All-electric turning executing mechanism of front wheel of unmanned aerial vehicle and turning anti-swing control method

Abstract

The invention discloses an all-electric turning execution mechanism and a turning anti-swing control method for a front wheel of an unmanned aerial vehicle, the all-electric turning execution mechanism comprises a motor, an electromagnetic clutch, a parallel gear box and an output gear, the electromagnetic clutch comprises a stator, a rotor and an armature, the stator is fixedly connected with a shell of the motor, and the rotor is connected with an output shaft of the motor; the armature is connected with a high-speed shaft of the parallel gearbox, and the output gear is fixedly connected with a low-speed shaft of the parallel gearbox. The motor, the electromagnetic clutch, the parallel gear box and the output gear are designed in an integrated mode, double optimization of the structure and functions is achieved, the number of parts and the connecting complexity are greatly reduced, and the requirements of the unmanned aerial vehicle for light weight and compact layout are met; by means of the connection and disconnection characteristics of the electromagnetic clutch, accurate active anti-swing and front wheel turning control can be achieved through linkage of the motor and the parallel gear box during power-on, and passive anti-swing can be achieved through a mechanical structure during power-off.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to an all-electric turning actuator for the front wheel of a UAV and a turning anti-sway control method. Background Technology

[0002] UAVs typically have steering actuators and sway dampers mounted on their nose landing gear. During low-speed taxiing, the steering actuator transmits torque to control the steering of the nose wheel. During high-speed taxiing, the sway damper provides dynamic damping to prevent swaying. Traditional discrete steering actuators are generally large to meet the requirements of turning angle and steering torque. Separately placed sway dampers further occupy nose landing gear space and increase weight. Hydraulic lines and mechanical linkages are prone to leaks and wear, leading to frequent maintenance and high costs. Furthermore, the damping characteristics of mechanical sway dampers are fixed and difficult to dynamically adjust according to changes in UAV speed and load, resulting in limited anti-sway effectiveness under complex conditions. With the rapid development of small UAVs, higher demands are placed on the reliability, integration, and power density of steering anti-sway systems. Traditional devices can no longer meet the needs of UAVs for lightweight design, precise control, rapid response, and intelligent operation and maintenance. Summary of the Invention

[0003] To address the aforementioned drawbacks of existing discrete anti-sway designs for drone turns, this invention innovatively provides a fully electric turning actuator for the front wheel of a drone, greatly simplifying the number of actuators and achieving a highly integrated and lightweight design.

[0004] To achieve the above-mentioned technical objectives, this invention discloses an all-electric turning actuator for the front wheel of a drone, comprising a motor, an electromagnetic clutch, a parallel gearbox, and an output gear. The electromagnetic clutch includes a stator, a rotor, and an armature. The stator is fixedly connected to the housing of the motor, the rotor is connected to the output shaft of the motor, the armature is connected to the high-speed shaft of the parallel gearbox, and the output gear is fixedly connected to the low-speed shaft of the parallel gearbox.

[0005] Furthermore, the present invention provides an all-electric turning actuator for the front wheel of a drone, wherein the output gear is connected to the low-speed shaft of a parallel gearbox via a planetary gearbox, and the planetary gearbox and the motor are arranged side by side on the same side of the parallel gearbox.

[0006] Furthermore, the present invention provides an all-electric turning actuator for the front wheel of a drone, wherein the end of the planetary gearbox connected to the output gear is provided with a connecting plate extending in the opposite direction to the motor, the front of the connecting plate is provided with an angle feedback gear meshing with the output gear, and the back of the connecting plate is provided with an angle sensor coaxially connected to the angle feedback gear.

[0007] Furthermore, the present invention provides an all-electric turning actuator for the front wheel of a drone, wherein the motor, planetary gearbox, and angle sensor are arranged in a straight line.

