阅读说明：本技术 一种矢量偏航机构以及包含其的平流层飞艇 (Vector yaw mechanism and stratospheric airship comprising same ) 是由 李树军 王海峰 段洣毅 江京 陈超群 于 2021-01-14 设计创作，主要内容包括：本发明公开了一种矢量偏航机构以及包含其的平流层飞艇,矢量偏航机构包括底板(1)、圆弧导轨(2)、滑块(3)、工字钢(4)、蜗杆安装座(5)、电机安装座(6)、蜗轮(7)、蜗杆(8)、伺服电机(9)、联轴器(10)、主推电机支架(11)和驱动器燕尾支撑架(12)。本发明通过蜗轮蜗杆传动机构方式,带动圆弧导轨滑块转动,实现了矢量机构的偏航功能,提供了一种全新的矢量偏航机构,具有结构紧凑,重量轻,可靠性高等特点,可适应强震动、大载荷和-70℃～55℃的工作环境,提高了矢量偏航装置的抗倾覆性能。(The invention discloses a vector yaw mechanism and a stratospheric airship comprising the same, wherein the vector yaw mechanism comprises a bottom plate (1), an arc guide rail (2), a sliding block (3), I-shaped steel (4), a worm mounting seat (5), a motor mounting seat (6), a worm wheel (7), a worm (8), a servo motor (9), a coupler (10), a main push motor support (11) and a driver dovetail support frame (12). The invention drives the arc guide rail sliding block to rotate by a worm gear and worm transmission mechanism mode, realizes the yawing function of the vector mechanism, provides a brand new vector yawing mechanism, has the characteristics of compact structure, light weight, high reliability and the like, can adapt to strong vibration, large load and working environment of minus 70-55 ℃, and improves the anti-overturning performance of the vector yawing device.)

1. A vector yaw mechanism, comprising: the device comprises a base plate (1), an arc guide rail (2), a sliding block (3), I-shaped steel (4), a worm mounting seat (5), a motor mounting seat (6), a worm wheel (7), a worm (8), a servo motor (9), a coupler (10), a main push motor support (11) and a driver dovetail support (12);

the arc guide rail (2) is fixed on the upper surface of the bottom plate (1);

the sliding block (3) is arranged on the arc guide rail (2), and the I-shaped steel (4) is positioned above the sliding block (3); the main push motor bracket (11) is arranged on the I-shaped steel (4);

the worm mounting seat (5) and the motor mounting seat (6) are arranged at mounting hole positions on the upper surface of the bottom plate (1);

the worm mounting seat (5) is provided with a mounting hole position of the worm (8), and the worm (8) penetrates through the axis of the mounting hole position of the worm mounting seat (5) so as to be fixed with the worm mounting seat (5);

one end of the worm (8) is fixedly connected with an output shaft of the servo motor (9) through the coupler (10);

the worm wheel (7) is fixed on the lower surface of a cylindrical boss of the main pushing motor support (11).

2. The vector yaw mechanism of claim 1, wherein: the servo motor (9) rotates to drive the worm (8) and the worm wheel (7) to rotate, so that the main push motor support (11) fixedly connected with the worm wheel (7) is driven to rotate circumferentially.

3. The vector yaw mechanism of claim 1, wherein: the arc guide rail (2) is fixed on the upper surface of the bottom plate (1), and the sliding block (3) is connected with the arc guide rail (2) in a sliding mode so as to slide on the circumference of the arc guide rail (2).

4. The vector yaw mechanism of claim 3, wherein: one part of the arc guide rail (2) is nested in the sliding block (3).

5. The vector yaw mechanism of claim 1, wherein: the upper surface of the main pushing motor support (11) is provided with two rows of eight convex blocks, the upper surface of each convex block is provided with a main pushing motor mounting hole, and a main pushing motor passes through the main pushing motor mounting hole, so that the main pushing motor support (11) is fixedly connected with the main pushing motor support.

6. The vector yaw mechanism of claim 1, wherein: the driver dovetail support is characterized in that four angle irons are arranged on two sides of the driver dovetail support (12), the angle irons are provided with driver mounting hole positions, and drivers pass through the angle iron mounting hole positions so as to be fixedly connected with the driver dovetail support (12).

