CN113431875B - A shaft type actuating device - Google Patents

Abstract

The invention provides shaft type actuating equipment, and relates to the technical field of shaft type actuating equipment. The servo motor drives the central shaft to rotate through the gear box after being decelerated by the planetary gear reducer, the driving joint rotates along with the central shaft, the cylindrical pin is driven to move, the driven joint is driven to rotate by the cylindrical pin, the driven support connected with the driven joint also rotates along with the driven joint to a preset angle and is reliably self-locked, and the rotary locking unit can mechanically self-lock at the rotary starting position and the rotary ending position. When the servo motor rotates reversely, the driving joint rotates reversely, the cylindrical pin is driven to move reversely, the driven bracket rotates reversely along with the driven joint, and the driven bracket is mechanically self-locked to the starting position. The invention has small volume, light weight, reliable locking and enough strength, can provide larger torque to rotate the load with larger weight to a preset angle and reliably self-lock, can reversely rotate to restore and lock, skillfully combines rotation and locking into a whole, and integrates electric rotation, mechanical locking and electric unlocking.

Description

A shaft type actuating device

Technical Field

The invention provides a shaft-type actuating device, which relates to the field of electric actuation technology, and in particular to a shaft-type actuating device.

Background Art

With the development of national economic construction and national defense, it is necessary to have an axial actuating device that can rotate a part of a structural part to a predetermined angle and lock it, and can also reversely rotate to restore and lock it. This axial actuating device requires that it is small in size, light in weight, reliable in locking, and has sufficient strength. Before this, although many components have the function of rotating objects, such as hinges and hinges of doors and windows, the hinges and hinges themselves cannot lock the doors and windows in a certain position, and they must be locked with the help of another component such as door suction, hooks, latches or gas springs. For the folding mechanism of the aircraft wing, due to the limited space of the wing, an integrated mechanism of hinges and locking is required, and it can automatically achieve the purpose of rotation and locking. Many other machines also have this requirement. How to ensure that the structural part can be rotated to a predetermined angle and locked, and can also reversely rotate to restore and lock it, while ensuring small size, light weight, and reliable locking is a problem that needs to be solved urgently for the axial actuating device.

Summary of the invention

In order to solve the above problems of the prior art, the present invention provides a shaft-type actuating device, so that it can provide a large rotational torque under the condition of small external dimensions, rotate a part of the structural member to a predetermined angle and lock it, and also reversely rotate the structural member to restore and lock it. The present invention can be used for folding the wings on both sides of the carrier-based aircraft, and can also be used in other facilities that require rotation and self-locking.

To achieve the above object, the technical solution adopted by the present invention is as follows:

A shaft-type actuating device, characterized in that it includes a driving device, a rotary locking device, and connecting and installing accessories. The driving device uses a servo motor to drive a planetary gear reducer to drive the gear to generate a driving torque. The rotary locking device is internally installed with a driving joint, a driven joint, a fixed joint, a fixed bracket, a driven bracket, a cylindrical pin, a center shaft, a fixed shaft 1, and a fixed shaft 2, which converts the driving torque into a rotary erection and rotary leveling of the driven bracket, and is self-locking. The connecting and installing accessories include a gear box, a fixed shaft, and an end cover used for connection and installation.

Furthermore, the servo motor and the planetary gear reducer are fixed on the upper right side of the gear box, and the two rotation locking devices are respectively fixed on the upper and lower sides of the left side of the gear box.

Furthermore, the driving joint is fixed on the central shaft, the driven joint and the fixed joint are sleeved on the central shaft, the three joints are arranged alternately on the central shaft, and an end cover is provided at the end of the central shaft to limit the position. The end cover is fixed to the central shaft with screws to prevent the three joints from falling out, and the cylindrical pins are inserted into the slide grooves of the three joints.

Furthermore, the fixed joint on the central axis is connected to the fixed bracket via a fixed shaft 1, and the driven joint is connected to the driven bracket (10) via a fixed shaft 2, and the ends of the cylindrical pin, the fixed shaft 1, and the fixed shaft 2 are limited by cotter pins.

