direction of the screw nut mechanism. The hollow cup DC motor used has a small moment of inertia. In the screw nut mechanism, the drive nut is supported and guided by bearings and balls, and the screw is guided by linear bearings, which reduces frictional resistance and improves the response speed of the steering gear. the

The invention adopts a three-stage spur gear reducer, the gear set is installed in the casing, and the inside is lubricated by high and low temperature lubricating grease, the operation is stable, the frictional resistance is small, and a large reduction ratio and torque output can be realized. By connecting the driving nut with the output shaft of the reducer, the lead screw and the nut cooperate through the threaded surface, the lead screw and the nut are on the same axis, the structure is compact, and the installation space is reduced. The drive nut is supported by bearings and balls, and the screw is guided by linear bearings, which reduces frictional resistance and improves the response speed of the steering gear. The thread lead angle of the selected lead screw must be self-locking to achieve reliable mechanical self-locking and high transmission efficiency. The connecting rod is covered with a guide bearing, and the guide bearing is matched with the guide bearing chute opened on the outer shell of the guide sleeve, so that the connecting rod moves linearly along the guide bearing chute, and drives the guide rod and the position sensor shaft through the connecting nut Synchronous movement, feed back screw position information. Reliable mechanical support and connection are realized between the parts of the whole steering gear, the structure is compact, the rigidity is strong, and it can withstand large shock and vibration. The middle part of the lead screw is embedded with a stroke insert. When the lead screw extends out for a certain distance, the stroke insert is in close contact with the stepped end face of the outer end cover, which limits the extension distance of the lead screw; The hole has a certain depth. When the lead screw is retracted, the stroke boss near the nut end of the lead screw is in close contact with the end face of the inner hole of the drive nut, which limits the retraction distance of the lead screw. the

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a steering gear for an underwater vehicle. the

Fig. 2 is an overall exploded schematic diagram of the present invention. the

Fig. 3 is a schematic partial cross-sectional view of the present invention. the

Fig. 4 is a schematic diagram of the screw nut mechanism of the present invention. the

Fig. 5 is a schematic diagram of the position feedback assembly of the present invention. the

Fig. 6 is a sectional view of the speed reducer of the present invention. the

Fig. 7 is the schematic diagram that the pointer of the present invention is installed on the connecting rod

Fig. 8 is a schematic diagram of the thrust ball bearing shell of the present invention. the

Fig. 9 is a sectional view of the thrust ball bearing housing of the present invention. the

Fig. 10 is a partial sectional view of the drive nut of the present invention. the

Fig. 11 is a schematic diagram of the connecting rod of the present invention, wherein: Fig. 11a is a front view, and Fig. 11b is a top view. the

Fig. 12 is a schematic structural view of the guide sleeve. the

Fig. 13 is a sectional view of the guide sleeve shell. the

Fig. 14 is a schematic structural view of the sensor mount. the

Fig. 15 is a partial sectional view of the sensor mount. the

Fig. 16 is a schematic structural view of the connector mounting board. the

Fig. 17 is a schematic diagram of the connecting rod, wherein Fig. 17a is a left view and Fig. 17b is a front view. the

Fig. 18 is a schematic structural view of a connecting nut. the

Figure 19 is a schematic structural view of the spiral ring, wherein Figure 19a is a front view, and Figure 19b is a right view

Figure 20 is a schematic diagram of the structure of the outer end cap

Fig. 21 is a schematic structural view of the stroke slug, wherein Fig. 21a is a front view, and Fig. 21b is a top view. the

Figure 22 is a schematic diagram of the structure of the spiro ring. the

Figure 23 is a schematic diagram of a scale plate. in:

1. Connector 2. Connector mounting plate 3. Sensor mounting seat 4. Position sensor 5. Guide rod

6. Connecting nut 7. Connecting rod 8. Pointer 9. Guide bearing 10. Outer end cover

11. Lead screw 12. Scale plate 13. Guide sleeve shell 14. Bearing shell 15. DC motor

16. Reducer 17. Bearing end cover 18. Bearing 19. Stroke insert 20. Linear bearing

21. Ball 22. Drive nut 23. Spiral ring 24. Bushing

Detailed ways

This embodiment is a steering gear for an underwater vehicle, including a connector 1, a DC motor 15, a reducer 16, a guide sleeve housing 13, a bearing housing 14, a screw nut mechanism and a position feedback assembly. and:

The lead screw and nut mechanism includes a lead screw 11 , a linear bearing 20 , a driving nut 22 and a stroke insert 19 . Wherein, the linear bearing 20 is sleeved on the lead screw 11 , and the through groove on the circumference of the linear bearing 20 corresponds to the installation groove of the position feedback component on the lead screw 11 . The driving nut 22 is also sleeved on the threaded end of the lead screw 11 . The stroke insert 19 is fixed in the position feedback component mounting groove on the lead screw 11 . The position feedback assembly includes a connecting rod 7 , a guide bearing 9 , a pointer 8 , a guide rod 5 , a sensor mounting seat 3 , a connector mounting plate 2 , a position sensor 4 and a connecting nut 6 . Connecting rod 7 lower ends are packed in the connecting rod 7 jacks that are positioned on the leading screw 11 by the installation hole on the stroke insert 19; The guide bearing 9 is sleeved on one end of the connecting rod 7 adjacent to the stroke insert 19, and is positioned in the guide bearing chute on the circumferential surface of the guide sleeve shell 13. The pointer 8 is set on the positioning threaded sleeve located in the middle of the connecting rod 7, and the pointer is positioned through the positioning threaded sleeve and the fastening nut so that the initial position of the pointer corresponds to 0 on the number axis of the scale plate; The bar moves to indicate the position of the leading screw 11 on the scale plate. One end of the guide rod 5 is loaded into the threaded hole of the connecting nut 6, and the shaft rod of the position sensor 4 is connected with the other end of the guide rod 5 through a coupling. A connector mounting plate 2 is sleeved on the position sensor 4 ; a sensor mounting seat 3 is sleeved on the position sensor 4 between the connector mounting plate 2 and the connecting nut 6 . The position sensor 4 and the sensor mounting base 3 are fastened by screws; the connector mounting plate 2 and the position sensor 4 are loosely fitted. The connector 1 adopts the aviation connector in the prior art. The connector is embedded in the mounting hole on the connector mounting plate 2 and fixed on the connector mounting plate 2 . The guide sleeve shell 13 is set on the linear bearing 20 , the inner surface of the guide sleeve shell 13 closely matches the outer surface of the linear bearing 20 , and the guide sleeve shell 13 is fastened to the outer end cover 10 through a threaded hole. A scale plate 12 is pasted on one side of the outer circular surface of the guide sleeve housing 13 . The bearing housing 14 is sleeved on the driving nut 22 , and the end surface of the bearing housing 14 is matched with the end surface of the guide sleeve housing 13 . The bearing housing 14 and the guide sleeve housing 13 are fastened by connecting lugs on the bearing housing 14 and the guide sleeve housing 13 . There is a ball groove on the surface of the inner hole of the guide sleeve shell 13, and the motion fit between the guide sleeve shell 13 and the drive nut 22 is made by the balls. One end of the bearing housing 14 connected to the guide sleeve housing 13 is in clearance fit with the driving nut 22 . The other end of the bearing housing 14 is sleeved on the bearing 18, and the two are tightly fitted. The bearing 18 is sleeved on the outer surfaces of the drive nut 22 and the spiral ring 23, and is fastened by the bearing end cover 17. The housing of the speed reducer 16 is fixedly connected with the flange of the bearing housing 14 through bolts. The output shaft of the reducer 16 is inserted into the rectangular connection hole of the shaft sleeve 24 , and the shaft sleeve 24 is sleeved on the drive nut 22 . The input shaft of the speed reducer 16 is connected with the output shaft of the DC motor 15 through a coupling. the

In this embodiment, the lead screw 11 in the lead screw nut mechanism is divided into two sections, one of which has a mounting groove for the position feedback component on the circumferential surface, and a socket through the connecting rod 7 of the lead screw 11 on the bottom surface of the mounting groove , there is a screw hole on one side of the socket of the connecting rod 7, which is used to fix the stroke insert 19; the center line of the socket of the connecting rod 7 and the fixing hole of the stroke insert 19 are all perpendicular to the center of the lead screw Wire. The other section of the lead screw 11 is used for installing the driving nut 22 , and the circumferential surface of this section is a thread that cooperates with the driving nut 22 . There is an axially protruding stroke limiting boss on the end face of the mating section of the lead screw 11 and the driving nut 22 . The lead screw 11 adopts a trapezoidal thread, and the lead angle of the thread must be self-locking. In this embodiment, the lead screw 11 has a lead angle of 3°48′. the

