阅读说明：本技术 一种舵机系统 (Steering engine system ) 是由 武媛洁 李恒 刘武 杨治辉 付郭智 于 2021-09-09 设计创作，主要内容包括：本发明公开了一种电动舵机系统,包括有展开舵机和调整舵机,所述的展开舵机输出端连接调整舵机驱动调整舵机角度改变,在所述的调整舵机上连接舵板,所述的调整舵机驱动舵板角度改变,该舵机系统能够实现舵板的展开和角度调整,在鱼雷或水雷应用领域能实现双自由度调整。(The invention discloses an electric steering engine system which comprises an unfolding steering engine and an adjusting steering engine, wherein the output end of the unfolding steering engine is connected with the adjusting steering engine to drive the adjusting steering engine to change the angle, a rudder plate is connected to the adjusting steering engine, the adjusting steering engine drives the rudder plate to change the angle, the steering engine system can realize the unfolding and angle adjustment of the rudder plate, and the two-degree-of-freedom adjustment can be realized in the application field of torpedoes or torpedoes.)

1. An electric steering engine system, which is characterized in that: the angle adjusting device is characterized by comprising an unfolding steering engine (1) and an adjusting steering engine (2), wherein the output end of the unfolding steering engine (1) is connected with the adjusting steering engine (2) to drive the adjusting steering engine (2) to change the angle, the adjusting steering engine (2) is connected with a rudder plate (3), and the adjusting steering engine (2) drives the rudder plate (3) to change the angle.

2. The electric steering engine system of claim 1, wherein: the unfolding steering engine (1) comprises a motor (1-1) and a gear reduction mechanism (1-2), and the adjusting steering engine (2) is fixed on an output shaft of the gear reduction mechanism (1-2).

3. An electric steering engine system according to claim 2, wherein: a brake (1-3) is arranged on the motor (1-1).

4. An electric steering engine system according to claim 2 or 3, wherein: the motor (1-1) is a stepping motor capable of controlling the rotation angle.

5. An electric steering engine system according to claim 2 or 3, wherein: the motor (1-1) is a servo motor and further comprises a feedback device (1-4) for feeding back and adjusting the rotation angle of the steering engine (2), and the feedback device (1-4) is used for feeding back a signal to the control system to control the rotation angle of the motor (1-1).

6. An electric steering engine system according to claim 5, wherein: the feedback device (1-4) is an encoder or a rotary transformer or a potentiometer.

7. The electric steering engine system of claim 5, wherein: the feedback device (1-4) is arranged on any transmission shaft of the gear speed reducing mechanism (1-2).

8. The electric steering engine system of claim 7, wherein: the feedback device (1-4) is arranged on a transmission shaft of the gear speed reducing mechanism (1-2) close to the adjusting steering engine (2).

9. The electric steering engine system of claim 5, wherein: the feedback device (1-4) is arranged on an output shaft of the motor (1-1) or a hinged shaft of the adjusting steering engine (2).

Technical Field

The invention belongs to the technical field of torpedoes, and particularly relates to the technical field of torpedo steering engines.

Background

At present, most steering engines only have one degree of freedom, if the rudder wing is possibly designed into a folding wing due to launching or other needs, the steering engine is generally required to drive a rudder plate to pop out of a rudder cabin, the rudder plate is driven to pop out by spring elasticity in the prior art, but the rudder plate is designed to be used for steering engines of underwater weapons such as torpedoes and torpedoes, and particularly for steering engines similar to soviet union 'storm' supercavity torpedoes, because the torpedoes are rockets for underwater navigation, the speed is almost 6 times of the speed of common torpedoes, huge resistance can be generated during navigation, and the risk of failure when the rudder plate is opened is quite large. And the angle of the rudder plate cannot be mastered by adopting the spring to pop up the rudder plate, and the control of only one degree of freedom can still be realized.

Disclosure of Invention

The invention designs a double-freedom-degree steering engine which can make up the defect that the steering engine on an underwater weapon fails to open when a folding wing is used, and the technical scheme adopted by the invention is as follows:

the electric steering engine system comprises an unfolding steering engine and an adjusting steering engine, wherein the output end of the unfolding steering engine is connected with the adjusting steering engine to drive and adjust the angle of the steering engine to change, the adjusting steering engine is connected with a steering plate, and the adjusting steering engine drives the steering plate to change the angle.

Furthermore, the unfolding steering engine comprises a motor and a gear reduction mechanism, and the adjusting steering engine is fixed on an output shaft of the gear reduction mechanism.

Furthermore, a brake is arranged on the motor.

Furthermore, the motor is a stepping motor capable of controlling the rotation angle.

Furthermore, the motor is a servo motor and further comprises a feedback device for feeding back and adjusting the rotation angle of the steering engine, and the feedback device is used for feeding back a signal to the control system to control the rotation angle of the motor.

Further, the feedback device is an encoder or a rotary transformer or a potentiometer.

