A dual safety-redundant tilting actuator for a tilt-rotor unmanned aerial vehicle

Abstract

The application discloses a double-safety-redundant tilting actuator of a tilt-rotor unmanned aerial vehicle, which comprises a ball screw mechanism and lug connections and trunnion connections installed on the ball screw mechanism; the lug connections are fixed on the wing ribs of a wing, and the trunnion connections are fixed on a nacelle; the ball screw mechanism is configured to drive the nacelle to rotate correspondingly synchronously with extension and retraction actions of the ball screw mechanism; wherein the ball screw mechanism comprises two-stage serial ball screws and two independent driving mechanisms; the two driving mechanisms are configured to independently control the two-stage serial ball screws to complete all extension and retraction actions, so that the operation of the aircraft is safer and more reliable; when any one-stage ball screw is damaged or stuck at a certain angle to cause the ball screw to be unable to retract, the other one-stage ball screw can still normally operate, the nacelle can still rotate within a certain angle, the function of aircraft landing and taxiing can be realized, and the aircraft can be safely landed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tilt-rotor unmanned aerial vehicle, in particular to a double safety redundancy tilt-rotor unmanned aerial vehicle tilt-actuator. BACKGROUND

[0002] The tilt-rotor unmanned aerial vehicle is a new type of unmanned aerial vehicle, which combines the vertical take-off and short time take-off of a helicopter with the high speed cruising of a fixed-wing aircraft. It can vertically place the nacelles on both sides of the wings during take-off, vertically take off in the form of a helicopter, and then rotate the nacelles on both sides of the wings in the air through a tilt-actuator to change the nacelles to a horizontal position, and fly at high speed in the form of a fixed-wing aircraft.

[0003] The tilt-actuator is a special device of the tilt-rotor aircraft, and the conversion from the vertical take-off helicopter mode to the flat flight fixed-wing aircraft mode is completed through the tilt-actuator. Therefore, the tilt-actuator plays a very important role. The current tilt-actuator basically realizes the tilt of the unmanned aerial vehicle nacelle through gears, connecting rods and hydraulic cylinders, etc. They can all meet the basic tilt function, but there is no effective safety redundancy measure to ensure the safe landing of the tilt-rotor unmanned aerial vehicle in case of mechanical structure failure leading to actuator failure. Therefore, a stable and reliable tilt-actuator that can still complete the tilt process or maintain a certain attitude of the tilt-rotor aircraft and allow the aircraft to land safely even if some structures fail is urgently needed. SUMMARY

[0004] The present application provides a double safety redundancy tilt-actuator for a tilt-rotor unmanned aerial vehicle to solve the above problems.

[0005] To achieve the above object, the present application provides the following technical scheme: a double safety redundancy tilt-actuator for a tilt-rotor unmanned aerial vehicle, comprising a ball screw mechanism, and an ear piece connection and an ear shaft connection installed on the ball screw mechanism; the ear piece connection is used to be fixed on the wing rib of the wing, and the ear shaft connection is used to be fixed on the nacelle, and the ball screw mechanism is configured to drive the nacelle to rotate correspondingly synchronously with the extension and retraction action of the ball screw mechanism.

[0006] The ball screw mechanism comprises two-stage series ball screws, and each stage is controlled by an independent driving mechanism to complete the extension and retraction action.

[0007] Preferably, the stroke of each stage ball screw is half of the entire extension amount.

[0008] Preferably, the two-stage series ball screw is a primary screw and a secondary screw, and the ball screw mechanism further comprises a secondary nut, the secondary screw is in meshing connection with the secondary nut and moves along the axial direction of the secondary nut, the primary screw is coaxially and in meshing insertion into one end of the secondary screw away from the secondary nut, and the secondary screw serves as the nut of the primary screw.

[0009] Preferably, the ball screw mechanism further comprises an upper housing and a lower housing, the front end of the primary screw is in a boss structure, the upper housing is connected to the front end of the primary screw, the lower housing is connected to the secondary nut, the lug is connected to the upper housing, and the trunnion is connected to the lower housing.

[0010] Preferably, the two driving mechanisms are a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism each comprise a motor and a gear set.

[0011] The gear set of the first driving mechanism is connected to the primary screw, and the gear set is driven by the corresponding motor to control the independent rotation of the primary screw.

[0012] The gear set of the second driving mechanism is connected to the secondary nut, and the gear set is driven by the corresponding motor to control the independent rotation of the secondary nut.