[0008] This invention also provides a method for anti-sway control of the front wheel of a drone, employing the all-electric turning actuator of the front wheel of the drone as described in any of the above embodiments, the method comprising the following steps:

[0009] When the all-electric turning actuator is in turning mode, the stator of the control electromagnetic clutch is energized, causing the rotor and armature to engage, and the target speed value is sent to the motor. The power of the motor is then transmitted to the output gear through the electromagnetic clutch via the parallel gearbox and planetary gearbox, driving the front wheel of the drone to turn.

[0010] When the all-electric turning actuator is in active anti-sway mode, the stator of the control electromagnetic clutch is energized, causing the rotor and armature to engage, and the target damping torque value is sent to the motor. The power of the motor is then transmitted to the output gear through the electromagnetic clutch via the parallel gearbox and planetary gearbox to achieve active anti-sway of the UAV's front wheel.

[0011] Furthermore, the present invention provides a method for anti-sway control of the front wheel of a drone during cornering, wherein when the all-electric cornering actuator is in cornering mode, the angle sensor realizes closed-loop control of the target rotational speed value through angle data fed back by the angle feedback gear meshing with the output gear.

[0012] Furthermore, the present invention provides a method for anti-sway control of the front wheel of a UAV during cornering, wherein when the all-electric cornering actuator is in active anti-sway mode, the angle sensor realizes closed-loop control of the target damping torque value through angle data fed back by the angle feedback gear meshing with the output gear.

[0013] Furthermore, the present invention provides a method for anti-sway control of the front wheel of a drone during cornering, which further includes:

[0014] When the all-electric turning actuator is in passive anti-sway mode, the stator of the control electromagnetic clutch is de-energized, causing the rotor and armature to separate. The connection between the motor and the parallel gearbox is disconnected through the electromagnetic clutch, and the output gear drives the multi-stage gears inside the parallel gearbox and planetary gearbox to rotate. The rotational inertia of the parallel gearbox and planetary gearbox generates a frictional damping effect, thereby converting the sway energy of the UAV's front wheel into heat energy and dissipating it, thus achieving passive anti-sway of the UAV's front wheel.

[0015] The difference between this invention and existing technologies lies in the following: Compared to existing discrete turning actuators and anti-sway devices, the mechanism of this invention integrates the motor, electromagnetic clutch, parallel gearbox, and output gear, and utilizes the coordinated operation of the stator, rotor, and armature of the electromagnetic clutch. This significantly reduces the number of parts and connection complexity, effectively lowering the weight of the mechanism and reducing space occupation, thus meeting the requirements of UAVs for lightweight and compact layout. Utilizing the engagement and disengagement characteristics of the electromagnetic clutch, precise active anti-sway and front wheel turning control can be achieved through the linkage of the motor and parallel gearbox when energized, while passive anti-sway can be achieved through the mechanical structure when power is off. This invention's method achieves dual electrical and mechanical control of turning mode, active anti-sway mode, and passive anti-sway mode through a single electromagnetic clutch. This not only reduces the failure rate but also automatically adapts to operating conditions, balancing energy economy and reliability, providing a highly integrated, intelligent, and adaptive solution for UAV landing gear control. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a fully electric turning actuator for the front wheel of an unmanned aerial vehicle (UAV) according to the present invention;

[0017] Figure 2 This is a schematic diagram of the actual installation structure of the all-electric turning actuator for the front wheel of a drone according to the present invention;

[0018] Figure 3 This is a control principle diagram of the turning mode in this invention;

[0019] Figure 4 This is a control principle diagram of the active anti-sway mode in this invention;

[0020] Figure 5 This is a control principle diagram of the passive anti-sway mode in this invention. Detailed Implementation

[0021] The following is a detailed explanation and description of an all-electric turning actuator for the front wheel of a drone according to the present invention, with reference to the accompanying drawings.

[0022] like Figure 1 As shown, this embodiment of the invention discloses an all-electric turning actuator for the front wheel of a drone, including a motor 1, an electromagnetic clutch 2, a parallel gearbox 3, and an output gear 4. The electromagnetic clutch 2 includes a stator, a rotor, and an armature. The stator is fixedly connected to the housing of the motor 1, the rotor is connected to the output shaft of the motor 1, the armature is connected to the high-speed shaft of the parallel gearbox 3, and the output gear 4 is fixedly connected to the low-speed shaft of the parallel gearbox 3.

