High-thrust high-reliability linear steering engine transmission system and eVTOL aircraft

Abstract

The invention discloses a high-thrust high-reliability linear steering engine transmission system and an eVTOL aircraft, and the transmission system comprises an output shaft which is provided with a center hole, and the inner side wall of the center hole is provided with a threaded section; the transmission assembly is mounted in the center hole and is in threaded connection with the threaded section; the input shaft penetrates through the transmission assembly and is in transmission connection with the transmission assembly; the input shaft rotates to drive the transmission assembly and the output shaft to axially move; the driving structure drives the input shaft to rotate; the gear assembly is in transmission connection with the driving structure and the input shaft; the position detection structure comprises a sliding block and a sliding rail parallel to the output shaft, and the sliding block is installed on the sliding rail in a sliding mode and connected with the output shaft; the output shaft axially moves to drive the sliding block to move along the sliding rail; the driving structure comprises a first driving piece and a second driving piece, and one of the first driving piece and the second driving piece is selected to be connected with the gear assembly. The transmission system is large in output force and torque and high in reliability, and the displacement recognition precision and reliability of the output shaft are high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a large-thrust high-reliability linear servo transmission system and an eVTOL aircraft. BACKGROUND

[0002] In an eVTOL aircraft, a linear servo can be used as a tilting power element of a rotor tilting assembly. The linear servo converts the rotary motion of a motor into linear motion, and the final output form is force and linear velocity. With the development of eVTOL aircraft technology, the linear servo is required to have greater output force and torque, faster response speed, and higher positioning accuracy to cope with increasing aerodynamic loads during flight, adapt to rapid switching in various flight states such as take-off, hovering, cruising, and conversion, and meet the needs of small-angle control of the servo and stability of the flight attitude. At the same time, limited by the size of the eVTOL aircraft, the linear servo also needs to maintain a compact structure as much as possible.

[0003] The existing linear servo has the problems of insufficient output force and torque, poor reliability of the driving structure, and lack of displacement recognition accuracy and reliability of the output shaft while maintaining a compact structure. SUMMARY

[0004] To solve the above technical problems, the present application provides a large-thrust high-reliability linear servo transmission system, which has a compact structure, large output force and torque, high reliability of the driving structure, and high displacement recognition accuracy and reliability of the output shaft.

[0005] The present application also provides an eVTOL aircraft having the above large-thrust high-reliability linear servo transmission system.

[0006] According to the large-thrust high-reliability linear servo transmission system of the first aspect of the present application, it comprises: an output shaft that outputs force and torque outward; the output shaft is provided with a central hole, and the inner side wall of the central hole is provided with a threaded section; a transmission assembly installed in the central hole and threadedly connected with the threaded section; an input shaft passing through the transmission assembly; the outer peripheral wall of the input shaft is provided with an external thread, and the external thread is in transmission connection with the transmission assembly; the input shaft rotates around its own axis to drive the transmission assembly and the output shaft to move along the axial direction of the input shaft; a driving structure that drives the input shaft to rotate axially; a gear assembly that is in transmission connection with the driving structure and the input shaft; A position detection structure comprises a slider and a slide rail, the slide rail is arranged in parallel with the output shaft, and the slider is slidingly installed on the slide rail; the slider is connected with the output shaft; axial movement of the output shaft drives the slider to move along the slide rail; The driving structure comprises a first driving member and a second driving member arranged side by side, and the first driving member and the second driving member are selectively connected with the gear assembly.

[0007] In some embodiments of the present application, the transmission assembly comprises: Two retainer frames are arranged in the axial direction of the output shaft, and the input shaft passes through the two retainer frames; A planetary roller is installed at both ends of the two retainer frames and can rotate around its own axis relative to the retainer frames; the planetary roller is threadedly connected with the threaded segment and is connected in transmission with the input shaft.

[0008] In some embodiments of the present application, a plurality of planetary rollers are provided, and the plurality of planetary rollers are arranged at intervals around the circumference.

