Tilt-rotate combined drive mechanism based on dual motors and electrically controlled tilt-rotor

Abstract

The present invention proposes a tilt-rotate joint drive mechanism based on dual motors and an electrically controlled tilt-rotor, wherein the drive mechanism comprises a pair of motors with intermediate wheels fixed on a rotating shaft, an orthogonal gear pair consisting of two intermediate wheels and an output wheel, and a tiltable frame. The transmission of the orthogonal gear pair is used to realize the coordinated work of the two motors. Under the condition that the rotation direction of the motor remains unchanged, multiple working states of the output shaft are realized by adjusting the speed of the two motors: self-rotation, forward tilt, reverse tilt, and any combination of self-rotation and bidirectional tilt. Moreover, these working states can be switched arbitrarily and seamlessly connected, so that it has a series of advantages such as fast response speed, high transmission efficiency, high control accuracy, small system size, high reliability and high integration.

Description

Technical Field

[0001] The present invention belongs to motor drive technology, and in particular relates to a tilt-rotate combined drive mechanism based on dual motors and an electrically controlled tilt-rotor. Background Art

[0002] At present, the motor can realize rotation transmission by using gears, worm gears, sprockets and pulleys, and efficiently transmit the motor torque to the rotating load; and the motor can also realize tilt transmission by using gears, worm gears, sprockets and other transmission mechanisms, and efficiently transmit the motor torque to the tilt load. However, the drive mechanisms for tilt and rotation are usually separate, which not only increases the redundancy and complexity of the drive mechanism, resulting in an increase in system volume and weight, but also reduces the efficiency, controllability and reliability of the drive mechanism.

[0003] Patent document CN115275606A proposes a differential dual-motor driven two-dimensional antenna transmission seat, which is designed for the pitch and rotation of large antennas. The mechanism uses a T-bar to rotatably connect two counter-rotating second gears and a first gear fixed to the base. The pitch and rotation of the system are output by two motors driving the second gears. On the one hand, since the two second gears, two driving motors and the reducers of the motors all become driving loads, this greatly increases the load and moment of inertia of the driving mechanism; on the other hand, since the T-bar is rotatably fixed on the two second gears, the high-speed rotation of the second gears will cause significant rotational friction and wear. Therefore, this mechanism is only suitable for low-speed rotating mechanisms such as antennas, but not for high-speed rotating systems such as aircraft tilting rotors. Summary of the invention

[0004] To address this problem, the present invention proposes a tilt-rotation combined drive mechanism based on dual motors, which can not only realize bidirectional rotation drive, but also realize bidirectional tilt drive, while maintaining the simplicity and high efficiency of the system structure, and is suitable for high-speed rotation systems.

[0005] At the same time, the present invention also provides an electrically controlled tilt rotor.

[0006] The technical solution of the present invention is as follows:

[0007] On the one hand, the present invention provides a tilt-rotate combined drive mechanism based on dual motors, which includes two motors, two intermediate wheels, an output wheel and a tiltable frame; the two motors are arranged relatively and fixed, and one intermediate wheel is fixed to the rotating shaft of each motor, and the two intermediate wheels are arranged in mirror symmetry and mesh with the output wheel to form an orthogonal transmission gear pair, and the output shaft of the output wheel is installed on the tiltable frame through a rotating bearing and can rotate freely on the tiltable frame; the tiltable frame is connected to the stator or housing of a motor through two symmetrical arms respectively through hollow bearings, and the hollow part of the bearing surrounds the motor rotating shaft and leaves a rotation gap, so that the tiltable frame neither contacts the motor rotating shaft nor can rotate around the motor rotating shaft relative to the motor.

[0008] The drive mechanism realizes multiple working states and working modes of the output shaft by controlling the speed and direction of the two motors:

[0009] When the two motors rotate in opposite directions at the same speed, the output shaft rotates, which is the rotation drive mode. In this mode, the two motors drive the two intermediate wheels to rotate in opposite directions at the same speed, so that the output wheels are subjected to equal reverse torques, so that the output wheels simply rotate (rotate) around their shafts, while their shafts remain relatively stationary.