The linear bearing 20 in the screw nut mechanism is prior art. The linear bearing 20 is in the shape of a sleeve, and a through groove through the axial direction of the linear bearing 20 is opened on the outer surface of the linear bearing 20 . The outer diameter of the linear bearing 20 is identical to the inner diameter of the guide sleeve shell 13, and after the linear bearing 20 is packed into the guide sleeve shell 13, the two are tightly fitted. the

The drive nut 22 in the screw nut mechanism is a stepped circular rod. The shape at one end of the driving nut 22 is the same as the inner shape of the shaft sleeve 24 , and the driving nut 22 and the shaft sleeve 24 are closely matched. The bearing end cover 17 is sleeved on the shaft sleeve 24 . The spiral ring 23 is sleeved on the inner side of the shaft sleeve 24 . The bearing 18 adopts a thrust ball bearing, and is sleeved on the steps of the spiral ring 23 and the drive nut 22 . The other end of the drive nut 22 has the largest diameter. There is an axial stepped inner hole on the end face of the large diameter end of the driving nut 22, and the stepped inner hole is a blind hole. There is a loose fit between the diameter of the bottom of the stepped inner hole and the outer diameter of the travel limiting boss of the lead screw 11 . The middle part of the stepped inner hole is the through hole of the lead screw 11 . One end of the orifice of the stepped inner hole is a threaded hole matched with the lead screw 11 . the

The spiral ring 23 is a circular sleeve with threads on its inner surface, which is matched with the threaded rod of the drive nut 22 . Four lubricating oil grooves extending axially are evenly distributed on one end surface of the spiral ring 23. When the bearing 18 is set on the spiral ring 23, the lubrication of the bearing is achieved through the lubricating oil grooves. The lubricating oil groove runs through the cylinder wall of the spiral ring 23 . the

The axle sleeve 24 is also a circular sleeve. The inner hole of the shaft sleeve 24 cooperates with one end of the drive nut 22 and the front end of the output shaft of the speed reducer 16 . The shape and size of the inner hole of the shaft sleeve 24 are respectively the same as the outer shape of the drive nut 22 and the speed reducer 16 matched therewith. The shaft sleeve 24 is installed in the inner hole of the bearing end cover 17, and there is a clearance fit between the two. the

The stroke insert 19 in the leading screw nut mechanism is a rectangular block. There are two through holes distributed side by side on the stroke insert 19 . One of the through holes is a "T"-shaped mounting hole for the connecting rod 7, and the other through hole is a countersunk hole for connecting the travel insert 19 with the lead screw 11. the

The guide sleeve shell 13 is a hollow rotating body. The guide sleeve shell 13 is provided with a rectangular groove, the inner diameter of one section is the same as the outer diameter of the linear bearing 20, and the inner diameter of the other section is slightly larger than the outer diameter of the large-diameter shaft of the drive nut 22. On the circumferential surface of the guide sleeve shell 13, there is a guide bearing chute distributed along the axial direction of the guide sleeve shell 13, and the guide bearing chute passes through the guide sleeve shell shell. The width of the guide bearing chute is slightly larger than the outer diameter of the guide bearing 9 . Connecting holes are evenly distributed on one end surface of the guide sleeve housing 13 for fixing the outer end cover 10 to the outer end cover. The other end surface of the guide sleeve shell 13 has a radially protruding connecting flange, which is used for fixing the guide sleeve shell 13 and the bearing shell 14 . There is an annular groove at the inner hole of one end where the guide sleeve housing 13 and the bearing housing 14 are connected by flanges, and balls 21 are placed in the groove for supporting the large-diameter end of the drive nut 22 outer shaft. the