[0009] In some embodiments of the present application, the output shaft is fixedly installed with a gear ring, and the end of the planetary roller is installed with a corrector gear, and the corrector gear is engaged with the gear ring. The gear ring is provided with two corrector gears, and the two ends of the planetary roller are each installed with the corrector gear, and the corrector gears correspond to the gear ring one by one.

[0010] In some embodiments of the present application, the gear assembly comprises: A first gear is installed on the output end of the first driving member; A second gear is installed on the output end of the second driving member; A first intermediate gear is arranged between the first gear and the second gear, and the first intermediate gear is engaged with the first gear or the second gear; A third gear is coaxially arranged with the first intermediate gear and connected with the first intermediate gear through a connecting shaft; the third gear is connected in transmission with the input shaft.

[0011] In some embodiments of the present application, the gear assembly further comprises: A fourth gear is installed on the input shaft; A second intermediate gear is in transmission connection with the third gear and the fourth gear; The number of teeth of the third gear, the second intermediate gear and the fourth gear increases in turn.

[0012] In some embodiments of the present application, two position detection structures are provided, and the two position detection structures are symmetrically arranged on opposite sides of the output shaft.

[0013] In some embodiments of the present application, the first driving member and the second driving member are each provided with a brake device.

[0014] In some embodiments of the present application, the first driving member and / or the second driving member is an electric motor, and the first driving member and the second driving member are stacked.

[0015] The large-thrust high-reliability linear actuator transmission system of the embodiments of the present application has at least the following beneficial effects: The driving structure, the transmission assembly, the gear assembly and the position detection structure of the embodiments of the present application are integrated and installed, and the structure is compact, so that the actuator transmission system can be kept small; the transmission assembly converts the rotary motion of the input shaft into the linear motion of the output shaft, and the gear assembly can form a multi-stage reduction unit to provide large torque output by the output shaft; the first driving member and the second driving member of the driving structure can be used as backup for each other to ensure the continuous operation and safety of the transmission system; the position detection structure uses double linear sensors to detect the displacement of the output shaft, thereby improving the accuracy and reliability of the displacement recognition of the output shaft.

[0016] The eVTOL aircraft of the second aspect of the embodiments of the present application includes at least one large-thrust high-reliability linear actuator transmission system described above; since the eVTOL aircraft uses the large-thrust high-reliability linear actuator transmission system described above, it has at least all the beneficial effects of the large-thrust high-reliability linear actuator transmission system.

[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in conjunction with the drawings and embodiments, in which: Figure 1 is a side view of the first aspect of the embodiments of the present application; Figure 2 is a top view of the first aspect of the embodiments of the present application; Figure 3 is Figure 1 is an assembly schematic view of the reduction structure in the middle; Figure 4 is Figure 3 is an enlarged view of A in the middle.

[0019] REFERENCE NUMERALS: output shaft 100, threaded segment 110, gear ring 120; Transmission assembly 200, retainer 210, planetary roller 220, aligning gear 221; Input shaft 300, external thread 310; Drive structure 400, first driving member 410, second driving member 420; Gear assembly 500, first gear 510, second gear 520, first intermediate gear 530, connecting shaft 540, third gear 550, fourth gear 560, second intermediate gear 570; Position detection structure 600, slide rail 610, slide block 620. DETAILED DESCRIPTION

[0020] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The same or similar components are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below are examples for explaining the present application and should not be construed as limiting the present application.

[0021] In the description of the present application, it should be understood that, when referring to the orientation description, for example, the orientation or position relationship indicated by up, down, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application.

[0022] In the description of the present application, plural means more than two. If it is described as "first", "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance, and cannot imply the number of technical features indicated or the order of technical features indicated.

[0023] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0024] In order to make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of the present application. The embodiments of the present application can omit unnecessary detailed descriptions. For example, the detailed descriptions of well-known matters and repeated descriptions of the same structures are omitted. This is to avoid the following description becoming unnecessarily lengthy and to facilitate understanding by those of ordinary skill in the art.

[0025] In the present application, the technical features described in an open manner include both a closed technical solution consisting of listed features and an open technical solution containing the listed features.