[0010] When the two motors rotate in the same direction at the same speed, the output shaft drives the tiltable frame to tilt. This is the tilt drive mode. In this mode, the two motors drive the intermediate wheel to rotate in the same direction at the same speed, so that the two sides of the output wheel are subjected to two torques in the same direction. At this time, the output wheel cannot rotate by itself, but can only drive the tiltable frame to rotate or tilt (revolve) around the motor shaft.

[0011] When the two motors rotate at different speeds and in opposite directions, the output shaft rotates and the tilting frame is driven to tilt. This is a tilt-rotation joint drive mode. In this mode, the two motors drive the intermediate wheels to rotate in opposite directions at different speeds. Since the rotation speed of the output wheel depends on the slow intermediate wheel, the high-speed motor can only use the part of the speed that matches the speed of the low-speed motor to make the output wheel rotate around its own axis, and the remaining speed of the high-speed motor can only drive the output wheel to drive the tilting frame to revolve. For example, if the clockwise rotating motor rotates faster, the output wheel's rotation speed depends on the slow counterclockwise rotating motor, and the tilting frame will produce a clockwise tilt. Conversely, if the counterclockwise rotating motor rotates faster, the output wheel's rotation speed will depend on the slow clockwise rotating motor, and the tilting frame will tilt counterclockwise.

[0012] In a second aspect, the present invention also provides an electrically controlled tilt-rotor, which comprises the above-mentioned rotation-tilt combined drive mechanism, a wing pylon and a propeller, wherein the propeller is mounted on the output shaft of the rotation-tilt combined drive mechanism, and the two motors of the rotation-tilt combined drive mechanism are fixedly mounted on the wing pylon.

[0013] The technical effects of the present invention are as follows:

[0014] The present invention utilizes a single-stage gear transmission to realize the coordinated work of two motors. Under the condition that the rotation direction of the motor remains unchanged, multiple working states of the output shaft are realized by adjusting the speed of the two motors: self-rotation, forward tilting, reverse tilting, and any combination of self-rotation and bidirectional tilting, and these working states can be switched arbitrarily and seamlessly connected.

[0015] In the design of the present invention, the two motors are fixed during operation, and the output wheel drives the tilting frame to rotate, so that the two motors move together with the load, reducing the load and the moment of inertia, and being suitable for high-speed rotational movement.

[0016] In the design of the present invention, on the basis of the above load reduction, the tilting frame adopts a hollow bearing, so it will not contact the motor shaft, thus avoiding the wear caused by the high-speed rotation of the motor shaft, and further increasing the adaptability of the mechanism to high-speed rotation motion.

[0017] Since the motor speed can be controlled completely electrically and digitally through the control circuit, it has a series of advantages such as fast response speed, high transmission efficiency, high control accuracy, small system size, high reliability and integration.

[0018] In addition, if the transmission ratio between the intermediate wheel and the output wheel is less than 1, the rotation-tilt combined drive system also has the function of a speed reducer.

[0019] The present invention can be applied to a driving mechanism of a tiltrotor, thereby realizing a tiltrotor system with high speed, high efficiency, high precision, high reliability and high integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 Is a schematic diagram of the structure of a rotation - tilting joint drive mechanism of an embodiment of the present invention (the tilting frame is a U-shaped frame);

[0022] Figure 1A It is a top view of the tiltable frame being a U-shaped frame;

[0023] Figure 1B This is a partial view of the installation of the motor, intermediate wheel and U-shaped frame;

[0024] Figure 2 This is a rotation-tilt joint drive mechanism of an embodiment of the present invention (the tiltable frame is a ring frame)

[0025] Figure 3 This is a rotation-tilt joint drive mechanism of an embodiment of the present invention (the tiltable frame is a ring frame)

[0026] Figure 4 This is a schematic diagram of the structure of an electrically controlled tilt-rotor with a rotation-tilt joint drive structure.

[0027] Among them, 1 is a forward motor, 2 is a reverse motor, 3 is a rotating shaft of the forward motor, 4 is a rotating shaft of the reverse motor, 5 is a forward intermediate wheel, 6 is a reverse intermediate wheel, 7 is an output wheel, 8 is an output shaft, 91 is a tiltable U-shaped frame, 92 is a tiltable annular frame, 93 is a tiltable cavity frame, 10 is a hollow bearing, 11 is a bearing hole, 12 is a propeller, 13 is a wing bracket, and 14 is a wing. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] like Figure 1 , Figure 1A and Figure 1B As shown, in this embodiment, the tilt-rotation combined drive mechanism based on dual motors is a T-type drive mechanism, which is composed of a pair of motors with bevel gears fixed on the rotating shaft, an orthogonal bevel gear and a U-shaped frame.