The outer end cap 10 is a ring. The inner hole of the outer end cap 10 is stepped. The aperture of outer end cover 10 apertures is slightly larger than the outer diameter of leading screw 11, after making leading screw 11 pack in the aperture of outer end cover 10, clearance fit between the two. The diameter of the large hole of the outer end cover 10 is larger than the external dimension of the travel slug 19 to meet the space requirement of the travel slug 19 when it moves along the lead screw 11 . The stepped end surface in the inner hole of the outer end cap 10 forms a limit surface of the stroke insert 19 . The outer peripheral surface of the middle part of the outer end cover 10 has a radially protruding connecting flange, and connecting holes are evenly distributed on the connecting flange, through which the outer end cover 10 is fixed on the end surface of the guide sleeve shell 13 . the

The bearing housing 14 is a stepped hollow rotating body. The inner hole of the large-diameter section of the bearing housing 14 is a stepped hole for installing the bearing 18 and the bearing end cover 17, and the inner hole of the small-diameter section of the bearing housing 14 is used for installing the drive nut 22; the inner hole diameter of the small-diameter end of the bearing housing 14 is slightly It is larger than the diameter of the large diameter section of the outer shaft of the driving nut 22, and a clearance fit is formed between the two. The junction of the large-diameter hole section and the small-diameter hole section has a radially protruding annular stopper for positioning the bearing 18 . The inner diameter of the annular stopper is slightly larger than the outer diameter of the third step on the driving nut 22 and is the same, and a clearance fit is formed between the two. The bearing 18 is located inside the bore of the large diameter section of the bearing housing 14 . There are grooves on the surface of the inner hole of the bearing housing 14 and the bearing 18, so that the outer surfaces of the two ends of the bearing 18 on this surface are in contact with the inner surface of the bearing housing 14, and the outer surface of the middle part of the bearing 18 is in contact with the inner surface of the bearing housing 14. The assembly gap is formed by the groove. The bearing end cover 17 is located at the orifice of the inner hole of the large diameter section of the bearing housing 14, and is threadedly connected with the inner hole of the bearing housing 14, and the end surface of the bearing end cover 17 is closely matched with the contacting end surface of the bearing 18. the

The outer circular surface of the bearing housing 14 is stepped. There is a radially protruding connecting flange on the outer circular surface at the end of the large diameter end of the stepped shaft where the drive nut 22 is installed on the bearing housing 14 , and the bearing housing 14 and the guide sleeve housing 13 are affixed through the connecting flange. There are a pair of radially protruding mounting platforms in the middle of the bearing housing 14, and the mounting platforms are symmetrically distributed on the outer circular surface of the bearing housing 14; there are mounting holes in the mounting platforms. Through the mounting hole, this embodiment is fixedly connected with the hull of the aircraft. There is also a mounting hole for the sensor mounting base 3 on the mounting table. The position of the mounting platform on the outer circular surface of the bearing housing 14 corresponds to the position of the radially protruding annular stop in the inner hole of the bearing housing 14 . Two pairs of radially protruding lug-shaped connecting flanges are symmetrically distributed on the outer circular surface of the end of the bearing housing 14 where the bearing end cover 17 is installed, and are used for fixedly connecting the reducer 16 to the bearing housing 14 . Among the two pairs of lug-shaped connecting flanges, the two lug-shaped connecting flanges adjacent to the connector 1 also have fixing holes for the connector mounting plate 2 . the

The connecting rod 7 in the position feedback assembly is a stepped shaft. One end of connecting rod 7 is the connecting end that cooperates with leading screw 11, and the outer diameter of this connecting end is identical with the internal diameter of the connecting rod jack on the leading screw 11, and makes between connecting rod 7 and the connecting rod jack of leading screw 11 close Fitting; there is a radially protruding rounded square positioning platform on the connecting rod, and one side surface of the positioning platform fits with the outer surface of the groove of the lead screw 11, which is used to limit the insertion of the connecting rod 7 into the connecting rod. depth in the hole. The other side of the positioning platform is the mating surface of the guide bearing 9 and the installation surface of the pointer 8; The positioning thread sleeve of the pointer 8 is set between the mating surfaces, and the other end of the pointer 8 is tightened by pressing the end face of the pointer through a tightening nut. The other end of the connecting rod 7 is a polished rod that cooperates with the connecting nut 6 . the