Furthermore, the servo motor drives the central shaft to rotate through the gear box after being decelerated by the planetary gear reducer, and the driving joint rotates accordingly, thereby moving the cylindrical pin, and the cylindrical pin drives the driven joint to rotate, and the driven bracket connected to the driven joint also rotates to a predetermined angle and reliably self-locks.

Furthermore, the servo motor rotates in the opposite direction, causing the driving joint to rotate in the opposite direction, driving the cylindrical pin to move in the opposite direction, and the driven bracket rotates in the opposite direction with the driven joint, and mechanically self-locks to the starting position. The rotation speed of the rotation locking device can be adjusted by the servo motor.

Furthermore, the servo motor is connected to a planetary gear reducer, the planetary gear reducer is connected to a driving gear in a gear box, a driving gear and a driven gear in the gear box are meshed with each other, and both ends of the driven gear are respectively connected to two rotation locking units.

The beneficial effects of the present invention are that the present invention is small in size, light in weight, reliably locks, has sufficient strength, can provide a large torque to rotate a heavy load to a predetermined angle and reliably self-lock, can also reversely rotate to restore and lock, and cleverly combines rotation and locking into one, integrating electric rotation, mechanical locking, and electric unlocking, with a novel structure and unique style.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these/these drawings without paying creative work.

Fig. 1 is a front view of the structure of the present invention.

FIG. 2 is a side view of the structure of the present invention.

FIG. 3 is a structural diagram of the rotary locking unit of the present invention.

FIG. 4 is a diagram of the driving joint of the present invention.

FIG. 5 is a diagram of a fixed joint according to the present invention.

FIG. 6 is a diagram showing the initial position of the driven joint of the present invention.

FIG. 7 is a diagram showing the terminal position of the driven joint of the present invention.

FIG. 8 is a diagram showing the initial position of the rotary locking unit of the present invention.

FIG. 9 is a diagram showing the final position of the rotary locking unit of the present invention.

[Description of Reference Numerals]

1. Screws; 2. End cover; 3. Driving joint; 4. Driven joint; 5. Fixed joint; 6. Fixed bracket; 7. Fixed shaft 1; 8. Center shaft; 9. Connecting pin; 10. Driven bracket; 11. Split pin; 12. Fixed shaft 2; 13. Servo motor; 14. Planetary gear reducer; 15. Reducer coupling; 16. Paired angular contact bearings; 17. Bearing seat; 18. Gearbox; 19. Driving gear; 20. Rotary locking unit; 21. Driven gear; 22. Single-row angular contact bearing; 23. Bearing end cover; 24. Felt ring; 25. Cylindrical pin.

DETAILED DESCRIPTION

In order to better explain the present invention and facilitate understanding, the present invention is further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

Please refer to Figures 1 and 2. The present invention provides an axis-type actuating device, which may specifically include the following structures: a servo motor 13, a planetary gear reducer 14, a gear box 18, and a rotation locking unit 20. The servo motor 13 is connected to the planetary gear reducer 14. The planetary gear reducer 14, the reducer coupling 15, and the bearing seat 17 are fixed to the upper right side of the gear box 18 by screws. The output shaft of the planetary gear reducer 14 is connected to the inner hole of the driving gear 19. The inner ring of the paired angular contact bearings 16 is connected to the driving gear 19, and the outer ring thereof is connected to the bearing seat 17. Two rotation locking units 20 are respectively sleeved on the shafts on both sides of the driven gear 21 and fastened by connecting pins 9. Single-row angular contact bearings 22 are installed on both sides of the driven gear 21. The inner ring of the bearing is connected to the driven gear 21, and the outer ring of the bearing is connected to the gear box 18. The outer ring of the single-row angular contact bearing 22 is positioned by a bearing cover 23. A felt ring 24 is installed in the circular groove of the bearing cover 23 for dust prevention. Felt is padded in all places that need to be sealed. The bearings and gears are coated with low-temperature resistant aviation grease.

