Dual-redundancy motor dual-sensor control surface steering engine transmission system and heavy-load unmanned aerial vehicle

Abstract

The invention discloses a dual-redundancy motor dual-sensor control surface steering engine transmission system and a heavy-load unmanned aerial vehicle. The transmission system comprises a rotor wing structure; the planetary gear structure comprises an input rod, an output rod, a first planetary gear set and a second planetary gear set, the input rod is connected with the first planetary gear set, the first planetary gear set is in transmission connection with the second planetary gear set, the output rod is connected with the second planetary gear set, and the rotor wing structure is installed on the output rod; the input gear is mounted on the input rod and is in transmission connection with the input rod; the driving structure comprises two sets of stator windings and an output shaft, each stator winding comprises a rotor, and the rotors of the two sets of stator windings are both installed on the output shaft; and the transmission gear is connected with the output shaft and meshed with the input gear. According to the dual-redundancy motor dual-sensor control surface steering engine transmission system, high reliability and redundancy can be guaranteed, and meanwhile miniaturization, light weight, high power density and excellent dynamic characteristics are considered.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle technology, and in particular to a dual-redundant motor dual-sensor servo drive system and a heavy-duty unmanned aerial vehicle. Background Technology

[0002] The existing dual-redundancy design of unmanned aerial vehicle (UAV) servo systems mainly focuses on two aspects: one is the dual-redundancy design of the drive circuit, and the other is the dual-motor design of the transmission system. When the former fails, the entire servo system will often fail to work properly; although the latter can achieve dual redundancy of drive, it will lead to a significant increase in the overall size and weight of the servo, making it difficult to meet the requirements of UAVs for lightweight and compact design.

[0003] Some redundant servo motors employ parallel multi-motor drives, lead screw pairs, or ball screw transmission structures in their designs to improve reliability and redundancy. However, these solutions generally suffer from complex structures, high manufacturing difficulty, and stringent assembly requirements. Especially under high-frequency vibration and complex load environments, long transmission chains and significant backlash accumulation effects easily lead to decreased dynamic response performance and insufficient control precision. It is difficult to guarantee high reliability and redundancy while simultaneously achieving miniaturization, lightweight design, high power density, and excellent dynamic characteristics. Summary of the Invention

[0004] To address the aforementioned technical issues, this application proposes a dual-redundant motor dual-sensor servo drive system that ensures high reliability and redundancy while also achieving miniaturization, lightweight design, high power density, and excellent dynamic characteristics.

[0005] This application also proposes a heavy-duty unmanned aerial vehicle with the aforementioned transmission system.

[0006] The dual-redundant motor dual-sensor rudder surface servo drive system according to the first aspect of this application includes: Rotor structure; The planetary gear structure includes an input rod, an output rod, a first planetary gear set, and a second planetary gear set. The input rod is connected to the first planetary gear set, and the first planetary gear set is connected to the second planetary gear set in a driving connection. The output rod is connected to the second planetary gear set, and the rotor structure is mounted on the output rod. An input gear is mounted on the input rod and is connected to the input rod in a driving manner; The drive structure includes two sets of stator windings and an output shaft. Each stator winding includes a rotor, and the rotors of both sets of stator windings are mounted on the output shaft. The drive circuits of the two sets of stator windings are independent of each other, and the two sets of stator windings are spaced apart along the axial direction of the output shaft. A transmission gear is connected to the output shaft, and the transmission gear meshes with the input gear.

[0007] The dual-redundant motor dual-sensor rudder surface servo transmission system according to the embodiments of this application has at least the following beneficial effects: The drive structure connects the rotor with two stator windings via the same output shaft, achieving series connection of the two stator windings. The two stator windings can serve as backups for each other, ensuring the reliability and safety of the servo motor during critical mission phases; alternatively, the two stator windings can act together on the output shaft, increasing output power and torque while improving the dynamic response and output redundancy of the servo motor actuator. The drive circuits of the two stator windings are independent, enabling redundant drive control and improving equipment reliability. By connecting the two stator windings in series, the drive structure achieves a balance between high power density and high reliability within a limited installation space, making it suitable for high-speed, heavy-load, and high-safety UAV control surface drive applications. The rotor structure and input gear are connected via a planetary gear structure, enabling miniaturization of the drive structure, improving the stability of inertial loads and effectively reducing vibration. This further enables high-ratio transmission within a small space, meeting the compactness and high torque output requirements of high-performance servos.

[0008] In some embodiments of this application, the drive structure is a series permanent magnet brushless DC motor.

[0009] In some embodiments of this application, the output shaft is equipped with two position detection elements, which are respectively disposed at both ends of the output shaft.