Pointer 8 is made up of dial plate, needle, fastening nut and positioning thread sleeve. The dial is sleeved on the pointer mounting surface on the connecting rod, and positioned through the positioning threaded sleeve. Set the fastening nut on the pointer mounting surface on the connecting rod, and fix the pointer 8 on the connecting rod through the fastening nut. The needle of the pointer 8 is perpendicular to the scale plate 12 located on the outer circular surface of the guide sleeve housing 13 . the

The guide rod 5 is a rod. One end of the guide rod 5 is screwed with the connecting nut by an external thread. The other end of the guide rod 5 is connected with the shaft rod of the position sensor 4 through a coupling. the

The sensor mount 3 is block-shaped and consists of a base and two clamping blocks. There is an arc-shaped groove in the middle of the lower surface of the base, and the curvature of the arc-shaped groove is the same as that of the outer surface of the bearing housing 14; there are connecting holes on both sides of the arc-shaped groove, which are used to mount the sensor 3 is fixedly connected with the housing of the bearing housing 14. There are square clips on both sides of the middle part near the upper surface of the base, which are used for fixedly connecting two clamping blocks. The two clamping blocks are respectively located on both sides of the base. The clamping block is a rectangular block, and the mounting hole of the position sensor 4 is arranged on the clamping block. The diameter of the mounting hole of the position sensor 4 is the same as the outer diameter of the position sensor 4 . There is a strip-shaped opening on one side of the clamping block, which divides the side of the clamping block into two layers; connected. On the clamping block, a through hole is opened perpendicular to the direction of the bar-shaped opening. The through hole penetrates the upper and lower layers of the clamping block, one side of the through hole is a through hole, and the other side is a threaded hole; the center line of the through hole is parallel to the center line of the connecting hole on the base. the

The connector mounting plate 2 is a plate. The lower surface of the connector mounting plate 2 is an arc-shaped concave surface; the curvature of the arc-shaped concave surface is the same as that of the outer circular surface of the bearing housing 14 . There is a via hole for the position sensor 4 on the connector mounting plate 2 . A mounting hole for the connector 1 passing through the connector mounting plate 2 is provided above the through hole of the position sensor 4 . the

The connecting nut 6 is a hollow body of revolution. The profile of connecting nut 6 is stepped, and the circumferential surface of 6 large-diameter ends of this connecting nut has the strip hole that radially runs through this connecting nut 6 large-diameter ends; The aperture of this strip-shaped hole is slightly larger than the external diameter of connecting rod 7, makes The connecting nut 6 is in clearance fit with the connecting rod 7 . The inner hole of the small-diameter end of the connecting nut 6 is a threaded hole for connecting with the guide rod 5; the

Both the guide bearing 9 and the position sensor 4 adopt the prior art, the guide bearing 9 is a deep groove ball bearing, and the position sensor is a resistive precision sensor. the

Reducer 16 adopts three-stage spur reducer, including reducer housing, four gear shafts, three-stage reduction gear. The four gear shafts are installed on the reducer housing through bearings, and the four gear shafts are parallel to each other. the

One end of the first gear shaft where the driving wheel of the first stage reduction gear is located is connected with the output shaft of the DC motor 15 through a shaft coupling; the driven wheel of the first stage reduction gear is located on the second gear shaft. The driving wheel of the second-stage reduction gear is located on the second gear shaft, and meshes with the driven wheel of the second-stage reduction gear located on the third gear shaft. The driving wheel of the third stage reduction gear is located on the third gear shaft, and is meshed with the driven wheel of the third stage reduction gear located on the fourth gear shaft. The fourth gear shaft is the output shaft of the speed reducer; the output end of the fourth gear shaft is on the same side as the input end of the speed reducer 16; The other end is an outer hexagonal shape and extends to the outside of the reducer housing. When the lead screw nut moves until it is stuck, it is adjusted through the extension end of the output shaft. the

There is a threaded hole connected to the lug-shaped connection flange of the bearing housing 14 on the housing of the reducer 16 . the

The scale plate 12 is used to display the axial movement distance of the leading screw. There is a scale on the said scale plate 12, and the scale is represented by a number axis. The middle of the number axis is 0, and with said 0 as a boundary, the scale values of 1 to 10 are respectively equidistantly marked on both sides to represent the lead screw. Axial movement distance. the