Please refer to FIG3 , the rotation locking unit 20 is composed of a central shaft 8, a driving joint 3, a driven joint 4, a fixed joint 5, a cylindrical pin 25, a fixed bracket 6, a driven bracket 10, a fixed shaft 1 (7), a fixed shaft 2 (12), an end cover 2, a screw 1, and a cotter pin 11. The driving joint 3 is fixed in the straight groove of the outer circle of the central shaft 8 by its inner ring protrusion, and the driving joint 3 can rotate with the central shaft 8; the driven joint 4 and the fixed joint 5 are sleeved on the central shaft 8 and can rotate on the central shaft. The three joints are arranged alternately on the central shaft 8, and the end of the central shaft 8 is limited by an end cover 2, and the top of the central shaft 8 has a screw hole. The end cover 2 is fixed to the top of the central shaft 8 by a screw 1 to prevent the three joints from falling out. The cylindrical pin 25 is inserted into the slide grooves of the three joints. The fixed joint 5 is connected to the fixed bracket 6 through the fixed shaft 1 (7), and the driven joint 4 is connected to the driven bracket 10 through the fixed shaft 2 (12). One end of the cylindrical pin 25, the fixed shaft 1 (7), and the fixed shaft 2 (12) is positioned with a shoulder, and the other end is positioned by inserting a split pin into a pin hole. The servo motor 13 drives the central shaft 8 to rotate through the gear box 18 after being decelerated by the planetary gear reducer 14, and the driving joint 3 rotates accordingly, thereby moving the cylindrical pin 25, and the cylindrical pin 25 drives the driven joint 4 to rotate. The driven bracket 10 connected to the driven joint 4 also rotates to a predetermined angle and reliably self-locks. The shape of the slide groove of each joint determines the rotation angle of the rotation locking mechanism, and makes the rotation locking unit mechanically self-locked at the starting position and the end position of the rotation. When the servo motor 13 rotates in the opposite direction, the driving joint 3 rotates in the opposite direction, driving the cylindrical pin 25 to move in the opposite direction, and the driven bracket 10 rotates in the opposite direction with the driven joint 4, and mechanically self-locks at the end position. The rotation speed of the rotation locking unit 20 can be adjusted by the servo motor 13 .

Please refer to Figure 4. The driving joint is a circular plate with a raised circular hole in the center for fixing on the central shaft. There are three S-shaped grooves on the circular plate. The colored circles in the figure are cylindrical pins. A is the starting position of the cylindrical pin movement, and B is the ending position of the cylindrical pin movement. The central shaft drives the driving joint to move, thereby driving the cylindrical pin to move from A to B in the S-shaped groove. The S-shaped groove is concave at A and concave at B. The cylindrical pin is blocked at A and cannot move, but there is no blockage at B. The rotation locking unit is locked at the starting position because the cylindrical pin is blocked at A in the S-shaped groove of the driving joint.

Please refer to Figure 5. The fixed joint is a plate-like part with a circular hole in the center for rotation on the central axis. There are three S-shaped grooves on the circular plate. The colored circles in the figure are cylindrical pins. A is the starting position of the cylindrical pin movement, and B is the ending position of the cylindrical pin movement. The S-shaped groove is concave at A and concave at B. The cylindrical pin is unobstructed at A, but is blocked and cannot move at B. The rotation locking unit is locked at the end position because the cylindrical pin is obstructed at B in the S-shaped groove of the fixed joint. When the cylindrical pin moves from A to B, the rotation locking unit rotates 90° from the driven bracket. The present invention can rotate 90°, and the rotation angle can be adjusted during design as needed. The two circular holes on the right side of the fixed joint are fixed holes, which are connected to the fixed bracket through the fixed shaft 1.

Please refer to Figure 6, the driven joint is in the starting position of rotation. The driven joint is also a plate-shaped part with a circular hole in the center for rotation on the central axis. There are three straight grooves on the circular plate, and the colored circles in the figure are cylindrical pins. The two circular holes on the left side of the driven joint are fixed holes, which are connected to the driven bracket through the fixed shaft 2.

Please refer to Figure 7, the driven joint is in the rotation end position. The colored circle in the figure is a cylindrical pin.