[0013] Preferably, the gear set of the first driving mechanism comprises an upper large gear and a lower small gear, the upper large gear is mounted on the front end of the primary screw, the lower small gear is mounted on the output shaft of the corresponding motor, and the lower small gear is in meshing connection with the upper large gear.

[0014] The gear set of the second driving mechanism comprises a lower large gear and a lower small gear, the lower large gear is mounted on the secondary nut, the lower small gear is mounted on the output shaft of the corresponding motor, and the lower small gear is in meshing connection with the lower large gear.

[0015] Preferably, when any one of the driving mechanisms is in a working state, the other driving mechanism is in a standby state or a working state.

[0016] Compared with the prior art, the application has the following beneficial effects: the application adopts two-stage series ball screws, the stroke of each stage of the ball screw is half of the entire elongation, thereby ensuring that the short cabin can be ensured to be at a position greater than 45° when any stage of the ball screw or the motor fails, which can first ensure the function of airplane landing and taxiing when the tilting actuator fails, and ensure the safe landing of the airplane; secondly, the two-stage series ball screw can realize the tilting angle speed of the short cabin twice when two sets of motors work simultaneously, and can realize the rapid adjustment of the position of the short cabin when facing an emergency situation.

[0017] In addition, the ball screw, through partial lubrication, can achieve almost no resistance, thus minimizing frictional temperature loss in the entire tilting mechanism; through two independent drive mechanisms, each drive mechanism can complete all actions independently, and if any one drive mechanism fails, the other drive mechanism can be started to complete the entire operation process, making the tilting actuator safer and more reliable. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0019] In the attached diagram:

[0020] Figure 1 This is a schematic diagram of the tilt actuator of the present invention;

[0021] Figure 2 This is a schematic diagram of the tilt actuator of the present invention in its retracted state;

[0022] Figure 3 This is a schematic diagram of the tilt actuator of the present invention in its extended state;

[0023] The following are the labels in the diagram: 1. Primary lead screw; 2. Secondary lead screw; 3. Secondary nut; 4. Upper large gear; 5. Upper housing; 6. Upper small gear; 7. Lower large gear; 8. Lower housing; 9. Lower small gear; 10. Lug connection; 11. Trunnion connection; 12. Motor. Detailed Implementation

[0024] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0025] Example: Figure 1 As shown, a dual-safety-redundant tilt actuator for a tilt-rotor unmanned aerial vehicle includes a ball screw mechanism, and a lug connection 10 and a trunnion connection 11 mounted on the ball screw mechanism; the lug connection 10 is used to fix to the wing rib of the wing, and the trunnion connection 11 is used to fix to the nacelle; the ball screw mechanism is configured to synchronously drive the nacelle to rotate accordingly as it extends and retracts.

[0026] The ball screw mechanism includes two-stage serial ball screws, each stage is controlled to complete the extension and retraction action by an independent driving mechanism, and the stroke of each stage ball screw is half of the entire extension amount, thereby ensuring that the short cabin can be guaranteed at a position greater than 45° when any stage ball screw fails, such a design makes the operation of the aircraft more safe and reliable, when any stage ball screw is damaged or stuck at a certain angle, causing the ball screw to be unable to retract, the other stage ball screw can still operate normally, ensuring that the short cabin can still rotate within a certain angle, and the function of the aircraft landing and taxiing can be realized, so that the aircraft can land safely;

[0027] Reference Figure 1 As shown in the figure, the two-stage serial ball screws are a first-stage screw 1 and a second-stage screw 2, and the ball screw mechanism further includes a second-stage nut 3, the second-stage screw 2 is meshed and connected with the second-stage nut 3 and moves along the axis direction of the second-stage nut 3; the first-stage screw 1 is coaxially and meshingly inserted into the end of the second-stage screw 2 away from the second-stage nut 3, and the second-stage screw 2 serves as the nut of the first-stage screw 1; the ball screw mechanism further includes an upper housing 5 and a lower housing 8, the front end of the first-stage screw 1 is a boss structure, the upper housing 5 is connected to the front end of the first-stage screw 1, the lower housing 8 is connected with the second-stage nut 3, an ear piece connection 10 is mounted on the upper housing 5, and an ear shaft connection 11 is mounted on the lower housing 8.

[0028] The two driving mechanisms are a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism each include a motor 12 and a gear set; the gear set of the first driving mechanism is connected with the first-stage screw 1 and is driven by the corresponding motor 12 to control the independent rotation of the first-stage screw 1; the gear set of the second driving mechanism is connected with the second-stage nut 3 and is driven by the corresponding motor 12 to control the independent rotation of the second-stage nut 3.