Bearing 8, ball 21, DC motor 15 and connector 1 are all prior art. The bearing 8 is a thrust ball bearing, the DC motor 15 is a hollow cup DC motor, and the connector 1 is an aviation connector. the

During the movement of the aircraft, a certain voltage is input through the connector 1 to drive the DC motor 15 connected to the input shaft of the reducer 16 to rotate, and the deceleration of the reducer 16 and the increase of the output torque drive the drive connected to the output shaft of the reducer 16. The nut 22 rotates in the thrust ball bearing 18 and the ball 21 installed in the annular groove of the inner hole of the guide sleeve housing 13 , and the lead screw 11 moves in the axial direction under the helical side effect of cooperating with the drive nut 22 . the

There is a position feedback component installation slot in the middle of the screw 11, and the stroke insert 19 is embedded in it. When the screw 11 protrudes a certain distance, the stroke insert 19 is in close contact with the stepped end surface of the outer end cover 10, which limits the extension of the screw 11. Distance: Lead screw 11 and drive nut 22 cooperate with one end, and the blind hole end of drive nut 22 has a certain depth. , which defines the retraction distance of the lead screw 11. the

The connecting rod 7 is embedded in the mounting hole of the connecting rod 7 of the lead screw 11, the middle part of the connecting rod 7 is inserted into the guide bearing 9, and the width of the guide bearing chute opened by the guide sleeve shell 13 is slightly larger than the outer diameter of the guide bearing 9. When the lead screw 11 moves, it drives The connecting rod 7 moves along the restrained linear direction in the guide bearing chute of the guide sleeve shell 13 . The connecting rod 7 is connected with the guide rod 5 through the connecting nut 6, and the guide rod 5 is connected with the shaft of the linear resistive position sensor 4, and the position sensor 4 is fixed on the sensor mount 3, and the movement of the connecting rod 7 drives the movement of the position sensor 4 The shaft moves, and the position signal of the lead screw is obtained by feedback, which is output through the connector 1; at the same time, the position of the lead screw 11 is indicated on the scale plate 12 through the pointer 8. the

Claims (9)