[0010] In some embodiments of this application, the output shaft is connected to the transmission gear via a clutch.

[0011] In some embodiments of this application, the axis of the transmission gear is perpendicular to the axis of the input gear, and the axis of the output shaft is collinear with the axis of the transmission gear.

[0012] In some embodiments of this application, the input rod is equipped with a first detection element, and the output rod is equipped with a second detection element.

[0013] In some embodiments of this application, the first planetary gear set includes: First gear ring; The first sun gear is concentrically arranged with the first gear ring, and the first sun gear is connected to the input rod; The first cage is connected to the second planetary gear set; The first planetary gear is mounted on the first cage and is drively connected to the first sun gear and the first ring gear; the first planetary gear has multiple first planetary gears, which are spaced apart on the outer periphery of the first sun gear.

[0014] In some embodiments of this application, the second planetary gear set includes: Second gear ring; The second sun gear is concentrically arranged with the second ring gear, and the second sun gear is connected to the first cage; The second retainer is connected to the output rod; The second planetary gear is mounted on the second cage and is drively connected to the second sun gear and the second ring gear; there are multiple second planetary gears, which are spaced apart on the outer periphery of the second sun gear.

[0015] The heavy-duty unmanned aerial vehicle (UAV) according to the second aspect of this application includes at least one of the aforementioned dual-redundant motor dual-sensor servo drive systems. Since the heavy-duty UAV includes the aforementioned dual-redundant motor dual-sensor servo drive system, it possesses at least all the beneficial effects of such a system.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the first aspect of this application; Figure 2 for Figure 1 A cross-sectional view of the driving structure; Figure 3 for Figure 2 A schematic diagram of the internal assembly of the drive structure.

[0018] Icon labels: First planetary gear set 100, first ring gear 110, first sun gear 120, first cage 130, first planet gear 140, input rod 150, first detection element 151; Second planetary gear set 200, second ring gear 210, second sun gear 220, second cage 230, second planetary gear 240, output rod 250, second detection element 251; Input gear 300, transmission gear 310; Drive structure 400, first winding 410, first stator 411, first rotor 412, second winding 420, second stator 421, second rotor 422, output shaft 430, clutch 440, housing 450, position detection component 460. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] In the description of this application, it should be understood that when directional descriptions are involved, such as up, down, etc., the directional or positional relationship indicated is based on the directional or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, and does not 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, it should not be construed as a limitation of this application.

[0021] In the description of this application, "multiple" refers to two or more. When "first" or "second" is used, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, nor should it imply the number of technical features indicated or the order of the indicated technical features.

[0022] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. The embodiments of this application may omit unnecessary detailed descriptions. For example, detailed descriptions of well-known matters and repeated descriptions of actually identical structures may be omitted. This is to avoid making the following description unnecessarily lengthy and to facilitate understanding by those skilled in the art.

[0024] In this application, the technical features described in an open-ended manner include both closed technical solutions consisting of the listed features and open technical solutions that include the listed features.

[0025] ReferenceFigures 1 to 3 The first aspect of this application discloses a dual-redundant motor dual-sensor rudder surface servo transmission system, including a rotor structure, a transmission component and a drive structure 400. The drive structure 400 is connected to the rotor structure through the transmission component to drive the rotor structure to rotate.

[0026] To meet the requirements of miniaturization and lightweighting of aircraft, while simultaneously possessing high power density, excellent dynamic characteristics, high reliability, and redundancy, this application adopts the following technical solution: 1. The transmission assembly adopts a planetary gear structure, which includes an input rod 150, an output rod 250, a first planetary gear set 100, and a second planetary gear set 200. The input rod 150 is connected to the first planetary gear set 100, the first planetary gear set 100 is connected to the second planetary gear set 200, the output rod 250 is connected to the second planetary gear set 200, and the rotor structure is mounted on the output rod 250. 2. The input rod 150 is equipped with a first detection element 151, and the output rod 250 is equipped with a second detection element 251; 3. An input gear 300 is installed on the input rod 150 and is connected to the input rod 150 in a transmission manner; 4. The drive structure 400 includes two sets of stator windings and an output shaft 430. The stator windings include rotors, and the rotors of both sets of stator windings are mounted on the output shaft 430. The drive circuits of the two sets of stator windings are independent of each other, and the two sets of stator windings are spaced apart along the axial direction of the output shaft 430. The output shaft 430 is connected to a transmission gear 310, and the transmission gear 310 meshes with the input gear 300.

