A dual-redundancy electric steering gear based on worm gear mechanism

Abstract

The present invention relates to the technical field of electric servo control, and provides a dual-redundancy electric steering gear based on a worm gear mechanism, which is composed of a first worm gear mechanism, a second worm gear mechanism, a gear set, and a rudder shaft drive unit; the first The worm gear mechanism and the second worm gear mechanism respectively include a driving motor M1 and a driving motor M2, and the driving motors are respectively equipped with brakes, and the driving motors are respectively connected to a set of worms of the same specification and direction of rotation; the worm wheels of the two sets of worm gear mechanisms are fixed on the same On the machine base, two sets of parallel slide rails are arranged beside the machine base, and the direction of the slide rails is consistent with the direction of the worm shaft; the gear set includes gear C1 fixed on the same shaft as the first worm wheel, and fixed on the same shaft as the second worm wheel. Gear C2 on the shaft, gear C1 and gear C2 mesh with each other. The electric steering gear of the present invention can realize one main and one backup, mechanical backup without power disputes, and realize uninterrupted driving of the rudder shaft.

Description

technical field [0001] The invention relates to the technical field of electric servo control, in particular to a dual-redundancy electric steering gear based on a worm gear mechanism. Background technique [0002] Steering gear is an important executive component in submarine steering control. With the continuous development of submarine technology in our country, the research on electric drive of submarine steering gear is gradually put on the agenda in the future. However, the electric drive scheme also has high requirements on the reliability, stability, support, and maintainability of the electric rudder, which puts forward requirements on the redundant design of the drive unit, that is, the steering gear. In fact, in addition to electrical redundancy, most of the current research on redundant steering gear uses multiple safety redundancy motors, that is, adding multiple windings to the motor. This method has difficulties in embedding windings, and there are defects suc...

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Problems solved by technology

In fact, in addition to electrical redundancy, most of the current research on redundant steering gear uses multiple safety redundancy motors, that is, adding multiple windings to the motor. This method has difficulties in embedding windings, and there are defects such as mutual inductance between windings.

However, there are few studies on mechanical redundancy design, which are mainly divided into two types. One is the torque synthesis method. This strategy uses multiple motors to drive the same shaft, which has the problem of force disputes, difficult control, and may even cause instability. ; The other is the redundant drive type, which uses a differential mechanism for speed synthesis to achieve redundant drive with multiple inputs and single outputs. The current research uses the gear differential method, which has problems such as unbalanced load, large structure, and large gaps.

[0003] Document CN202364049U discloses "a dual-motor drive device for a steering gear". The device is driven by an ordinary screw nut, and the output shaft direction is perpendicular to the motor shaft direction. Rotation angle control, and cannot solve the force dispute problem

[0004] Document CN106321770A discloses "a dual-redundancy electric steering gear". The steering gear uses the working principle of the planetary differential gear train to drive the planetary roller screw pair from the double motor through the planetary gear transmission reduction mechanism and transmit it to the sleeve. The sleeve push rod converts the rotary motion of the lead screw into the linear reciprocating motion of the sleeve push rod through the revolution and rotation of the roller, but this solution cannot solve the driving problem when the drive motor at the planetary gear is faulty and stuck, that is, it cannot Realize two motors as mutual backup

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