[0030] Two motors are fixed on a common base in mirror symmetry, one is a forward motor 1, and the other is a reverse motor 2. The two motors rotate in opposite directions, driving a bevel gear fixed on the rotating shaft 3 and 4, respectively. The two bevel gears are also arranged in mirror symmetry, serving as a forward intermediate wheel 5 and a reverse intermediate wheel 6, respectively. The pair of bevel gears are respectively meshed with a bevel gear orthogonal to the bevel gear in the middle position, and the orthogonal bevel gear is driven by the teeth. The orthogonal bevel gear serves as an output wheel 7, so that the output wheel and the two intermediate wheels form a T-shaped bevel gear drive mechanism, i.e., an orthogonal transmission gear pair. The output shaft 8 of the output wheel 7 is installed at the bottom of a tiltable U-shaped frame 91 through a rotating bearing, and can rotate freely on the U-shaped frame 91. The U-shaped frame 91 is connected to the stator or housing of a motor through two symmetrical arms through hollow bearings 10, and the hollow part of the hollow bearing 10 surrounds the motor shaft and leaves a rotation gap, so that the U-shaped frame 91 is not in contact with the motor shaft, but can rotate around the motor shaft relative to the motor.

[0031] The above structure can have three modes: rotation drive, tilt drive and tilt-rotation combined drive:

[0032] In the rotary drive mode, the two motors drive the two intermediate wheels to rotate in opposite directions at the same speed, so that the output wheel is subjected to an equal reverse torque, so that the output wheel simply rotates (rotates) around its axis, while its axis position remains relatively stationary.

[0033] In the tilt drive mode, the two motors drive the intermediate wheels to rotate in the same direction at the same speed, so that the two sides of the output wheel are subjected to two torques in the same direction. At this time, the output wheel cannot rotate on its own, but can only drive the U-shaped frame to rotate or tilt (revolve) around the motor shaft.

[0034] In the tilt-rotation joint drive mode, the two motors drive the intermediate wheels to rotate in opposite directions at different speeds. Since the rotation speed of the output wheel depends on the slow intermediate wheel, the high-speed motor can only use the part of the rotation speed that matches the speed of the low-speed motor to make the output wheel rotate around its own axis, and the remaining rotation speed of the high-speed motor can only drive the output wheel to drive the U-shaped frame to revolve. For example, if the clockwise rotating motor rotates faster, the output wheel's rotation speed depends on the slow counterclockwise rotating motor, and the U-shaped frame will produce a clockwise tilt. Conversely, if the counterclockwise rotating motor rotates faster, the output wheel's rotation speed will depend on the slow clockwise rotating motor, and the U-shaped frame will tilt counterclockwise.

[0035] In another embodiment, if Figure 2As shown, as an improvement, the two arms of the U-shaped frame can be extended and connected together to form a tiltable annular frame 92. Another advantage of using the annular frame is that the output shaft can be extended and fixed to the front and rear ends of the annular frame through a rotating bearing, thereby increasing the stability of the output shaft.

[0036] In another embodiment, if Figure 3 As shown, further, the tiltable annular frame can be completely closed, and the two intermediate wheels and the output wheel are wrapped in its internal cavity to form a tiltable cavity frame 93. The advantages of using a closed tiltable frame are: on the one hand, the structural strength of the tiltable frame can be enhanced; on the other hand, the transmission gear can be completely surrounded in the cavity, thereby avoiding sand and dust contamination from the external environment and reducing mechanical noise.

[0037] Furthermore, according to common sense, the intermediate wheels and output wheels can be replaced with other orthogonal gears, magnetic wheels and friction wheels, such as spur gears and crown gears, helical gears or worm gears, which can also bring the benefit of completely eliminating contact friction when using orthogonal magnetic wheels.

[0038] Likewise, the rotary bearings may be replaced by other bearings, such as ball bearings, needle bearings, air bearings or magnetic bearings.

[0039] The counter-rotating dual motors can be replaced by various direct output motors, motors equipped with reducers or fuel engines, such as DC motors, AC motors, brushless motors, brushed motors, stepper motors, internal combustion engines, etc.