Furthermore, the feedback device is arranged on any transmission shaft of the gear reduction mechanism.

Furthermore, the feedback device is arranged on a transmission shaft of a gear speed reducing mechanism close to the adjusting steering engine.

Furthermore, the feedback device is arranged on an output shaft of the motor or a hinged shaft of the adjusting steering engine.

By adopting the steering engine system with the structure, a power source is provided by the motor in the unfolded steering engine, large torque output is realized by the speed reduction system, smoothness of unfolding of the rudder plate under large resistance is ensured, the unfolded steering engine can control and adjust the unfolding angle of the steering engine to realize one degree of freedom, and the attitude angle of the rudder plate can be controlled and adjusted to realize a second degree of freedom, so that the steering engine system can realize adjustment of two degrees of freedom.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural diagram of the unfolding steering engine.

Detailed Description

In order to better understand the structure of the present invention, the following detailed description is made with reference to the accompanying drawings.

The electric steering engine system shown in fig. 1 comprises an unfolding steering engine 1 and an adjusting steering engine 2, wherein a rudder plate 3 is connected to the adjusting steering engine 2, the unfolding steering engine 1 is used for controlling and adjusting the unfolding angle of the steering engine 2, so that the unfolding angle of the rudder plate 3 is indirectly controlled, the adjusting steering engine 2 is used for adjusting the posture angle of the rudder plate 3, and the steering engine system can realize the control of two degrees of freedom of the rudder plate 3.

As the contact area of the rudder plate and fluid is large, in order to overcome the fluid resistance and smoothly unfold the rudder plate and accurately control the unfolding angle, as shown in figure 2, the unfolding steering engine 1 comprises a motor 1-1 and a gear reduction mechanism 1-2, an adjusting steering engine 2 is fixed on an output shaft of the gear reduction mechanism 1-2, and the gear reduction mechanism 1-2 can increase the torque output of the motor 1-1, so that the rudder plate 3 can be unfolded by overcoming the large resistance obstacle. And the traditional steering engine can be adopted for adjusting the steering engine 2 because the larger resistance of fluid to the rudder plate 3 does not need to be overcome.

In order to control the rudder plate to stop at a certain angle in time, the motor 1-1 is also provided with a brake 1-3, and once the rudder plate 3 reaches a certain required angle, the brake 1-3 brakes in time, so that the angle of the unfolding freedom degree of the rudder plate 3 is controlled.

Because the unfolding angle needs to be adjusted through the unfolding steering engine 1, and accurate control needs to be performed at multiple angles, the motor 1-1 can be realized by adopting a stepping motor capable of controlling the angle.

Or a servo motor is adopted, because the servo motor needs to feed back a signal to control the rotation angle, a feedback device 1-4 is further arranged in the steering engine system, the feedback device 1-4 is used for feeding back and adjusting the rotation angle of the steering engine 2, the feedback device 1-4 feeds back a signal to the control system to control the motor 1-1, and when the angle reaches the required angle, the control system can stop the motor. The feedback device may be an encoder or a rotary transformer or a potentiometer, preferably a potentiometer in view of cost and design difficulty. In order to be able to collect the angle signal for the feedback device 1-4, the feedback device 1-4 may be arranged on the rotating part, namely, the feedback device can be arranged on the output shaft of the motor 1-1, or on any transmission shaft of the speed reducing mechanism, or on a hinged shaft for adjusting the hinged connection of the steering engine 2 and the bearing equipment as shown in figure 2, because the rotation angle of the steering engine 2 needs to be adjusted through the conversion of the transmission ratio as the distance from the transmission shaft of the steering engine 2 is adjusted, and errors can be generated due to factors such as assembly errors, and particularly, the more the reduction stages of the gear reduction mechanism 1-2 are, the larger the errors are, therefore, the feedback devices 1-4 are preferably arranged on the transmission shaft which is closer to the adjusting steering engine 2, especially on the transmission shaft which can directly acquire the rotation angle of the adjusting steering engine 2 (such as the position shown in fig. 2 or the hinged shaft which is connected with the bearing device on the other side of the adjusting steering engine and is shown in fig. 2). .

When the steering engine system is applied to an actual scene, as shown in the figure, the unfolding steering engine 1 is fixed on a frame A of bearing equipment (such as torpedoes, underwater high-speed operation weapons and the like), the adjusting steering engine 2 is hinged to the frame A, so that the angle of the adjusting steering engine 2 is controlled by unfolding the steering engine 1, and the angle of the rudder plate 3 is controlled by adjusting the steering engine 2, the steering engine system can control the size of the unfolding angle of the rudder plate 3 and can also control the inclination and elevation angles of the rudder plate 3, and the control of the two degrees of freedom of the rudder plate 3 is realized. Because the steering engine is adopted for controlling the unfolding, the rudder plate can be retracted, and the problems that the rudder plate can only be moved in a single direction, the angle is fixed, the rudder plate cannot be retracted and the like due to the adoption of a spring are avoided.