[0023] like Figure 2As shown, in actual use, the actuator is connected to the outer cylinder 11 of the buffer via the connecting lug 12, the output gear 4 meshes with the gear on the buffer rotating sleeve 13, and then is connected to the front wheel of the UAV via the torque arm 14, the buffer piston rod 15 and the wheel axle 16, so that the output of the actuator acts on the front wheel. Compared with the existing discrete turning actuators and anti-sway devices, by integrating the motor 1, electromagnetic clutch 2, parallel gearbox 3 and output gear 4, and the coordinated work of the stator, rotor and armature of the electromagnetic clutch 2, the number of parts and connection complexity are greatly reduced, effectively reducing the weight of the mechanism and reducing the space occupation, meeting the UAV's requirements for lightweight and compact layout; by utilizing the engagement and disengagement characteristics of the electromagnetic clutch 2, precise active anti-sway and front wheel turning control can be achieved through the linkage of the motor 1 and the parallel gearbox 3 when the power is on, and passive anti-sway can be achieved by relying on the mechanical structure when the power is off, with seamless switching between active and passive anti-sway to adapt to different working conditions.

[0024] like Figure 1 As shown, in one embodiment of the present invention, the output gear 4 is connected to the low-speed shaft of the parallel gearbox 3 via the planetary gearbox 5, and the planetary gearbox 5 and the motor 1 are arranged side by side on the same side of the parallel gearbox 3. By setting the parallel gearbox 3 and the planetary gearbox 5, the transmission path of the motor 1 can be changed, making the shaft systems of the planetary gearbox 5 and the motor 1 parallel, but the directions of the power transmission paths are opposite. A connecting plate 6 extending in the opposite direction to the motor 1 is provided at the end of the planetary gearbox 5 connected to the output gear 4. An angle feedback gear 7 meshing with the output gear 4 is provided on the front side of the connecting plate 6, and an angle sensor 8 coaxially connected to the angle feedback gear 7 is provided on the back side of the connecting plate 6. The motor 1, the planetary gearbox 5, and the angle sensor 8 are arranged in a straight line.

[0025] In this embodiment, the parallel gearbox 3, planetary gearbox 5, and output gear 4 are connected in a compact manner. The parallel arrangement of planetary gearbox 5 and motor 1 eliminates the need for additional reversing drive shafts or cross-shaft mechanisms, reducing the space occupied by the UAV landing gear area and facilitating overall structural optimization and lightweight design. Furthermore, this parallel arrangement avoids shaft crossing, reducing additional friction losses caused by shaft misalignment and further improving overall transmission efficiency. In addition, the parallel gearbox 3 and planetary gearbox 5 can achieve a dual reduction effect. By connecting the compact and high-load capacity of planetary gearbox 5 with the simple and smooth transmission of parallel gearbox 3, a very large overall reduction ratio can be achieved, and the reduction ratio can be adjusted by changing the two gearboxes. The multi-stage reduction ratio distribution avoids the structural bulkiness and transmission instability caused by excessively large reduction ratios in a single gear reducer. It achieves a large reduction ratio, small size, and high torque, while also adapting to complex spatial layouts, thus improving efficiency and reliability. Secondly, the angle feedback gear 7 directly meshes with the output gear 4, enabling real-time and accurate acquisition of the front wheel rotation angle, avoiding signal delays and errors caused by intermediate transmission links. The angle sensor 8 is mounted on the back of the connecting plate 6 and coaxial with the gear, further ensuring measurement accuracy. In addition, this integrated and modular design facilitates installation, debugging, and maintenance, reduces the complexity of the mechanism, improves overall reliability, and ensures the stability of the mechanism during takeoff, landing, and taxiing of the UAV.