[0026] With reference to Figures 1 to 4 The first aspect of the embodiments of the present application discloses a large-thrust high-reliability linear rudder motor transmission system, which comprises a driving structure 400, a gear assembly 500, an input shaft 300, a transmission assembly 200, and an output shaft 100. The driving structure 400 is in transmission connection with the input shaft 300 through the gear assembly 500. The input shaft 300 is in transmission connection with the output shaft 100 through the transmission assembly 200. The transmission assembly 200 cooperates with the input shaft 300 and the output shaft 100 to convert the axial rotation of the input shaft 300 into linear movement of the output shaft 100. The output shaft 100 outputs force and torque outward.

[0027] The transmission system of the embodiments of the present application is mainly applicable to unmanned aerial vehicles. The rudder motor transmission system needs to be miniaturized and lightened as much as possible. Therefore, the driving structure 400 is usually set as a motor. The driving structure 400 outputs rotary motion, which is converted through the input shaft 300 and the transmission assembly 200, and the output shaft 100 becomes linear motion. The traditional conversion mode is usually a ball screw. For example, the input shaft 300 is set as a ball screw, and the transmission assembly 200 is not needed. The output shaft 100 is sleeved on the ball screw and in transmission connection with the ball screw. The ball screw rotates around its own axis to drive the input shaft 300 to move linearly. However, in the connection mode of the above ball screw and the output shaft 100, the axial stiffness of the output shaft 100 and the output force and torque are limited, and it is difficult to cope with the increasing aerodynamic load in the flight process. In order to solve the above technical problems, the embodiments of the present application optimize the structure, improve the axial stiffness of the output shaft 100, and multiply the output force and torque, thereby improving the overall transmission efficiency of the linear rudder motor.

[0028] In some embodiments of the present application, with reference to Figure 2 , Figure 3As shown, the output shaft 100 is provided with a central hole, and the inner side wall of the central hole is provided with a threaded segment 110; the transmission assembly 200 is installed in the central hole and is threadedly connected with the threaded segment 110; the input shaft 300 penetrates the transmission assembly 200; the outer peripheral wall of the input shaft 300 is provided with an external thread 310, and the external thread 310 is in transmission connection with the transmission assembly 200; the input shaft 300 rotates around its own axis, thereby driving the transmission assembly 200 and the output shaft 100 to move along the axial direction of the input shaft 300.

[0029] Compared with the traditional ball screw, the embodiment of the present application additionally provides the transmission assembly 200 between the input shaft 300 and the output shaft 100, and the transmission assembly 200 of the present application is provided with two retainer races 210 and a plurality of planetary rollers 220, which are in transmission connection with each other. Figure 3 As shown, the two retainer races 210 are arranged in the axial direction of the output shaft 100 and are spaced apart, and the input shaft 300 penetrates the two retainer races 210; the two ends of the planetary roller 220 are respectively installed in the two retainer races 210 and can rotate around its own axis relative to the retainer race 210; the planetary roller 220 is threadedly connected with the threaded segment 110 of the output shaft 100 and is in transmission connection with the input shaft 300; and the plurality of planetary rollers 220 are arranged in the circumferential direction and are spaced apart. The two retainer races 210 are used for limiting the plurality of planetary rollers 220, and the retainer race 210 can rotate relative to the input shaft 300. The rotation of the input shaft 300 around its own axis will drive the plurality of planetary rollers 220 to rotate around their own axes, thereby driving the transmission assembly 200 to move along the axial direction of the input shaft 300, thereby driving the input shaft 300 to synchronously move along the axial direction of the input shaft 300, and the transmission assembly 200 and the output shaft 100 do not relatively displace.

