FIN CONTROL ACTUATION SYSTEM

Abstract

A mechanism for steering and maneuvering an airborne body comprised of at least one actuator comprising an electric motor having a first axis, and a gear transmission for transmitting power from the electric motor to an angular motion axis of a fin that has an angular motion around a second axis to steer the airborne body, and wherein the mechanism is characterized in that the gear transmission is a beveloid gear type of transmission, an airborne body that comprised the mechanism, and a method for achieving the desired flight path of an airborne body implementing the mechanism.

Claims

1-6. (canceled)

7. A mechanism for steering and maneuvering an airborne body comprising: at least one actuator, the at least one actuator comprising, an electric motor having a first axis, and a gear transmission for transmitting power from the electric motor to an angular motion axis of a fin that has an angular motion around a second axis to steer the airborne body by aerodynamic maneuvering or Thrust Vector Control (TVC), wherein the gear transmission is a beveloid gear transmission.

8. The mechanism for steering and maneuvering an airborne body of claim 7, wherein the beveloid gear transmission transmits power from the electric motor to the fin, while the first axis of the motor is not parallel to the second axis of the fin, but is positioned to create an angle between the two axes.

9. The mechanism for steering and maneuvering an airborne body of claim 8, wherein the mechanism is part of a Fin Control Actuation System (FCAS) assembly for an airborne body having a rocket propulsion system along its central longitudinal axis.

10. The mechanism for steering and maneuvering an airborne body of claim 9, wherein the FCAS assembly comprises a circumferential array of four of the actuators.

11. The mechanism for steering and maneuvering an airborne body of claim 10, wherein the FCAS assembly is characterized by: a. the circumferential array of the four actuators is installed in the assembly by an apparatus having a toroidal ring-like cross-section configuration, which is adapted for installation around the rear section of the missile motor while encompassing it and merges with the missile's exterior line of design; b. wherein the circumferential array of the four actuators is packaged in one plane perpendicular to the central longitudinal axis of the missile; c. the assembly is adapted for installation of four fins, each of which has an angular motion revolving around an axis by means of the circumferential array of the four actuators; d. in each of the actuators, the motor axis is not parallel to the fin axis, but is positioned in forming an angle between the two axes; and e. upon mounting of the assembly on the missile, the four fins serve as tail wings of the missile for steering the missile by tail control of the four fins.

12. An airborne body that comprises the mechanism for steering and maneuvering of claim 7.

13. An airborne body comprising the mechanism for steering and maneuvering according to claim 7, wherein the airborne body is a missile having a rocket propulsion system along its central longitudinal axis, and the mechanism is part of a Fin Control Actuation System (FCAS) assembly, and the FCAS assembly comprise a circumferential array of four of the actuators, wherein the FCAS assembly is characterized in that: a. the circumferential array of four actuators is installed in the assembly in an apparatus having toroidal ring-like cross-section, which is adapted for installation around the rear section of the missile motor that encompasses the apparatus and merges with the missile's exterior line of design, and b. the circumferential array of the four actuators is packaged in one plane which is perpendicular to the central longitudinal axis of the missile, and c. the assembly is adapted for installation of four fins on the missile, each of which has an angular motion revolving around an axis by means of the circumferential array of the four actuators, and d. in each of the actuators, the motor axis is not parallel to the fin axis, but is positioned in forming an angle between the two axes, and e. upon the assembly is mounted in the missile, the four fins serve as tail wings of the missile for steering the airborne body by tail control of the four fins.

14. A method of achieving the desired flight path of an airborne body by means of fins that move in the desired direction and to the extent required for achieving the desired flight path of the airborne body by aerodynamic maneuvering or Thrust Vector Control (TVC), the method comprising packaging the airborne body with an assembly comprised of transmissions of beveloid gear type as a means for transferring power from the electric motors in the assembly to the angular motion axes of the fins of the airborne body.

15. The method of claim 14, further comprising steering the airborne body by transferring powers, as required, from the electric motors of the assembly to the angular motion axes of the fins of the airborne body through the transmissions of beveloid gear type to change the position of the fins in an angular motion, thereby obtaining the desired flight path of the airborne body.

Description

BRIEF DESCRIPTION OF THE ATTACHED FIGURES

[0033] Different aspects of at least one embodiment of the invention that is the subject of the patent application will be described below, with reference to the accompanying figures (while no scale should be attributed to them). The figures are presented for illustrative purposes only and for facilitating an understanding of the different aspects of the invention and the possible configurations for its actual embodiment. The figures are part of the description, but should not be construed as limiting the invention in any way. In the figures, an identical or similar element that is visually depicted in several figures could be tagged by uniform numbering. For clarity, not every element was tagged in each of the figures. In the following figures:

[0034] FIG. 1 schematically depicts in perspective the packaging challenge facing a person skilled in the art in the context of merely an exemplifying illustration of an FCAS assembly of a missile having a rocket propulsion system, wherein the assembly serves for steering a circumferential array of four tail wings.