[0027] Reference Figure 2 , Figure 3 As shown, for ease of understanding, the two sets of stator windings are defined as the first winding 410 and the second winding 420, respectively. The first winding 410 includes the first stator 411 and the first rotor 412, and the second winding 420 includes the second stator 421 and the second rotor 422. The first rotor 412 is correspondingly set to the first stator 411, and the second rotor 422 is correspondingly set to the second stator 421. Both the first rotor 412 and the second rotor 422 are mounted on the output shaft 430.

[0028] The drive structure 400 also includes a housing 450, within which the first winding 410 and the second winding 420 are both installed. An output shaft 430 extends out of the housing 450 and connects to a transmission gear 310. The drive circuits of the first winding 410 and the second winding 420 are independent of each other. The drive circuit of the first winding 410 supplies power to the first stator 411, driving the first rotor 412 to rotate, which in turn drives the output shaft 430 to rotate. Similarly, the drive circuit of the second winding 420 supplies power to the second stator 421, driving the second rotor 422 to rotate, which in turn drives the output shaft 430 to rotate. Alternatively, the drive circuit of the first winding 410 supplies power to the first stator 411 while the drive circuit of the second winding 420 supplies power to the second stator 421, causing the first rotor 412 and the second rotor 422 to rotate synchronously, jointly driving the output shaft 430 to rotate.

[0029] In the actual operation of the aircraft, the rotor of the first winding 410 can rotate to drive the output shaft 430 to rotate, which in turn drives the input gear 300 to rotate through the transmission gear 310, which in turn drives the input rod 150 to rotate, which in turn drives the rotor structure to rotate through the planetary gear structure; or the rotor of the second winding 420 can rotate to drive the output shaft 430 to rotate, which in turn drives the rotor structure to rotate; or the first rotor 412 of the first winding 410 and the second rotor 422 of the second winding 420 can act on the output shaft 430 at the same time to drive the rotor structure to rotate.

[0030] In some embodiments of this application, the drive structure 400 is a series-connected permanent magnet brushless DC motor. Two position detection elements 460 are mounted on the output shaft 430, respectively located at both ends of the output shaft 430. The two position detection elements 460 serve as backups for each other and are both used to detect the angle signal of the output shaft 430, thereby ensuring continuous operation of the drive structure 400 and improving reliability. In this embodiment, the position detection elements 460 can be angle sensors.

[0031] The first winding 410 and the second winding 420 are independent and insulated from each other, and are equipped with independent drive and detection circuits. Under normal operating conditions, the first winding 410 and the second winding 420 operate in series and work together on the output shaft 430 to achieve the superposition of power and torque, thereby improving the dynamic response capability and output redundancy of the servo actuator. When one of the two sets of stator windings or the control system fails, the other set can still operate independently and maintain 70% to 80% of the rated torque output, thereby ensuring the reliability and safety of the servo system in critical flight missions. Since the drive structure 400 adopts a series integrated structure design, the drive structure 400 is compact in size and can achieve a balance between high power density and high reliability within a limited installation space, making it suitable for UAV control surface drives with high speed, heavy load and high safety requirements.

[0032] In some embodiments of this application, reference is made to Figure 1 As shown, both the transmission gear 310 and the input gear 300 are bevel gears. In high-speed, heavy-load servos, bevel gears can improve transmission efficiency and shock resistance, reduce wear, and extend service life. The axis of the transmission gear 310 is perpendicular to the axis of the input gear 300, and the axis of the output shaft 430 is collinear with the axis of the transmission gear 310. This results in an overall L-shaped right-angle arrangement of the planetary gear structure, output gear, and drive structure 400. Compared to the traditional straight-line arrangement, the L-shaped structure can significantly save longitudinal installation space, optimize the layout of the servo in the confined compartment of the fuselage, shorten the transmission link, and reduce intermediate transition links, thereby improving system rigidity and power transmission efficiency.

[0033] In some embodiments of this application, the output shaft 430 is connected to the transmission gear 310 via a clutch 440; when the drive structure 400 fails, the clutch 440 can disconnect the connection between the power and transmission components, thereby protecting the load equipment.

[0034] In some embodiments of this application, reference is made to Figure 1 As shown, the first planetary gear set 100 includes a first ring gear 110, a first sun gear 120, a first cage 130, and first planet gears 140. The inner sidewall of the first ring gear 110 is provided with tooth grooves. The first sun gear 120 and the first planet gears 140 are both installed inside the first ring gear 110. The first sun gear 120 and the first ring gear 110 are arranged concentrically, and the first sun gear 120 is connected to the input rod 150. The first cage 130 is connected to the second planetary gear set 200. The first planet gears 140 are installed on the first cage 130 and drive the first sun gear 120 and the first ring gear 110. There are multiple first planet gears 140, and the multiple first planet gears 140 are spaced apart on the outer periphery of the first sun gear 120.