[0030] In order to prevent the axis of the planetary roller 220 from being inclined relative to the axis of the output shaft 100 and eliminate the overturning moment generated by the helix angle of the input shaft 300 on the planetary roller 220, thereby ensuring the normal rotation of the planetary roller 220, as shown, Figure 3 Figure 4 As shown, the central hole of the output shaft 100 is further provided with a gear ring 120, and the end of the planetary roller 220 is provided with a righting gear 221, and the righting gear 221 is in meshing engagement with the gear ring 120. Specifically, the gear ring 120 is provided with two gear rings, and the two ends of the planetary roller 220 are provided with righting gears 221, and the righting gears 221 are in one-to-one corresponding meshing engagement with the gear rings 120; the gear ring 120 is fixedly arranged on the output shaft 100, and the righting gear 221 is only in meshing engagement with the gear ring 120 and does not contact the external thread 310 of the input shaft 300.

[0031] ​When the input shaft 300 rotates axially to drive the planetary roller 220 to rotate axially, the swing gear 221 rotates along the gear ring 120, and the cage 210 is driven to rotate relative to the input shaft 300; that is, when the input shaft 300 rotates axially, the planetary roller 220 can revolve around the input shaft 300 and rotate axially around itself, thereby effectively eliminating the overturning moment generated by the helix angle of the input shaft 300 on the planetary roller 220, ensuring the normal rotation of the planetary roller 220 and avoiding the inclination of the axis of the planetary roller 220 relative to the axis of the output shaft 100.

[0032] In some embodiments of the present application, the specific number of planetary rollers 220 can be set according to actual conditions, which is not limited in the present embodiment.

[0033] In some embodiments of the present application, as shown in Figure 1 The driving structure 400 includes the first driving member 410 and the second driving member 420 arranged side by side, and the first driving member 410 and the second driving member 420 are alternatively connected with the gear assembly 500. As known from the above, the driving structure 400 is preferably a motor, and therefore the first driving member 410 and the second driving member 420 are preferably motors, and the first driving member 410 and the second driving member 420 are arranged in a stack to reduce the size of the device; a necessary gap is maintained between the first driving member 410 and the second driving member 420 to avoid mutual interference.

[0034] The first driving member 410 and the second driving member 420 can be mutual backups, and when the first driving member 410 fails, the second driving member 420 can be used as a backup to ensure the normal operation of the rudder transmission system and improve the safety and stability of the rudder transmission system. Similarly, when the second driving member 420 fails, the first driving member 410 can be used as a backup.

[0035] In some specific embodiments of the present application, the first driving member 410 and the second driving member 420 can use motors with the same power and size or motors with different power and size according to actual conditions, which is not limited in the present embodiment. Since the transmission mode of the above-mentioned transmission assembly 200 and the input shaft 300 does not have a self-locking feature, it is preferred that the first driving member 410 and the second driving member 420 use motors with a brake device, which can immediately lock the output shaft 100 of the first driving member 410 or the second driving member 420 when the first driving member 410 or the second driving member 420 is powered off, thereby avoiding the further rotation of the input shaft 300 and preventing the movement of the load connected with the output shaft 100, and ensuring the safety of the rudder transmission system.

[0036] In some embodiments of the present application, the gear assembly 500 not only transmits the power of the driving structure 400 to the input shaft 300, but also reduces the rotation speed of the input shaft 300 and increases the torque. Specifically, referring to Figure 1 As shown in the figure, the gear assembly 500 includes a first gear 510, a second gear 520, a third gear 550, a fourth gear 560, a first intermediate gear 530, a second intermediate gear 570, and a connecting shaft 540. The first gear 510 is installed on the output end of the first driving member 410, the second gear 520 is installed on the output end of the second driving member 420, the first intermediate gear 530 is arranged between the first gear 510 and the second gear 520, and the first intermediate gear 530 is engaged with the first gear 510 or the second gear 520.

[0037] The fourth gear 560 is installed on the input shaft 300, and the second intermediate gear 570 is arranged between the third gear 550 and the fourth gear 560 to drive connect the third gear 550 and the fourth gear 560. The third gear 550 is coaxially arranged with the first intermediate gear 530, and the third gear 550 and the first intermediate gear 530 are connected through the connecting shaft 540, so that the first intermediate gear 530 and the third gear 550 are connected as a whole, and the axial rotation of the first intermediate gear 530 will drive the third gear 550 to rotate synchronously.

