CN115946848A - Front wheel turning electric actuating device for unmanned aerial vehicle - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicle design, and discloses a front wheel steering electric actuating device for an unmanned aerial vehicle, which comprises a motor, a planetary speed reducing mechanism and an angle sensor, wherein the motor is connected with the planetary speed reducing mechanism; the motor is connected with the input end of the planetary reduction mechanism, the tail end of the planetary reduction mechanism comprises an output gear, and the angle sensor is in transmission connection with the output gear through a parallel shaft; the planetary reduction mechanism is respectively a high-speed NGW type reducer, an NGWN type reducer and a low-speed NGW type reducer from top to bottom. The invention adopts an electric actuation mode, can realize the direction control function of the unmanned aerial vehicle in the ground sliding and landing process by utilizing the on-board power supply, meets the requirements of multi-electric and all-electric aircrafts, and has higher reliability because of adopting a single-redundancy motor and a double-redundancy feedback sensor.

Description

Front wheel turning electric actuating device for unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle design, relates to a turning device of an unmanned aerial vehicle, and particularly relates to a front wheel turning electric actuating device for the unmanned aerial vehicle.

Background

The conventional hydraulic front wheel steering system is usually an electro-hydraulic servo control system, and the system needs to receive external electric commands and hydraulic power to drive the front landing gear to deflect through output linear displacement. Due to various problems of 'running, overflowing, dripping and leaking' of hydraulic products, complex hydraulic pipelines, heavy weight, serious hydraulic drive noise pollution and the like, in a long service cycle, the fault rate and the overhaul rate of a hydraulic front wheel steering system are high, and the use and task arrangement of a user are influenced. As a branch of the trend of multi-electricity and full-electricity of the airplane, under the condition of sufficient output power, the electromechanical actuator does not need to arrange a hydraulic pipeline on the airplane, does not need to supply hydraulic energy on the airplane and only needs to supply enough power on the airplane. Therefore, the electromechanical actuator has higher product independence and energy economy.

After the electromechanical actuator is applied to the front wheel turning system, the arrangement of relevant hydraulic pipelines on the machine can be cancelled, and the weight of the machine body is reduced; the electromechanical actuator is provided with pure mechanical parts inside, hydraulic oil is not needed for energy supply, the problems of 'running, overflowing, dripping and leaking' are avoided, and the service life and the reliability of a finished product can be improved by fewer applied rubber parts. The application of electromechanical actuators is one of the important developments in the current front wheel turning.

Disclosure of Invention

In order to solve the problems, the invention provides a front wheel steering electromechanical actuator for an unmanned aerial vehicle, which can realize the direction control function in the ground gliding and landing processes of the unmanned aerial vehicle.

The technical solution of the invention is as follows:

the utility model provides a front-wheel steering electricity actuates device for unmanned aerial vehicle, includes motor, planetary reduction mechanism and angle sensor to "T" word structural configuration, the motor is established on the top, and the motor lower extreme is connected wholly for columniform planetary reduction mechanism, and two angle sensor formation's both sides are connected to planetary reduction mechanism's the output shaft left and right sides.

Furthermore, the motor is positioned at the top and is connected with the shell of the planetary reduction mechanism through a screw, and power flows through the high-speed NGW type speed reducer, the NGWN type speed reducer, the low-speed NGW type speed reducer and the tail end output gear in the planetary reduction mechanism from the motor and then outputs torque to the outside.

Furthermore, an electromagnetic clutch is arranged between the high-speed NGW type speed reducer and the NGWN type speed reducer, and the electromagnetic clutch cuts off or switches on the power transmission path of the upper and lower speed reducers.

Furthermore, the electromagnetic clutch is a clutch with power-on actuation power transmission and power-off separation transmission suspension.

Furthermore, the motor is a single-redundancy speed regulating motor, and the speed regulating motor adopts a brushless direct current motor of a Hall sensor.