[0029] Reference Figure 1 As shown in the figure, the gear set of the first driving mechanism includes an upper large gear 4 and a lower small gear 9, the motor 12 of the first driving mechanism is mounted on the upper housing 5, the upper large gear 4 is mounted on the front end of the first-stage screw 1, the upper small gear 6 is mounted on the output shaft of the corresponding motor 12, and the upper small gear 6 is meshed with the upper large gear 4; the gear set of the second driving mechanism includes a lower large gear 7 and a lower small gear 9, the motor 12 of the second driving mechanism is mounted on the lower housing 8, the lower large gear 7 is mounted on the second-stage nut 3, the lower small gear 9 is mounted on the output shaft of the corresponding motor 12, and the lower small gear 9 is meshed with the lower large gear 7.

[0030] Wherein, by two independent drive mechanism, one set is standby drive mechanism, when any one drive mechanism is in working condition, the other drive mechanism is in standby state or working in yellow platform; any one drive system can independently complete the whole tilting process, and in any unexpected stall condition, the load applied by each tilting actuator on itself and the aircraft structure is limited to the stall torque of one motor 12, and when both drive mechanisms are in working condition, the nacelle can be tilted at 2 times the angular velocity, and sudden situations can be handled, and rapid maneuvering can be realized.

[0031] In a specific work, the extension action is as shown in Figures 2-3 The extension action is as shown in the structure diagram of the extension state of the tilting actuator and the structure diagram of the retraction state of the tilting actuator, which is, starting the motor 12 on the lower shell 8 to drive the secondary nut 3 to rotate and make the secondary lead screw 2 extend, when the stroke of the secondary lead screw 2 is completed, the primary lead screw 1 is driven to extend, and the lead screw shortening process is opposite; the nacelle is rotated by the contraction of the lead screw, so as to complete the tilting process of the tilt-rotor aircraft.

[0032] Finally, it should be noted that: the above only for the preferred examples of the present application, and not for limiting the present application, although the present application is described in detail with reference to the foregoing examples, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dual-safety-redundant tilt actuator for a tilt-rotor unmanned aerial vehicle, characterized in that: The ball screw mechanism comprises a ball screw mechanism, and an ear connection and an ear axle connection mounted on the ball screw mechanism; the ear connection is used for being fixed on a wing rib of a wing, and the ear axle connection is used for being fixed on a nacelle; the ball screw mechanism is configured to drive the nacelle to rotate correspondingly synchronously with extension and contraction of the ball screw mechanism; The ball screw mechanism comprises: Two-stage serial ball screw: the two-stage serial ball screw comprises a first-stage screw and a second-stage screw, and further comprises a second-stage nut; the second-stage screw is connected with the second-stage nut in meshing mode and moves along an axis direction of the second-stage nut; the first-stage screw is coaxially inserted into one end of the second-stage screw away from the second-stage nut, and the second-stage screw serves as a nut of the first-stage screw; Two independent driving mechanisms: the two driving mechanisms are a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism each comprise a motor and a gear set; The gear set of the first driving mechanism is connected with the first-stage screw, and the gear set is driven by a corresponding motor to control rotation of the first-stage screw; The gear set of the second driving mechanism is connected with the second-stage nut, and the gear set is driven by a corresponding motor to control rotation of the second-stage nut; The ball screw mechanism further comprises an upper housing and a lower housing; a front end of the first-stage screw is provided with a boss structure; the upper housing is connected to the front end of the first-stage screw; the lower housing is connected to the second-stage nut; the ear connection is mounted on the upper housing; and the ear axle connection is mounted on the lower housing. The stroke of each stage of the ball screw is half of the entire extension.

2. The dual safety-redundant tilting actuator of claim 1, wherein: The gear set of the first driving mechanism comprises an upper large gear and an upper small gear; the upper large gear is mounted on the front end of the first-stage screw; and the upper small gear is mounted on a corresponding motor output shaft and is in meshing connection with the upper large gear. The gear set of the second driving mechanism comprises a lower large gear and a lower small gear; the lower large gear is mounted on the second-stage nut; and the lower small gear is mounted on a corresponding motor output shaft and is in meshing connection with the lower large gear.

3. The dual safety-redundant tilting actuator of claim 2, wherein: When any one of the driving mechanisms is in a working state, the other driving mechanism is in a standby state or a working state.

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