1. A steering gear for an underwater vehicle, characterized in that it comprises a connector, a DC motor, a speed reducer, a guide sleeve shell, a bearing shell, an outer end cover, a scale plate, a screw nut mechanism and a position feedback assembly ;and: a. The lead screw and nut mechanism includes a lead screw, a linear bearing, a drive nut and a stroke insert; wherein, the linear bearing is set on the lead screw, and the through groove on the circumference of the linear bearing is installed with the position feedback component on the lead screw Corresponding to the groove; the driving nut is set on the threaded end of the lead screw; the stroke insert is fixed in the position feedback component installation groove on the lead screw; b. The position feedback assembly includes connecting rod, guide bearing, pointer, guide rod, sensor mounting seat, connector mounting plate, position sensor and connecting nut; The connecting rod socket; the upper end of the connecting rod is installed in the through groove on the outer surface of the connecting nut; the guide bearing is set on the end of the connecting rod adjacent to the stroke insert, and is located in the guide bearing chute on the circumferential surface of the guide sleeve shell; the pointer is fixed on the Located on the positioning threaded sleeve in the middle of the connecting rod; one end of the guide rod is inserted into the threaded hole of the connecting nut, and the shaft of the position sensor is connected to the other end of the guide rod through a coupling; a connector is set on the position sensor A mounting plate; a sensor mounting seat is set on the position sensor between the connector mounting plate and the connecting nut; the position sensor is fixedly connected to the sensor mounting seat; the connector mounting plate and the position sensor are gap-fitted; c. The guide sleeve shell is set on the linear bearing, and the two are closely matched; one end face of the guide sleeve shell is fixedly connected with the bearing shell, and the other end face has an outer end cover; the scale plate is pasted on the outer surface of the guide sleeve shell ; d. The bearing shell is set on the drive nut, and the end face of the bearing shell is matched with the end face of the guide sleeve shell; there is a ball groove on the surface of the inner hole of the guide sleeve shell, and the guide sleeve shell and the drive nut are dynamically matched by balls; The end of the connection between the bearing shell and the guide sleeve shell is fitted with a clearance between the drive nut; the other end of the bearing shell is set on the bearing, and the two are tightly fitted; the bearing is set on the outer surface of the drive nut and the spiral ring, and through the bearing The end cover is fastened; the bearing end cover is set on the shaft sleeve; the screw ring is set on the inner side of the shaft sleeve; the connector is fixed on the connecting flange at the end of the bearing shell where the bearing end cover is installed; the output shaft of the reducer is installed The shaft sleeve is inserted into the connecting hole of the shaft sleeve, and the shaft sleeve is set on the drive nut; the input shaft of the reducer and the output shaft of the DC motor are connected through a coupling. 2. A steering gear for an underwater vehicle as claimed in claim 1, wherein the leading screw is divided into two sections, wherein the circumferential surface of one section has a mounting groove for a position feedback assembly, and the bottom surface of the mounting groove There is a jack of the connecting rod through the lead screw, and there is a screw hole on one side of the jack of the connecting rod, which is used to fix the stroke insert; the center line of the jack of the connecting rod and the fixing hole of the stroke insert are both It is perpendicular to the center line of the lead screw; the other circumferential surface of the lead screw is a thread matched with the driving nut; there is an axially protruding stroke limit boss on the end face of the matching part of the lead screw and the driving nut. 3. A kind of steering gear that is used for underwater vehicles as claimed in claim 1, is characterized in that, there is a guide bearing chute along the axial distribution of guide sleeve shell on the circumferential surface of guide sleeve shell, and this guide The bearing chute runs through the shell of the guide sleeve; the width of the guide bearing chute is slightly larger than the outer diameter of the guide bearing; one end surface of the guide sleeve shell is evenly distributed with fixing holes for the outer end cover; the other end surface of the guide sleeve shell There is a connecting flange for connecting the bearing housing. 4. A steering gear for an underwater vehicle as claimed in claim 1, wherein the inner hole of the outer end cover is stepped, wherein the small aperture part fits with the lead screw clearance, and the large aperture part is larger than the stroke embedding. The overall dimensions of the block; the stepped end face in the inner hole of the outer end cap forms the limit surface of the stroke insert. 5. A steering gear for an underwater vehicle as claimed in claim 1, wherein a pair of radially protruding mounting platforms connected to the hull of the vehicle are arranged in the middle of the bearing housing, where There is a mounting hole for the sensor mounting seat on the platform; the position of the mounting platform on the outer circular surface of the bearing shell corresponds to the position of the annular stop in the inner hole of the bearing shell. 6. A steering gear for an underwater vehicle as claimed in claim 1, wherein the circumference of the connecting rod in the position feedback assembly has a mark that limits the depth of the connecting rod inserted into the connecting rod jack. The positioning table, the matching surface of the guide bearing and the installation surface of the pointer; the positioning thread sleeve of the pointer is set between the installation surface of the pointer and the matching surface of the guide bearing, and the other end of the pointer is fixed by pressing the end surface of the pointer through the tightening nut. tight; the other end of the connecting rod is a polished rod that matches the connecting nut. 7. A steering gear for an underwater vehicle as claimed in claim 1, wherein the middle part of the lower surface of the base of the sensor mount has an arc-shaped groove that matches the outer circular surface of the bearing housing; There are clamping blocks on both sides of the middle part of the surface; there are mounting holes for position sensors on each clamping block; there is a strip-shaped opening on one side of each clamping block, which divides the side of the clamping block into upper and lower layers The opening slot penetrates the thickness of the clamping block and communicates with the mounting hole of the position sensor on the clamping block; the center line of the through hole is parallel to the center line of the connecting hole on the base. 8. A steering gear for an underwater vehicle as claimed in claim 1, wherein the lower surface of the connector mounting plate has a concave surface matched with the outer circular surface of the bearing housing; there is a position on the connector mounting plate The through hole of the sensor; above the through hole of the position sensor, there is a mounting hole of the connector that passes through the connector mounting plate. 9. A steering gear for an underwater vehicle as claimed in claim 1, wherein the reducer adopts a three-stage spur reducer, including a reducer housing, four gear shafts and three-stage reduction gears; The four gear shafts are installed on the reducer housing through bearings, and the four gear shafts are parallel to each other; the output end of the reducer is on the same side as the input end; one end of the fourth gear shaft of the reducer is the output end, the The other end of the fourth gear shaft extends out of the reducer housing.

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