Please refer to FIG8 , the rotation locking unit is in the rotation starting state, the cylindrical pin is at the outer end of the slide slot, and the S-shaped slide slot of the driving joint is concave to lock the cylindrical pin;

Please refer to Figure 9. The rotation locking unit is in the rotation termination state, and the cylindrical pin is at the inner end of the slide slot. At this time, the S-shaped slide slot of the fixed joint is concave to lock the cylindrical pin, and the driven bracket rotates 90°; it can only be unlocked when the servo motor restarts forward or reverse, otherwise it cannot be unlocked by external force.

In order to reduce weight, lightweight materials are used as much as possible while ensuring that the components of the rotary locking mechanism have sufficient strength and rigidity. The driving joint, driven joint, fixed joint, driven bracket, fixed bracket, gearbox, reducer connecting parts, and bearing seats are made of high-strength titanium alloy. The cylindrical pins, fixed shaft 1, fixed shaft 2, driving gear, driven gear, end cover, etc. are tempered with 40Cr. Screws and cotter pins are standard parts.

The specific embodiments described herein are merely examples of the spirit of the present invention. A person skilled in the art of the present invention may make various modifications or additions to the specific embodiments described or replace them in a similar manner, but this will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Although the terms such as reversal, slide, limit, mechanical self-locking are used more frequently in this article, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention. It is contrary to the spirit of the present invention to interpret them as any additional restrictions.

Claims (5)

1. A shaft-type actuating device, characterized in that: the self-locking mechanism comprises a servo motor, a planetary gear reducer, a gear box and a rotary locking unit, wherein the servo motor drives the planetary gear reducer to drive gears in the gear box to be meshed so as to generate driving torque, a driving joint, a driven joint, a fixed support, a driven support, a cylindrical pin, a central shaft, a fixed shaft 1, a fixed shaft 2, an end cover, screws and cotter pins are arranged in the rotary locking unit, the driving joint is a circular plate with three S-shaped sliding grooves, the fixed joint is a plate-shaped part with three S-shaped sliding grooves, the driven joint is a plate-shaped part with three straight grooves, the driving joint, the fixed joint and the driven joint are alternately arranged on the central shaft, the end part of the central shaft is provided with the end cover, the end cover is fixed on the central shaft by the screws so as to prevent the three joints from being separated, the cylindrical pin penetrates into the sliding grooves of the three joints, the fixed joint is connected with the fixed support by the fixed shaft 1, the driven joint is connected with the driven support by the fixed shaft 2, the cylindrical pin is positioned with one end of the fixed shaft 1, one end of the fixed shaft 2 is penetrated into a pin hole by the cotter pin, the servo motor drives the central shaft to rotate by the gear reducer, and then the driving joint rotates by the gear box, the driving joint is arranged on the central shaft, and the driven joint rotates, and the self-locking mechanism rotates, and can stop the driven joint rotates, and can rotate, and stop the rotation and lock and rotate.

2. A shaft-type actuating device according to claim 1, characterized in that: the servo motor and the planetary gear reducer are fixed on the upper right side of the gear box, and the two rotary locking units are respectively fixed on the left side and the lower side of the gear box.

3. A shaft-type actuating device according to claim 1, characterized in that: the driving joint is fixed in a straight groove of the outer circle of the central shaft by the inner ring bulge of the driving joint and can rotate along with the central shaft, the fixed joint and the driven joint are sleeved on the central shaft and can rotate on the central shaft, and the three joints are alternately arranged on the central shaft.

4. A shaft-type actuating device according to claim 1, characterized in that: the servo motor rotates reversely, so that the driving joint rotates reversely, the cylindrical pin is driven to move reversely, the driven bracket rotates reversely along with the driven joint, the driven bracket is mechanically self-locked to the starting position, and the rotating speed of the rotating locking unit can be adjusted by the servo motor.

5. A shaft-type actuating device according to claim 1, characterized in that: the servo motor is connected with a planetary gear reducer, the planetary gear reducer is connected with a driving gear in a gear box, the driving gear and a driven gear are meshed with each other in the gear box, and two ends of the driven gear are respectively connected with two rotary locking units.