[0038] In some embodiments of the present application, the first intermediate gear 530 can be arranged to have more teeth than the first gear 510 and the second gear 520, so as to perform the first-stage speed reduction on the output rotation speed of the driving structure 400. The third gear 550 can be arranged to have much less teeth than the first intermediate gear 530, and then the teeth of the third gear 550, the second intermediate gear 570, and the fourth gear 560 are arranged to be increased in sequence, so as to perform the second-stage speed reduction on the output rotation speed of the driving structure 400, thereby realizing the amplification of the torque and the reduction of the rotation speed of the input shaft 300.

[0039] In some embodiments of the present application, the large-thrust high-reliability linear actuator transmission system further includes a position detection structure 600 for detecting the displacement of the output shaft 100, so as to ensure the accuracy of the action of the transmission system. Specifically, referring to Figure 1 , Figure 2As shown, the position detection structure 600 includes a sliding block 620 and a sliding rail 610, the sliding rail 610 is arranged in parallel with the output shaft 100, and the sliding block 620 is slidingly installed on the sliding rail 610; the sliding block 620 is connected with the output shaft 100; the output shaft 100 moves along the input shaft 300, driving the sliding block 620 to move along the sliding rail 610. The sliding block 620 and the output shaft 100 can be connected through bolts and other fasteners, and the position of the sliding block 620 relative to the sliding rail 610 can be accurately detected by a sensor, so that the displacement of the output shaft 100 can be determined by detecting the position of the sliding block 620. Through the linear displacement sensor, the accuracy of measuring the displacement of the output shaft 100 can be improved.

[0040] In order to accurately identify the displacement of the output shaft 100, with reference to Figure 2 As shown, in the embodiment of the present application, the position detection structure 600 is provided with two, and the two position detection structures 600 are symmetrically arranged on the opposite sides of the output shaft 100. The two position detection structures 600 can be used as backup for each other and verify each other, thereby improving the accuracy of detecting the displacement of the output shaft 100.

[0041] The large-thrust high-reliability linear rudder motor transmission system of the embodiment of the present application, the driving structure 400, the transmission assembly 200, the gear assembly 500 and the position detection structure 600 are integrated and installed, the structure is compact, and the rudder motor transmission system can be kept small; the transmission assembly 200 converts the rotary motion of the input shaft 300 into the linear motion of the output shaft 100, the gear assembly 500 can form a multi-stage reduction unit, and the output shaft 100 can provide large torque output; the first driving member 410 and the second driving member 420 of the driving structure 400 can be used as backup for each other, ensuring the continuous operation and safety of the transmission system; the position detection structure 600 detects the displacement of the output shaft 100 by using double linear sensors, improving the accuracy and reliability of identifying the displacement of the output shaft 100. Through the transmission assembly 200, the input shaft 300 and the output shaft 100 are drivingly connected, the dynamic load and the static load of the rudder motor transmission system can reach 3 to 10 times of the traditional ball screw, and the axial stiffness is significantly improved; at the same time, due to the unique structure of the transmission assembly 200, higher rotation speed can be achieved and the transmission efficiency of the overall linear rudder motor can be improved.

[0042] The eVTOL aircraft of the second aspect embodiment of the present application includes at least one large-thrust high-reliability linear rudder motor transmission system described above; since the eVTOL aircraft adopts the large-thrust high-reliability linear rudder motor transmission system described above, it at least has all the beneficial effects of the large-thrust high-reliability linear rudder motor transmission system, which will not be repeated here.

[0043] References in the specification to "an embodiment", "particular embodiments", "one embodiment", "another embodiment", "specific embodiments" or "particular embodiments" indicate that the embodiment(s) in question contain the feature, structure, material, or characteristic being described in connection with at least one embodiment or example.

[0044] In the present application, reference to a range of values, such as a range of values disclosed, is to be understood to include each and every value falling within the range, unless otherwise indicated. Any lower limit can be combined with any upper limit to form a range not explicitly recited; and any lower limit can be combined with any other lower limit to form a range not explicitly recited, and the same applies to any upper limit, which can be combined with any other upper limit to form a range not explicitly recited. Further, each individual disclosed point or single numerical value can itself serve as a lower limit or upper limit to combine with any other point or single numerical value, or to combine with other lower limits or upper limits to form a range not explicitly recited.