[0026] like Figure 3-5 As shown, this embodiment of the invention also provides a method for anti-sway control of the front wheel of a drone, employing the all-electric turning actuator of the front wheel of the drone as described above, and the method includes the following steps:

[0027] When the all-electric turning actuator is in turning mode, the stator of the control electromagnetic clutch 2 is energized, causing the rotor and armature to engage, and the target speed value is sent to the motor 1. The power of the motor 1 is transmitted to the output gear 4 through the parallel gearbox 3 and planetary gearbox 5 via the electromagnetic clutch 2, which drives the front wheel of the UAV to turn.

[0028] When the all-electric turning actuator is in active anti-sway mode, the stator of the control electromagnetic clutch 2 is energized, causing the rotor and armature to engage, and the target damping torque value is sent to the motor 1. The power of the motor 1 is then transmitted to the output gear 4 through the parallel gearbox 3 and planetary gearbox 5 via the electromagnetic clutch 2, thus achieving active anti-sway of the UAV's front wheel.

[0029] When the all-electric turning actuator is in passive anti-sway mode, the stator of the control electromagnetic clutch 2 is de-energized, causing the rotor and armature to separate. The connection between the motor 1 and the parallel gearbox 3 is disconnected through the electromagnetic clutch 2. The output gear 4 drives the multi-stage gears inside the parallel gearbox 3 and planetary gearbox 5 to rotate. The rotational inertia of the parallel gearbox 3 and planetary gearbox 5 generates a frictional damping effect, thereby converting the sway energy of the UAV's front wheel into heat energy and dissipating it, thus achieving passive anti-sway of the UAV's front wheel.

[0030] In this embodiment, the method of the present invention, by leveraging the on / off characteristics of the electromagnetic clutch 2, enables flexible switching and efficient operation of the all-electric turning actuator of the UAV across multiple modes. In turning mode and active anti-sway mode, the electromagnetic clutch 2 engages to seamlessly transmit power, allowing the motor 1 to precisely execute the target speed and damping torque commands, rapidly converting electrical signals into mechanical power. This achieves high-precision control of the front wheel steering angle and active suppression of sway, meeting the dynamic requirements of the UAV for low-speed turning and high-speed taxiing. In passive anti-sway mode, the clutch 2 disengages to cut off the power to the motor 1. Damping is generated by the rotational inertia of the parallel gearbox 3 and the planetary gearbox 5 and gear friction, passively dissipating sway energy without additional energy consumption, forming a zero-power protection mechanism. This effectively prevents overload of the motor 1 and ensures that the anti-sway function can still be implemented when the actuator malfunctions (motor 1 has no output, electromagnetic clutch 2 is de-energized), improving the ability of the actuator of the present invention to handle emergencies. The three modes achieve both electrical and mechanical control through a single electromagnetic clutch 2, which not only reduces the failure rate but also automatically adapts to the working conditions, balancing energy efficiency and reliability, and providing a highly integrated, intelligent, and adaptive solution for UAV landing gear control.

[0031] In one embodiment of the present invention, when the all-electric turning actuator is in turning mode, the angle sensor 8 realizes closed-loop control of the target speed value through the angle data fed back by the angle feedback gear 7 meshing with the output gear 4.

[0032] When the all-electric turning actuator is in active anti-sway mode, the angle sensor 8 achieves closed-loop control of the target damping torque value through the angle data fed back by the angle feedback gear 7 meshing with the output gear 4.