Furthermore, the low-speed stage NGW type speed reducer is in splined connection with an output gear, and the output gear drives a front wheel to deflect.

Furthermore, the output gear is of an involute cylindrical gear structure.

Furthermore, the angle sensor is a non-wire-wound precision rotary potentiometer structure with single redundancy; the dual-redundancy feedback acquisition of angle signals is carried out between the 2 single-redundancy angle sensors and the output gear through 2 groups of angle transmission mechanisms respectively.

The invention has the beneficial effects that:

1. the invention adopts an electric actuation mode, and can realize the direction control function of the unmanned aerial vehicle in the processes of ground sliding and landing by using the onboard power supply.

2. The inverted T-shaped finished product is designed in appearance and is provided with dual-redundancy end angle feedback capacity, so that the finished product has high electrical reliability on the premise of having enough mechanical stability.

3. The invention has good structural maintainability and high efficiency, adopts mature technologies for the speed regulating motor and the feedback sensor, has high standardization coefficient and can achieve the purpose of good economic benefit.

4. The unmanned aerial vehicle is compact in structure, small in installation space requirement and suitable for being used by an unmanned aerial vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some examples of the present invention, and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained according to the drawings without inventive effort.

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

FIG. 2 is a schematic illustration of a planetary reduction mechanism;

FIG. 3 is a schematic view of an angle feedback mechanism;

the device comprises a motor 1, a planetary speed reducing mechanism 2, an angle sensor 3, a high-speed NGW type speed reducer 4 and an electromagnetic clutch 5, wherein the motor is connected with the planetary speed reducing mechanism; 6-NGWN type speed reducer, 7-low speed grade NGW type speed reducer, 8-output gear, 9-angle transmission mechanism.

Detailed Description

This section is an example of the present invention and is provided to explain and illustrate the technical solutions of the present invention. The embodiments of the invention and the features of the embodiments can be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate directions or positional relationships to give the drawings the orientation or positional relationships, and are used for convenience of description and simplicity of description, but do not indicate or imply that the device or case being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include more than one of the feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; the connection can be mechanical connection or point connection; either directly or indirectly through intervening profiles, or both. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

A front wheel turning electric actuating device for an unmanned aerial vehicle is characterized in that the main appearance of the front wheel turning electric actuating device is in an inverted T-shaped layout, the weight of a finished product is concentrated at the middle lower part, the center of gravity is centered, and the appearance of the finished product has enough mechanical stability; the finished product mainly comprises a motor 1, a planetary speed reducing mechanism 2 and an angle sensor 3.

The single-redundancy motor 1 is positioned at the top of a finished product and is connected with a planetary reduction mechanism shell through a screw, and power flows through a high-speed stage NGW type speed reducer 4, an NGWN type speed reducer 6, a low-speed stage NGW type speed reducer 7 and a tail end output gear 8 in the planetary reduction mechanism 2 from the motor and then outputs torque outwards; an electromagnetic clutch 5 is designed and arranged between the high-speed NGW type speed reducer 4 and the NGWN type speed reducer 6, the clutch 5 can cut off/switch on the power transmission path of the upper and lower two-stage speed reducers, and the logic of the clutch 5 is that the power-on attraction power is transmitted downwards and the power-off separation transmission is stopped.

The single redundancy motor 1 is a speed regulating motor, and the speed regulating motor adopts a brushless direct current motor of a Hall sensor.

The low-speed stage NGW type speed reducer 7 is in spline connection with an output gear 8, and the output gear 8 drives a front wheel to deflect.

The output gear 8 is an involute cylindrical gear structure.

The angle sensor 3 is a non-wire-wound precision rotary potentiometer structure with single redundancy. The dual-redundancy feedback acquisition of angle signals is carried out between the 2 single-redundancy angle sensors 3 and the output gear 8 through 2 groups of angle transmission mechanisms 9 respectively.