7. The vector yaw mechanism of claim 1, wherein: the lower surface of the main push motor support (11) is provided with an I-shaped steel mounting hole position, and the main push motor support is fixed with the I-shaped steel (4) through the mounting hole position.

8. The vector yaw mechanism of claim 1, wherein: the cylindrical boss of the main push motor support (11) and the positioning ring on the upper surface of the base plate (1) are coaxial.

9. An stratospheric airship including the vector yaw mechanism of any one of claims 1 to 8.

10. The stratospheric airship of claim 9, wherein: the stratospheric airship is a hard stratospheric airship or a soft stratospheric airship.

Technical Field

The invention belongs to the technical field of airship power driving, and particularly relates to a vector yaw mechanism and a stratospheric airship comprising the same.

Background

The yawing mechanism has the advantages of changeable mechanical design structure, strong functional environment adaptability and the like, and has wide application field. The general yaw mechanism is mainly used in the field of wind power generation, and functions of the yaw mechanism are realized in a gear transmission and hydraulic control mode, so that the yaw mechanism is large in size, excessive in weight and complex in mechanical structure, and cannot be applied to the field of power driving for limiting the weight of a structure. In the technical field of power drive of an airship, a similar yaw mechanism is not found.

Therefore, a new structure of the yaw mechanism is needed.

The above information disclosed in this background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

The present invention is directed to a vector yaw mechanism and a stratospheric airship including the same that substantially obviates one or more of the problems due to limitations and disadvantages of the related art.

Additional features and advantages of the invention will be set forth in the detailed description which follows, or may be learned by practice of the invention.

According to a first aspect of the present invention, there is disclosed a vector yaw mechanism, comprising: the device comprises a base plate, an arc guide rail, a sliding block, I-shaped steel, a worm mounting seat, a motor mounting seat, a worm wheel, a worm, a servo motor, a coupler, a main push motor support and a driver dovetail support;

the arc guide rail is fixed on the upper surface of the bottom plate;

the sliding block is arranged on the arc guide rail, and the I-shaped steel is positioned above the sliding block; the main push motor bracket is arranged on the I-shaped steel;

the worm mounting seat and the motor mounting seat are arranged at mounting hole positions on the upper surface of the bottom plate;

the worm mounting seat is provided with the worm mounting hole position, and the worm penetrates through the axis of the worm mounting seat mounting hole position so as to be fixed with the worm mounting seat;

one end of the worm is fixedly connected with the output shaft of the servo motor through the coupler;

the worm wheel is fixed on the lower surface of a cylindrical boss of the main push motor support.

According to an exemplary embodiment of the present invention, the arc guide rail is fixed to the base plate through the upper surface mounting hole of the base plate.

According to an exemplary embodiment of the present invention, the upper surface of the base plate is provided with a positioning ring, and the circular arc guide rail is reliably positioned by the positioning ring on the upper surface of the base plate.

According to an exemplary embodiment of the present invention, the servo motor rotates to drive the worm and the worm wheel to rotate, so as to drive the main push motor bracket fixedly connected with the worm wheel to rotate circumferentially.

According to an exemplary embodiment of the invention, the worm is in mesh with a worm wheel.

According to an exemplary embodiment of the present invention, the circular arc guide rail is fixed to the upper surface of the base plate, and the slider is slidably coupled to the circular arc guide rail to circumferentially slide on the circular arc guide rail.

According to an exemplary embodiment of the invention, a portion of the circular arc guide rail is nested within the slider.

According to an exemplary embodiment of the present invention, two rows of eight bumps are disposed on the upper surface of the main push motor bracket, a main push motor mounting hole is disposed on the upper surface of the bump, and the main push motor passes through the main push motor mounting hole, so as to be fixedly connected to the main push motor bracket.

According to an exemplary embodiment of the present invention, four angle bars are disposed on two sides of the driver dovetail bracket, and the angle bars are provided with driver mounting hole locations through which drivers pass to realize fixed connection with the driver dovetail bracket.

According to an exemplary embodiment of the present invention, the lower surface of the main push motor support is provided with an i-steel mounting hole, and the i-steel mounting hole is fixed to the i-steel.