[0035] FIGS. 2 and 3 schematically depict (respectively) in a perspective view and partial cross-section side view, the prior art solution for the packaging challenge described above in reference to FIG. 1.

[0036] FIGS. 4 and 5 schematically depict (respectively), in a perspective view and zoom-in perspective view, an example of an FCAS assembly according to the invention, as it is installed, according to the illustrated example, in a missile having a rocket propulsion system, wherein the assembly according to the invention is used for steering a circumferential array of four tail wings (similar to the missile illustrated in FIGS. 1-3).

[0037] FIGS. 6 and 7 schematically depict (respectively) a front view and side view (in a partial cross-section) of the FCAS assembly according to the invention that is illustrated in FIGS. 4 and 5.

[0038] FIG. 8 depicts an “exploded” view of components of one actuator, four of which are installed in the FCAS assembly according to the invention, which is illustrated in FIGS. 4-7.

[0039] FIG. 9 depicts an “exploded” view of components of one actuator, four of which are mounted in the FCAS assembly according to the invention, that is illustrated in FIGS. 4-8, alongside a bracket component that is adapted for inserting the actuator and installing it around a rear section of the missile motor, while encompassing it and merging with the exterior design line of the missile.

[0040] FIG. 10 depicts side by side, each in front view and in a side view (in a partial cross-section), the prior art solution to the packaging challenge described above in reference to FIG. 1, according to the prior art solution illustrated in FIGS. 2 and 3, compared with the solution to the same challenge as provided by the FCAS assembly according to the invention, which is illustrated in FIGS. 4-9.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT OF THE INVENTION

[0041] Various devices and elements will be described below strictly for the purpose of providing an example of an embodiment of the claimed invention. The embodiment described below does not limit the claimed invention, and the latter may also apply to different apparatuses and methods that those described below. The claimed invention does not have to include all aspects of the apparatuses, elements and methods described below, and is not strictly limited to those that exist in all the configurations described below. For the sake of integrity, it should be noted that the set of claims on the invention may be revised by way of amendment and/or by filing a divisional application. The skilled person will also understand that, for the sake of clarity, the configurations are described without delving into a lengthy description of elements, methods and processes that are already basic principles in the field and for which no tagged reference was provided in the figures.

[0042] Reference is made to FIGS. 4 and 5. FIGS. 4 and 5 schematically depict (respectively), in a perspective view and zoom-in perspective view, an example of an FCAS assembly 415 according to the invention, as it is installed, according to the illustrated example, on missile 410 having a rocket propulsion system along its central longitudinal axis 450, wherein assembly 415 serves for steering a circumferential array of four tail wings (similar to missile 10 illustrated in FIGS. 1-3).

[0043] According to the illustrated example, FCAS assembly 415 is a mechanism for steering and maneuvering missile 410, which includes a circumferential array of four actuators—417, 419, 421, 423.

[0044] Assembly 415 is adapted for installation with four fins 427, 429, 431, 433.

[0045] Each of the fins has an angular motion around an axis. Fin 427 around axis 480, fin 429 around axis 485, fin 431 around axis 490, and fin 433 around axis 495.

[0046] The propelling of each of the fins for angular motion is provided by the circumferential array of the four actuators.

[0047] The circumferential array of the four actuators is packaged in one, single plane 473, which extends perpendicular to central longitudinal axis 450 of missile 410.

[0048] Any skilled person would understand that the circumferential array of the four actuators is installed in assembly 415 by means of bracket 435, having a toroidal ring-like cross-section configuration, which is adapted for installation around the rear section of missile motor 410 while encompasses it and merges with the missile's exterior line of design.

[0049] Reference is made to FIGS. 6 and 7. FIGS. 6 and 7 schematically depict (respectively) a front view (from the direction of the nose of missile 410) and a side view (in partial cross-section) of FCAS assembly 415.

[0050] Each of the four actuators comprise an electric motor having a propulsion axis (hereinafter—the first axis). In actuator 417—electric motor 601 having propulsion axis 603; in actuator 419—electric motor 605 having propulsion axis 607; in actuator 421—electric motor 609 having propulsion axis 611; and in actuator 423—electric motor 613 having propulsion axis 615.

