RU2524498C1 - Step drive with mechanical initiation and zero reverse force - Google Patents

Abstract

FIELD: electricity.

SUBSTANCE: step motions of an actuating mechanism of a drive are provided by a pin-ring kinematic link; with that, the ring can be turned about pins (teeth) with force provided by the drive motor through the half turn per step. Cut-off of force rotating the ring after it completes the half turn is performed by means of an intermediate gear with an incomplete gear rim.

EFFECT: as a result, there is no need for feedback, brake and clutch, which allows simplifying the design of the step drive.

2 cl, 3 dwg

Description

FIELD OF THE INVENTION

Drives for aviation and robotic systems

State of the art

Management of planning systems based on soft shells has the following features:

1. Management is carried out by winding the control lines, and depending on the mode, the line always has some degree of tension. Accordingly, in addition to the feedback sensor, the control servos are forced to include a brake and a clutch, otherwise, it will be necessary to constantly expend energy to maintain the moment.

2. The control is characterized by large and fast working strokes, as well as uneven loading, which forces the winch engines to be overloaded or rotational energy storage devices are used that unload the engine at peak loads. On the other hand, this feature allows the drives to be dispensed with without precision mechanisms and with large pitch movements.

Known follow-up drives of control systems for gliding parachutes with mechanical motivation (for example, RF patent No. 2314427 or dissertation by A.V. Makarenko “development of a methodology for calculating an energy-efficient stand-alone follow-up drive of a gliding parachute control system), containing a motor, gearbox, electromagnetic brake, electromagnetic clutch, feedback sensor, control system. The disadvantages of such drives are complex kinematics and control logic, which causes an increase in cost and weight, as well as a decrease in their reliability.

If you use the dosed (step) movement of the actuator, in this case, the winch is rotated by a certain angle, then the need for a feedback loop will disappear. But stepper motors (see, for example, T. Kenio’s book “Stepper motors and their microprocessor control systems”) have a force limit, after which synchronization fails. This forces the use of stepper motors with a retention force inflated by the calculated overload. In addition, to maintain the torque of the stepper motor, constant energy is required, which forces the use of a brake and clutch in this case as well.

Disclosure of invention

The aim of the invention is to create a drive with no need for feedback, brake and clutch, which will simplify, reduce the cost and facilitate it.

The purpose of the invention is achieved in that it provides a metered movement of the actuator, as well as its fixation, through the kinematic link of the finger-ring shown in figure 1. The drive ring 2 is provided with the ability to rotate around the fingers (teeth) 1 with the necessary force provided by the drive motor. The axis of rotation of the ring is fixed to the drive, and the fingers to the actuator. To facilitate rotation, the ring can be equipped with rollers. To ensure stable fixation of the ring on the finger, which prevents the displacement of the actuator under the action of the load, the ring can be performed with an elastic link 7 (see types B, C, D in figure 2) and deepened into a straight portion of the finger.

A mechanism based on an intermediate gear with an incomplete gear rim 3 can provide a cut-off of the ring-rotating effort to complete its half-revolution without using a separate step drive (type A in figure 3). The gear 3 is mounted on the shaft of the micromotor 5, fixed in the drive housing and allowing this gear to rotate until it engages with the teeth of the drive gear 6 and the driven gears of the drive, as well as fixing the intermediate gear in the unlocked position before giving the command to rotate.

To synchronize the position of the teeth of the driving, driven and intermediate gears at the moment their teeth enter the meshing on the intermediate gear 3, an elastic plate 4 can be used, the first being engaged. When falling between the teeth of the driving / driven gears, the plate 4, sliding along the tooth of the driving / driven gear, aligns the position of the oncoming tooth of the intermediate gear relative to the driving / driven. When the plate hits the tooth tip of the driving / driven gear, this plate bends so that the tooth of the driving / driven gear goes into the recess in front of the oncoming tooth of the intermediate gear.

Mechanical drive motivation is provided through the shaft of the pinion gear 6.

Brief Description of the Drawings

Figure 1 shows the movement pattern of the kinematic pair of finger-ring. Pos. 1 fingers (teeth) are indicated. Pos. 2 - ring.

Figure 2 shows a drive having a winch coil with a gear rim 1 mounted on bearings on the mechanism body. The shape of the fingers (teeth) of the ring gear of the actuator allows them to engage with the drive ring 2.

Figure 2 also shows a ring with an elastic link 7, gears with an incomplete gear rim 3 (type A in figure 3), having elastic plates 4 and mounted on the shaft of micromotors 5, fixed in the drive housing, drive 6 and driven gears of the drive, as well as the drive shaft with the drive gear 6, the drive gears of the transmission of the opposite rotation.

The implementation of the invention

An embodiment of a drive based on the invention is shown in FIG. 2. As an actuating element in this drive, a winch coil with a gear rim 1 mounted on bearings on the case of the mechanism acts. To smooth the impulse loads on the drive during step movements, the winch coil can be connected to the ring gear via a damper. The shape of the fingers (teeth) of the gear ring of the actuator allows them to engage with the drive ring 2. Several drive rings 2 can be integrated into the drive shown without changing its kinematic chain.

The described invention can be used both with a rotating Executive link, and with the Executive link linear movement. In the latter case, the ring gear 1 is deployed on a plane with respect to which it can linearly shift.

The mechanical motivation of the drive shown is conveniently provided either from the power take-off of the main engine, if any, or from the drive control engine, for example internal combustion. In the latter case, the engine is equipped with a speed sensor and a tracking device that provides nominal engine speeds both at idle and on the move.

In drives with relatively short runtimes, such as landing and landing systems, it is convenient to use mechanical motivation based on flywheel drives. In this case, two counter-rotating flywheels can be used both as a source of mechanical energy and as a support link for stabilizing the vertical position of the dome (due to its desire to maintain a constant position of the rotation axes relative to the horizon). The flywheel drives are unwound from the on-board energy system of the carrier immediately before the discharge / landing.

In mechanical motivation schemes with a variable speed of the drive shaft (for example, with power take-off from the main engine or from the flywheels), to ensure the required speed of the actuator, it is necessary to increase the frequency of the feed pulses with a decrease in the speed of the drive shaft, for which the drive control system needs a channel feedback from the drive shaft speed sensor.

Claims (2)

1. A step drive comprising a motor, a gearbox, a control system, characterized in that the stepwise movements of its actuator are provided by a kinematic finger-ring link, and the ring can be rotated around the fingers (teeth) with the force provided by the drive motor by half a revolution per step. 2. The step drive according to claim 1, characterized in that the transmission of rotation from the engine to the ring is provided through an intermediate gear with an incomplete ring gear.

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