According to an exemplary embodiment of the present invention, the cylindrical boss of the main push motor support and the positioning ring on the upper surface of the base plate are coaxial.

According to a second aspect of the invention, there is disclosed a stratospheric airship characterised by comprising any one of the aforementioned vector yaw mechanisms.

According to an example embodiment of the invention, the stratospheric airship is a hard stratospheric airship.

According to an example embodiment of the invention, the stratospheric airship is a blimp airship.

The invention has the beneficial effects that:

1. the vector yaw mechanism realizes yaw rotation through worm and gear transmission and rotation of the arc guide rail and the sliding block, is a brand new yaw form and has low energy consumption.

2. The invention has the characteristics of light weight, compact structure and high reliability, and is suitable for being used as a power system for realizing the yaw motion of the aircraft.

3. The circular arc guide rail positioning ring is arranged on the upper surface of the bottom plate, the concentricity is high, and the circular arc guide rail positioning ring has the advantages of convenience in installation and reliability in positioning.

4. The invention reduces the axial movement of the turbine by embedding the sliding block in the positioning ring which is connected with the arc guide rail in a sliding way.

5. The invention enlarges the diameter of the turbine and reduces the circumferential swing amplitude of the turbine caused by the clearance of the turbine worm pair.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 shows a schematic structural diagram of the present invention.

Figure 2 shows a schematic view of the mounting of the upper surface element of the sole plate of the invention.

Fig. 3 shows a schematic diagram of the transmission principle of the invention.

Figure 4 shows a schematic view of the bottom plate of the invention.

In the figure: 1 is a bottom plate; 2 is a circular arc guide rail; 3 is a slide block; 4 is I-shaped steel; 5 is a worm mounting seat; 6 is a motor mounting seat; 7 is a worm wheel; 8 is a worm; 9 is a servo motor; 10 is a coupling; 11 is a main push motor bracket; 12 is a driver dovetail mount.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.

The invention aims to provide a vector yawing mechanism which can realize a stable yawing function within a certain range under severe environment conditions of strong vibration and large load at the temperature of-70-55 ℃.

The technical problem to be solved by the invention is realized by the following structure: a vector yaw mechanism comprises a bottom plate, an arc guide rail, a sliding block, I-shaped steel, a worm mounting seat, a motor mounting seat, a worm wheel, a worm, a servo motor, a coupler, a main push motor support and a driver dovetail support.

The technical scheme of the invention is as follows: the servo motor sends an instruction to the driver through the upper computer to determine the rotating angle and direction of the driver, after the servo motor receives the instruction, the output shaft of the servo motor drives the worm to rotate, the worm drives the worm wheel to rotate through the meshing area of the worm wheel, the worm wheel is fixedly connected with the main pushing motor support, the main pushing motor support is fixedly connected with the sliding block through the I-steel, the sliding block is connected with the arc guide rail in a nested mode, and then the sliding block is driven to do reciprocating circular motion on the circular guide rail when the worm wheel rotates, and the yawing function of the mechanism is achieved.

The invention enlarges the diameter of the turbine and reduces the circumferential swing amplitude of the turbine caused by the clearance of the turbine worm pair.

Further, the upper surface of the bottom plate is provided with an arc guide rail and is reliably positioned through a positioning ring on the upper surface of the bottom plate; the arc guide rail, the worm mounting seat and the motor mounting seat are fixed through the bottom plate mounting hole positions, and then the bottom plate is fixedly connected with the arc guide rail, the worm mounting seat and the motor mounting seat.

The further sliding block is positioned above the arc guide rail and is in nested sliding connection with the arc guide rail to realize circumferential rotation; the top of the sliding block is provided with an I-shaped steel mounting hole position. The axial movement of the turbine caused by the dynamic unbalance of the propeller is reduced.

Preferably, the arc guide rail and the slide block are all in THK type.

The further I-steel is located the slider top, and the I-steel passes through the installation hole site that the slider top set up and slider fixed connection.

The further main motor support that pushes away is located the I-steel top, and main motor support lower surface that pushes away is provided with the installation hole site, and then realizes the fixed connection between main motor support that pushes away and the I-steel.