[0045] While the illustrative embodiments have been described and illustrated, it will be understood by those skilled in the art that the above-described embodiments are not the only arrangements which will be capable of embodying the application and that modifications and / or additions can be made thereto without departing from the spirit and scope of the application.

Claims

1. A large-thrust high-reliability linear actuator transmission system, characterized in that, The utility model relates to a high-reliability linear rudder drive system, comprising: an output shaft for outputting force and torque outwardly, the output shaft being provided with a central hole, an inner side wall of the central hole being provided with a threaded section; a transmission assembly installed in the central hole and threadedly connected with the threaded section; an input shaft penetrating the transmission assembly, an outer peripheral wall of the input shaft being provided with external threads, the external threads being in transmission connection with the transmission assembly, the input shaft rotating about its axis to drive the transmission assembly and the output shaft to move along the axial direction of the input shaft; a driving structure for driving the input shaft to rotate axially; a gear assembly in transmission connection with the driving structure and the input shaft; a position detection structure comprising a sliding block and a sliding rail, the sliding rail being arranged in parallel with the output shaft, the sliding block being slidingly installed on the sliding rail, the sliding block being connected with the output shaft, the output shaft moving axially to drive the sliding block to move along the sliding rail; wherein the driving structure comprises first and second driving members arranged side by side, the first and second driving members being alternatively connected with the gear assembly.

2. The high thrust and high reliability linear actuator transmission system according to claim 1, wherein, The transmission assembly comprises: two retainers arranged in the axial direction of the output shaft, the input shaft penetrating the two retainers; planetary rollers, two ends of each of the planetary rollers being installed on the two retainers respectively and being able to rotate about its axis relative to the retainers, the planetary rollers being in threadedly connection with the threaded section and in transmission connection with the input shaft.

3. The high thrust and high reliability linear actuator transmission system according to claim 2, wherein, The planetary rollers are provided with a plurality of planetary rollers, the plurality of planetary rollers being arranged in the circumferential direction at intervals.

4. The high thrust and high reliability linear actuator transmission system according to claim 2, wherein, The output shaft is fixedly installed with a gear ring, the end of each of the planetary rollers is installed with a swing gear, the swing gears are in meshing with the gear ring; The gear ring is provided with two gear rings, the two ends of each of the planetary rollers are installed with the swing gears, the swing gears correspond to the gear rings one by one.

5. The high thrust and high reliability linear actuator transmission system according to claim 1, wherein, The gear assembly comprises: a first gear installed on the output end of the first driving member; a second gear installed on the output end of the second driving member; a first intermediate gear arranged between the first gear and the second gear, the first intermediate gear being in meshing with the first gear or the second gear; a third gear coaxially arranged with the first intermediate gear and connected with the first intermediate gear through a connecting shaft, the third gear being in transmission connection with the input shaft.

6. The high thrust and high reliability linear actuator transmission system according to claim 5, wherein, The gear assembly further comprises: a fourth gear installed on the input shaft; a second intermediate gear in transmission connection with the third gear and the fourth gear; the number of teeth of the third gear, the second intermediate gear and the fourth gear increases in sequence.

7. The high thrust and high reliability linear actuator transmission system according to claim 1, wherein, The position detection structure is provided with two position detection structures, the two position detection structures being symmetrically arranged on opposite sides of the output shaft.

8. The high thrust and high reliability linear actuator transmission system according to claim 1, wherein, The first driving member and the second driving member are each provided with a brake device.

9. The high thrust and high reliability linear actuator transmission system according to claim 1, wherein, The first driving member and / or the second driving member is an electric motor, the first driving member and the second driving member are arranged in stack.

10. An eVTOL aircraft, characterized in that, The utility model relates to a high-reliability linear rudder drive system, comprising at least one of the utility model as claimed in any one of claims 1 to 9.

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