[0040] In addition, without affecting the transmission mechanism, the specific shapes of the U-shaped, ring-shaped and closed-type tilting frames can be adjusted according to the application without affecting the technical features provided by the present invention.

[0041] In another embodiment, if Figure 3 As shown, it is a specific application of the rotation-tilt combined drive mechanism of the present invention. It is applied to the wing to form an electrically controlled tilt rotor. Two motors are fixed on the wing pylon 13 of the wing 14, and the propeller 12 is installed on the output shaft. A fully enclosed tiltable frame 93 is adopted. The electrically controlled tilt rotor uses the speed adjustment of the counter-rotating motors. The output shaft can rotate and tilt in both directions, and can switch continuously between the rotation and tilt states at the same time. That is: (1) When the two motors rotate in opposite directions, the output shaft drives the propeller to rotate; (2) When the two motors rotate in the same direction, the output shaft drives the propeller to tilt; (3) When there is a speed difference between the two motors, the drive mechanism has both rotation and tilt, and can tilt in both directions. In this way, a high-speed, high-efficiency, high-precision, high-reliability and high-integration tilt rotor system can be obtained.

Claims

1. An electrically controlled tilt rotor, characterized in that: It comprises a dual-motor-based rotation-tilt combined drive mechanism, a wing pylon and a propeller, wherein the propeller is mounted on the output shaft of the dual-motor-based rotation-tilt combined drive mechanism, and the two motors of the dual-motor-based rotation-tilt combined drive mechanism are fixedly mounted on the wing pylon; The dual-motor-based tilt-rotate joint drive mechanism comprises two motors, two intermediate wheels, an output wheel and a tiltable frame; the two motors are arranged relatively and fixed, one intermediate wheel is fixed to the rotating shaft of each motor, the two intermediate wheels are arranged in mirror symmetry, meshed with the output wheel, and form an orthogonal transmission gear pair, the output shaft of the output wheel is installed on the tiltable frame through a rotating bearing, and can rotate freely on the tiltable frame; the tiltable frame is connected to a stator or a housing of a motor through two symmetrical arms through hollow bearings, and the hollow part of the bearing surrounds the motor rotating shaft and leaves a rotation gap, so that the tiltable frame neither contacts the motor rotating shaft nor can rotate around the motor rotating shaft relative to the motor; The drive mechanism realizes multiple working states of the output shaft by controlling the speed and direction of the two motors: When the two motors rotate in opposite directions at the same speed, the output shaft rotates; When the two motors rotate at the same speed and in the same direction, the output shaft drives the tilting frame to tilt; When the two motors rotate at different speeds and in opposite directions, the rotation of the output shaft and the tilting of the tiltable frame are combined.

2. The electrically controlled tilt rotor according to claim 1, characterized in that: The tiltable frame is a U-shaped frame, the output wheel is installed at the bottom of the U-shaped frame through an output shaft, and the two sides of the U-shaped frame are two arms connected to the stator or housing of the motor.

3. The electrically controlled tilt rotor according to claim 1, characterized in that: The tiltable frame is an annular frame, the output shaft of the output wheel extends and is fixed to the opposite ends of the annular frame through a rotating bearing, the output wheel is installed at the bottom of one end of the annular frame through the output shaft, and the two sides of the annular frame are two arms connected to the stator or housing of the motor.

4. The electrically controlled tilt rotor according to claim 3, characterized in that: The annular frame is closed and encloses the two intermediate wheels and the output wheel in its cavity.

5. The electrically controlled tilt rotor according to any one of claims 1 to 4, characterized in that: The intermediate wheel and the output wheel adopt gears, magnetic wheels or friction wheels with orthogonal drive.

6. The electrically controlled tilt rotor according to any one of claims 1 to 4, characterized in that: The bearing connecting the tiltable frame and the stator or housing of the motor is a hollow bearing, that is, the axis of the bearing has a through hole and is non-contactly sleeved on the outside of the motor shaft; the output wheel adopts a ball bearing, a needle bearing, an air bearing or a magnetic bearing.

7. The electrically controlled tilt rotor according to any one of claims 1 to 4, characterized in that: The motor is a direct output motor, a motor equipped with a reducer or a fuel engine.

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