A servo motor mounting hole is formed in the further motor mounting seat, and the output shaft of the servo motor penetrates through the axis of the motor mounting seat mounting hole, so that the servo motor is fixedly connected with the motor mounting seat.

A worm mounting hole position is formed in the further worm mounting seat, and the worm penetrates through the axis of the worm mounting hole position to be fixed with the worm mounting seat; one end of the worm is fixedly connected with an output shaft of the servo motor through a coupler.

Further main push motor support afterbody is provided with the installation hole site, driver forked tail support passes through main push motor support installation hole site, and then realize driver forked tail support with the fixed connection of main push motor installation hole site.

Furthermore, the upper surface of the main pushing motor support is provided with two rows of eight convex blocks, the upper surface of each convex block is provided with a main pushing motor mounting hole, and the main pushing motor passes through the main pushing motor mounting hole, so that the main pushing motor support is fixedly connected with the main pushing motor support

The instructions received by the further vector yaw mechanism come from the host computer control software of the servo motor. The circular reciprocating motion of the vector yaw mechanism within +/-45 degrees can be realized through instructions. When the instruction stops, the output shaft of the servo motor stops rotating, the worm and gear transmission mechanism is meshed and stopped, the machine is stopped, and the self-locking function is achieved.

The further vector yaw mechanism has a limiting function. When the motor is started, the motor needs to return to the zero position first to touch the zero position switch, and when the motor moves to the maximum angle, the motor touches the limit switch.

The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.

According to a first embodiment of the present invention, a vector yaw mechanism is disclosed, as shown in fig. 1-4, comprising: the device comprises a base plate 1, an arc guide rail 2, a sliding block 3, I-steel 4, a worm mounting seat 5, a motor mounting seat 6, a worm wheel 7, a worm 8, a servo motor 9, a coupler 10, a main push motor support 11 and a driver dovetail support 12;

the upper surface of the bottom plate 1 is provided with a positioning ring, and the arc guide rail 2 is reliably positioned on the upper surface of the bottom plate 1 through the positioning ring on the upper surface of the bottom plate 1 and is fixed through the mounting hole position on the upper surface of the bottom plate 1;

the sliding block 3 is arranged on the arc guide rail 2, and the I-shaped steel 4 is positioned above the sliding block 3; the main push motor bracket 11 is arranged on the I-shaped steel 4;

the worm mounting seat 5 and the motor mounting seat 6 are arranged at mounting hole positions on the upper surface of the bottom plate 1;

the worm mounting seat 5 is provided with a mounting hole position of the worm 8, and the worm 8 penetrates through the axis of the mounting hole position of the worm mounting seat 5 so as to be fixed with the worm mounting seat 5;

one end of the worm 8 is fixedly connected with an output shaft of the servo motor 9 through the coupler 10;

the worm wheel 7 is fixed on the lower surface of the cylindrical boss of the main push motor bracket 11.

According to an example embodiment of the invention, the servo motor 9 rotates to drive the worm 8 and the worm wheel 7 to rotate, so as to drive the main push motor bracket 11 fixedly connected with the worm wheel 7 to rotate circumferentially.

According to an exemplary embodiment of the present invention, the circular arc guide rail 2 is fixed on the upper surface of the base plate 1, and the slider 3 is slidably connected with the circular arc guide rail 2 to circumferentially slide on the circular arc guide rail 2.

According to an exemplary embodiment of the present invention, two rows of eight bumps are disposed on the upper surface of the main push motor bracket 11, and a main push motor mounting hole is disposed on the upper surface of the main push motor bracket 11, through which the main push motor passes, thereby achieving a fixed connection with the main push motor bracket 11.

According to an exemplary embodiment of the present invention, four angle irons are disposed on two sides of the driver dovetail bracket 12, and the angle irons are provided with driver mounting hole sites through which drivers pass to realize fixed connection with the driver dovetail bracket 12.

According to an exemplary embodiment of the present invention, an i-beam mounting hole is disposed on a lower surface of the main push motor bracket 11, and the i-beam mounting hole is fixed to the i-beam 4.

According to an exemplary embodiment of the present invention, the cylindrical boss of the main push motor bracket 11 is coaxial with the positioning ring on the upper surface of the base plate 1.