[0051] Each of the actuators also comprise gear transmission for transmitting power from its electric motor to the angular motion axis of the fin with which it is connected (hereinafter—the second axis of motion). In actuator 417—gear transmission 617 transmits power from motor 601 to angular motion axis 495 of fin 433; in actuator 419 gear—gear transmission 619 transmits power from motor 605 to angular motion axis 480 of fin 427; in actuator 421—gear transmission 621 transmits power from motor 609 to angular motion axis 485 of fin 429; and in actuator 423—gear transmission 623 transmits power from motor 613 to angular motion axis 490 of fin 431.

[0052] In each actuator, the motor axis (the first axis) is located on the same plane with the fin axis (the second axis), wherein the motor axis (the first axis) is not parallel to the fin axis (the second axis), but located in forming an a angle between the two axes. In other words, unlike the prior art solution described in the “Background of the Invention” chapter with reference to FIGS. 2 and 3, in accordance with the depicted exemplifying embodiment of the invention, in the actuators of the invention, the first axis of the motor is not parallel to the second axis of the fin to which it is connected to propel, but rather is positioned on the same plane with it while creating an angle between the two axes.

[0053] FCAS assembly 415, as a mechanism, is characterized in that each of the gear transmissions is a beveloid gear type of gear.

[0054] Reference is made to FIG. 8. FIG. 8 depicts an “exploded” view of components of one actuator 417, four of which are installed in FCAS assembly 415.

[0055] As stated, actuator 417 is comprised of electric motor 601, which by means of gear 801 transmits power in a rotary motion around propulsion axis 603 (the first axis) to a beveloid gear type of transmission 617, wherein, according to the illustrated example, transmission 617 has three pairs of gears—803, 805, and 807, the latter of which is adapted to counter Tooth wreath type of gear wheel 809 at the end of which a connecting means is formed to connect with fin 433 and propel the fin into an angular motion around angular motion axis 495 (the second axis).

[0056] Needless to say that in an actuator implemented in a mechanism for steering and maneuvering an airborne body according to the invention, the electric motor (e.g. 601) could be any type of electrical servo motor (brushed or brushless).

[0057] A skilled person would understand that this is only an example, and a beveloid gear transmission according to the invention, for the purpose of transmitting power from an electric motor to an angular motion axis of a fin which is enabled to angular movement around a second axis in order to steer an airborne body by aerodynamic maneuvering or TVC, may have a different plurality of gears (cog-wheel) that may be formed differently.

[0058] Reference is made to FIG. 9. FIG. 9 depicts an “exploded” view of components of one actuator 417, four of which, as stated, are mounted in FCAS assembly 415, alongside a bracket component 901 that is adapted for inserting and mounting the actuator around a rear section of the missile motor, while encompassing it and merging with the exterior design line of the missile.

[0059] A skilled person would understand that FCAS assembly 415 also comprises common components of command, power supply, control (e.g. wiring, sensors), hardware (e.g. bearings), and a bracket which, as noted, is made (e.g. by aluminum machining) to serve as a base for positioning the four actuators on it and is included to be installed with them in the airborne body. These are means that are known in the field and are part of the common knowledge of the skilled persons in the field, and therefore for the sake of the reader's convenience, they have not been fully illustrated or described in detail.

[0060] However, just as an example, FIG. 9 illustrates components of actuator 417 (similar to the description hereinabove while referring to FIG. 9), next to which are axes elements and bearing components that are implemented for mounting gear transmission 617 and their insertion on bracket 901. According to the illustrated example, bracket 901 is formed as a volumetric arched portion whose inner part is adapted for installation while encompassing the variable geometry of the gas expansion nozzle of the missile's rocket motor, whereas its outer part is adapted for merging with the missile's exterior line of design (installed with screws to the missile's fuselage outer cover or skirt).

[0061] According to the illustrated example, four brackets (corresponding with the number of actuators) jointly form an apparatus (bracket) having a toroidal ring-like cross-section, which is adapted for installation around a rear section of the missile motor while encompasses it and merges with the missile's exterior line of design.

[0062] A skilled person would understand that detailed design and selection of the hardware (e.g. bearings, axes, brackets), implemented in the actuators of mechanism for steering and maneuvering an airborne body according to the invention, required mere ordinary engineering design as known in the field while taking into account the mechanical and thermal stress exist in such mechanisms.

[0063] Reference is made to FIG. 10. FIG. 10 depicts side by side, each in a front view and in a side view (in a partial cross-section), the prior art solution to the packaging challenge described above with reference to FIG. 1, according to the prior art solution illustrated in FIGS. 2 and 3, compared with the solution to the same challenge provided by FCAS assembly 415, which is illustrated in FIGS. 4-9.