The functional principle is as follows: when the electromagnetic clutch is switched on, the output rotating speed and the torque of the motor are transmitted to the output gear through the planetary reduction mechanism, the front wheel is driven to deflect towards the corresponding direction, and meanwhile, the feedback sensor outputs a voltage signal proportional to the deflection angle of the front wheel. The electromagnetic clutch is disengaged, and the output gear can freely deflect along with the nose landing gear.

Referring to fig. 1, the front wheel steering electric actuator is mounted to the nose landing gear leg via a mounting boss. The output rotation speed and the torque of the motor 1 are transmitted to an output gear 8 through a planetary reduction mechanism 2, and the output gear is meshed with a turning sleeve gear on the front lifting strut to drive a front wheel to deflect. At the same time, the angle sensor 4 outputs a voltage signal in accordance with the rotation angle of the output gear.

Referring to fig. 2, the planetary reduction mechanism 2 is composed of a high-speed stage NGW type speed reducer 4, an electromagnetic clutch 5, an NGWN type speed reducer 6, a low-speed stage NGW type speed reducer 7, and an output gear 8.

Referring to fig. 3, the end angle feedback is composed of the angle sensor 3, the output gear 8 and the auxiliary gear angle transmission mechanism 9.

The invention has compact structure and small vertical range, can be suitable for the small installation space requirement of the unmanned aerial vehicle, realizes the design of angle feedback dual-redundancy under the requirement of compactness, and has high reliability and good maintenance performance.

Claims (8)

1. The utility model provides a front-wheel steering electricity actuates device for unmanned aerial vehicle, a serial communication port, including motor (1), planetary reduction mechanism (2) and angle sensor (3) to "T" word structural configuration is down established on the top in motor (1), and motor (1) lower extreme is connected wholly for columniform planetary reduction mechanism (2), and two angle sensor (3) are connected to the output shaft left and right sides of planetary reduction mechanism (2) form the both sides of "T" word.

2. The front wheel turning electric actuating device for the unmanned aerial vehicle is characterized in that a motor (1) of the front wheel turning electric actuating device is located at the top and connected with a shell of a planetary speed reducing mechanism (2) through screws, and power flows through a high-speed NGW type speed reducer (4), an NGWN type speed reducer (6), a low-speed NGW type speed reducer (7) and a tail end output gear (8) in the planetary speed reducing mechanism (2) from the motor and then outputs torque outwards.

3. The front wheel turning electric actuating device for unmanned aerial vehicle of claim 2, characterized in that an electromagnetic clutch (5) is provided between the high speed stage NGW type speed reducer (4) and the NGWN type speed reducer (6), and the electromagnetic clutch (5) cuts off or turns on the power transmission path of the upper and lower two-stage speed reducers.

4. The front wheel turning electric actuating device for the unmanned aerial vehicle of claim 3, characterized in that the electromagnetic clutch (5) is a clutch with power-on actuation power down transmission and power-off separation transmission suspension.

5. The front wheel steering electric actuation device for unmanned aerial vehicle of claim 1, characterized in that motor (1) is a single-redundancy speed regulating motor, and the speed regulating motor is a brushless direct current motor with a hall sensor.

6. Front wheel steering electric actuation device for unmanned aerial vehicles according to claim 2, characterized in that the low speed stage NGW type reducer (7) is splined with the output gear (8), the output gear (8) driving the front wheel to deflect.

7. Front wheel steering electric actuation device for unmanned aerial vehicles according to claim 6, characterized in that the output gear (8) is of involute cylindrical gear structure.

8. The front wheel turning electric actuation device for unmanned aerial vehicle of claim 1, characterized in that, the angle sensor (3) is a single redundancy setting non-wire winding precision rotary potentiometer structure; the dual-redundancy feedback acquisition of angle signals is carried out between the 2 single-redundancy angle sensors (3) and the output gear (8) through 2 groups of angle transmission mechanisms (9).

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