[0033] In this embodiment, in the all-electric turning actuator, the angle sensor 8 feeds back angle data through the angle feedback gear 7 meshing with the output gear 4, realizing closed-loop control of the target speed value in turning mode and the target damping torque value in active anti-sway mode. Directly obtaining angle data from the output gear 4 avoids signal attenuation and error accumulation in intermediate transmission links, ensuring the real-time nature and accuracy of the feedback information. Whether precisely adjusting the motor 1 speed for accurate steering in turning mode or quickly adjusting the damping torque to suppress vibration based on real-time angle changes in active anti-sway mode, control accuracy is effectively improved. In active anti-sway mode, control strategy parameters can be adjusted according to actual conditions, allowing for a wide range of damping coefficient adjustments. The closed-loop control mechanism enables the mechanism to dynamically correct deviations between the actual operating state and target parameters, forming a cycle of detection, feedback, and adjustment. This enhances the mechanism's adaptability, enabling it to meet the complex needs of the UAV under different operating conditions, speeds, and loads, ensuring the stability and reliability of front wheel steering and anti-sway control, reducing human intervention, and improving the automation level and safety of UAV operation.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and simple improvements made on the substantive content of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully electric turning actuator for the front wheel of an unmanned aerial vehicle, characterized in that: The device includes a motor, an electromagnetic clutch, a parallel gearbox, and an output gear. The electromagnetic clutch includes a stator, a rotor, and an armature. The stator is fixedly connected to the housing of the motor, the rotor is connected to the output shaft of the motor, the armature is connected to the high-speed shaft of the parallel gearbox, and the output gear is fixedly connected to the low-speed shaft of the parallel gearbox.

2. The all-electric turning actuator for the front wheel of a drone according to claim 1, characterized in that: The output gear is connected to the low-speed shaft of the parallel gearbox via a planetary gearbox, and the planetary gearbox and the motor are arranged side by side on the same side of the parallel gearbox.

3. The all-electric turning actuator for the front wheel of a drone according to claim 2, characterized in that: The planetary gearbox is provided with a connecting plate extending in the opposite direction to the motor at one end connected to the output gear. The front of the connecting plate is provided with an angle feedback gear that meshes with the output gear, and the back of the connecting plate is provided with an angle sensor that is coaxially connected to the angle feedback gear.

4. The all-electric turning actuator for the front wheel of a drone according to claim 3, characterized in that: The motor, planetary gearbox, and angle sensor are arranged in a straight line.

5. A method for preventing swaying during turning of the front wheel of an unmanned aerial vehicle (UAV), characterized in that: The method employing the all-electric turning actuator for the front wheel of a drone according to any one of claims 1-4 includes the following steps: When the all-electric turning actuator is in turning mode, the stator of the control electromagnetic clutch is energized, causing the rotor and armature to engage, and the target speed value is sent to the motor. The power of the motor is then transmitted to the output gear through the electromagnetic clutch via the parallel gearbox and planetary gearbox, driving the front wheel of the drone to turn. When the all-electric turning actuator is in active anti-sway mode, the stator of the control electromagnetic clutch is energized, causing the rotor and armature to engage, and the target damping torque value is sent to the motor. The power of the motor is then transmitted to the output gear through the electromagnetic clutch via the parallel gearbox and planetary gearbox to achieve active anti-sway of the UAV's front wheel.

6. The anti-sway control method for the front wheel of an unmanned aerial vehicle (UAV) as described in claim 5, characterized in that: When the all-electric turning actuator is in turning mode, the angle sensor uses angle data fed back by the angle feedback gear meshing with the output gear to achieve closed-loop control of the target speed value.

7. The anti-sway control method for the front wheel of an unmanned aerial vehicle (UAV) as described in claim 6, characterized in that: When the all-electric turning actuator is in active anti-sway mode, the angle sensor realizes closed-loop control of the target damping torque value through the angle feedback data fed back by the angle feedback gear meshing with the output gear.

8. A method for anti-sway control of the front wheel of an unmanned aerial vehicle (UAV) during turns, as described in claim 6, characterized in that: Also includes: When the all-electric turning actuator is in passive anti-sway mode, the stator of the electromagnetic clutch is de-energized, the rotor and armature are separated, the connection between the motor and the parallel gearbox is disconnected through the electromagnetic clutch, and the output gear drives the multi-stage gears inside the parallel gearbox and planetary gearbox to rotate. The rotational inertia of the parallel gearbox and planetary gearbox generates a frictional damping effect, thereby converting the sway energy of the UAV's front wheel into heat energy and dissipating it, thus achieving passive anti-sway of the UAV's front wheel.

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