[0064] In light of the illustration in FIG. 10, a skilled person would appreciate that in FCAS assembly 415, the circumferential array of the four actuators is packaged on one single plane 473, which is perpendicular to the central longitudinal axis of the missile, thereby achieving a considerable savings in volume needed for its packaging. This is compared to the prior art that called for displacing the array of motors relative to the plane of the angular motion axis of the fins, while creating planes spaced from each other at LPA.

[0065] Furthermore, a skilled person would also appreciate that FCAS assembly 415 does not have constraints that call for parallel positioning of each of the motor axes in relation to the angular motion axis of the fin that it propels, in a manner that also limits the ability for compact packaging, as required. Adopting the beveloid gear type transmissions for the FCAS assembly according to the invention allows for angularly tilting the motor axes, whereby—unlike the prior art solution—the transmissions do not also have to serve as an extension and bridging assembly between the motors. This is in contrast with the prior art, which because of the missile diameter constraint and the need for the motor axis to be parallel to the angular motion axis of the fin to which it is connected, the transmissions are pushed to another plane and at a distance from the angular motion axes of the fins.

[0066] Moreover, in light of the above description in reference to FIGS. 3 and 4, a skilled person would appreciate that in an FCAS assembly according to the illustrated example, the beveloid gear cog-wheels may be axially attached when mounted in a manner that would reduce unwanted backlash.

[0067] Axial attachment obviates the need, according to the prior art, to increase the diameter of the cog-wheels at the exit axis of the transmission for reducing backlash, which also translates to enlarging the dimensions of an assembly according to the prior art. In addition, a skilled person would appreciate that in an FCAS assembly according to the illustrated example, known mechanisms for reducing the backlash phenomena may easily implemented (e.g.—screw-nut-spring type of backlash reducing mechanism).

[0068] The patent. Applicant has proven the applicability of the invention in a design of an FCAS assembly, such as 415, illustrated in FIG. 10, in comparing it to the prior art solution. Given the geometric constraints of the same airborne body (missile 10 and missile 410 having the same size body diameter D), implementing the invention has enabled reducing the volume required for packaging of the FCAS assembly by 2-2.5 times compared to the prior art design (see there and in FIGS. 2 and 3), and reducing unwanted backlash by up to 25% compared to the prior art design.

[0069] As noted, the embodiment of the invention described above, with reference to the accompanying figures, relates to a missile-type airborne body having a rocket propulsion system and an FCAS assembly that is used to steer a circumferential array of four tail wings. However, a person skilled in the art would understand that the invention may also be applicable for steering other airborne bodies (e.g. jet-propelled cruise missiles, guided bombs, guided artillery shells, etc.), for steering a different number of fins (not necessarily four), and for steering other or additional types of fins (e.g. a canard type of fins positioned in the front part of an airborne body or an array of fins positioned in the middle of the airborne body). Moreover, a skilled person would understand that this is only an example, and that the invention can also be embodied as a jet vane steering mechanism in TVC systems. That is, the invention is applicable both to mechanical systems based on fins, which protrude from the airborne body and move in the desired direction and to the extent required to achieve the desired flight path of the airborne body by aerodynamic maneuvering (rudder type of fins such as the configuration described above with reference to the accompanying figures) as well as mechanical systems based on moveable fins) that are located at the nozzle of the rocket motor and are used to steer missiles by diverting the exhaust gases (jet vanes type of fins).

[0070] Furthermore, in light of the embodiment of the invention, as described above with reference to the accompanying figures, a skilled person would understand that the invention embodies a general method in the field of mechanisms, which are used to steer and maneuver airborne bodies, whether in an FCAS assembly of any airborne body (e.g. in a rocket-propelled missile, jet-powered cruise missile, guided bomb or a guided artillery shell) or in a TVC assembly in a missile. That is to say, a general method in the field of mechanical systems that are based on fins that move in the desired direction and to the desired extent in order to achieve the desired flight path of an airborne body. A method that comprise the steps of packaging the airborne body with an assembly comprised of transmissions of the beveloid gears type, as a means for transmitting power from the electric motors in the assembly to the angular motion axes of the fins of the airborne body, and steering the airborne body by transmitting power, as required, from the electric motors in the above assembly to the angular motion axes of the fins of the airborne body through the transmissions in order to change their position in an angular motion, thereby obtaining the desired flight path of the airborne body.

[0071] The patent applicant provided the above description in referring to the accompanying figures for illustrative purposes only. The description above should not be limited to the illustrated figures. On the contrary, the description provided should be seen as also covering a wide range of alternatives, adjustments and equivalents, all without deviating from the embodiments defined in the following set of claims.