Specifically, the invention provides a vector yaw mechanism device, which comprises a bottom plate 1, an arc guide rail 2, a sliding block 3, an I-shaped steel 4, a worm mounting seat 5, a motor mounting seat 6, a worm wheel 7, a worm 8, a servo motor 9, a coupling 10, a main push motor bracket 11 and a driver dovetail bracket 12, as shown in fig. 1-2.

As shown in fig. 2 and 4, the circular arc guide rail 2 is circumferentially positioned by a positioning ring protruding from the upper surface of the base plate 1 and is fixed on the base plate 1 by bolts.

As shown in fig. 2, the sliding block 3 is connected with the arc guide rail 2 in a nested manner to realize circumferential rotation; the mounting hole position on the lower surface of the I-shaped steel 4 is fixed with the mounting hole position on the upper surface of the sliding block 3 through a bolt.

The circular arc guide rail and the sliding block can be THK type, but the invention is not limited to the THK type, and other types of circular arc guide rails and sliding blocks can be used.

As shown in fig. 2, the mounting holes of the worm mounting seat 5 and the motor mounting seat 6 are fixedly connected with the mounting holes on the upper surface of the bottom plate 1 through bolts; the servo motor 9 is fixedly connected with the motor mounting seat 6 through a bolt; the worm 8 is arranged in the worm mounting seat 5 through a bearing, and the worm 8 is connected with an output shaft of the servo motor 9 through a coupling 10.

As shown in fig. 3, the main push motor bracket 11 is fixedly connected with the mounting hole on the upper surface of the i-beam 4 through a bolt.

As shown in fig. 1, the main thrust motor bracket 11 and the driver dovetail bracket 12 are fixedly connected by bolts. The upper surface of the main push motor bracket 11 is provided with 8 convex blocks for installing and fixing the main push motor; in a similar way, four angle irons are arranged on two sides of the driver dovetail support 12, and the angle irons are provided with driver mounting hole positions.

As shown in fig. 3, the worm wheel 7 is fixedly connected with a protruding circular truncated cone at the lower part of the main push motor bracket 11 through a bolt.

As shown in fig. 1 and fig. 3, the using method and the working principle of the invention are as follows: the bottom plate 1 is fixed at the tail of the airship, after a driver obtains a steering instruction, the servo motor 9 rotates, the worm 8 is driven to rotate through the coupler 10, the worm and the worm wheel are meshed, and the worm wheel 7 rotates; and a main push motor bracket 11 fixedly connected with the worm wheel 7 is fixedly connected with a sliding block 3 through an I-shaped steel 4, and the sliding block 3 is connected with the arc guide rail 2 in a nested manner. And further, when the worm wheel 7 rotates, the sliding block 3 is driven to do circular motion on the arc guide rail 2, and meanwhile, the main pushing motor support 11 and the driver dovetail support 12 are driven to rotate, so that the vector yaw function is achieved. As shown in fig. 2 and 3, the sliding block 3 is connected with the arc guide rail 2 in a nested sliding manner, so that the axial movement of the turbine 7 is reduced; the invention enlarges the diameter of the turbine 7 and reduces the circumferential swing amplitude of the turbine 7 caused by the clearance of the turbine worm pair.

According to a second embodiment of the present invention, a stratospheric airship (not shown) is disclosed, wherein the stratospheric airship includes the vector yaw mechanism of the first embodiment.

The stratospheric airship is a hard stratospheric airship or a soft stratospheric airship.

The invention has the beneficial effects that:

1. the vector yaw mechanism realizes yaw rotation through worm and gear transmission and rotation of the arc guide rail and the sliding block, is a brand new yaw form and has low energy consumption.

2. The invention has the characteristics of light weight, compact structure and high reliability, and is suitable for being used as a power system for realizing the yaw motion of the aircraft.

3. The circular arc guide rail positioning ring is arranged on the upper surface of the bottom plate, the concentricity is high, and the circular arc guide rail positioning ring has the advantages of convenience in installation and reliability in positioning.

4. The invention reduces the axial movement of the turbine by embedding the sliding block in the positioning ring which is connected with the arc guide rail in a sliding way.

5. The invention enlarges the diameter of the turbine and reduces the circumferential swing amplitude of the turbine caused by the clearance of the turbine worm pair.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.