[0035] Accordingly, refer to Figure 1 As shown, the second planetary gear set 200 includes a second ring gear 210, a second sun gear 220, a second cage 230, and second planet gears 240. The inner sidewall of the second ring gear 210 is also provided with tooth grooves. The second sun gear 220 and the second planet gear 240 are both installed inside the second ring gear 210. The second sun gear 220 and the second ring gear 210 are arranged concentrically. The second sun gear 220 is connected to the first cage 130. The second planet gear 240 is installed in the second cage 230 and is connected to the second sun gear 220 and the second ring gear 210. There are multiple second planet gears 240, which are spaced apart on the outer periphery of the first sun gear 120. The second planet gears 240 are connected to the output rod 250.

[0036] In some embodiments of this application, the input rod 150 is connected to the axis of the first sun gear 120, and the rotation of the input rod 150 drives the first sun gear 120 to rotate synchronously. The input rod 150 can be fixedly connected to the first sun gear 120, for example, by welding, or by fasteners, and this is not limited in this embodiment. Correspondingly, the first retainer 130 is connected to the axis of the second sun gear 220, and the rotation of the first retainer 130 drives the second sun gear 220 to rotate synchronously. The second retainer 230 can be fixedly connected to the second sun gear 220, for example, by welding, or by fasteners, and this is not limited in this embodiment. The output rod 250 can be fixedly connected to the second retainer 230, for example, by welding, or by fasteners, and this is not limited in this embodiment.

[0037] In some embodiments of this application, the first gear ring 110 and the second gear ring 210 are both fixedly arranged. The first sun gear 120 and the second sun gear 220 act as active planetary gears, driving the planetary gears to rotate around them while also revolving around them, thereby driving the first planetary carrier and the second planetary carrier to rotate. The first cage 130 and the second cage 230 are both used to output rotational motion and torque.

[0038] The planetary gear structure in this embodiment adopts an integrated design of a first planetary gear set 100 and a second planetary gear set 200, which reduces intermediate connecting links, reduces the overall size of the equipment, and improves the compactness of the structure. While achieving a large transmission ratio, it effectively improves the dynamic characteristics of the system.

[0039] In some embodiments of this application, the first detection element 151 and / or the second detection element 251 are angle sensors, preferably both the first detection element 151 and the second detection element 251 are angle sensors to reduce equipment manufacturing and maintenance costs. The first detection element 151 detects the rotation angle signal of the input rod 150, and then indirectly calculates the rotation angle signal of the output rod 250 through the transmission ratio of the planetary gear structure; the second detection element 251 is installed on the output rod 250 and can directly measure the rotation angle signal of the output rod 250. The first detection element 151 and the second detection element 251 achieve redundant detection of the rotation angle signal of the output rod 250 through indirect and direct detection, ensuring the accuracy of aircraft displacement recognition. The first detection element 151 and the second detection element 251 can serve as backups for each other, ensuring the stable operation and safety of the servo motor.

[0040] In the dual-redundant motor dual-sensor servo drive system of this application embodiment, the rotors of the two stator windings of the drive structure 400 are connected through the same output shaft 430, realizing the series connection of the two stator windings. The two stator windings can serve as backups for each other to ensure the reliability and safety of the servo during critical mission phases; or the two stator windings can work together on the output shaft 430, increasing the output power and torque of the output shaft 430 while improving the dynamic response capability and output redundancy of the servo actuator. The drive circuits of the two stator windings are independent of each other, which can realize the redundancy of the drive structure 400. Drive control improves equipment reliability; the drive structure 400 achieves a balance between high power density and high reliability within a limited installation space by connecting two stator windings in series, making it suitable for UAV control surface drive applications with high-speed, heavy-load, and high safety requirements; the rotor structure and input gear 300 are connected by a planetary gear structure, enabling miniaturization of the drive structure 400, improving the stability of inertial loads and effectively reducing vibration, further achieving high speed ratio transmission in a small space, and meeting the requirements of high-performance servos for compactness and high torque output.

[0041] A second aspect of this application discloses a heavy-duty unmanned aerial vehicle (UAV) including at least one of the aforementioned dual-redundant motor dual-sensor servo drive systems. Since the heavy-duty UAV includes the aforementioned dual-redundant motor dual-sensor servo drive system, it possesses at least all the beneficial effects of such a system. The overall transmission ratio of the planetary gear structure is the product of the transmission ratios of the first planetary gear set 100 and the second planetary gear set 200. By employing the aforementioned planetary gear structure, the servo drive system of the heavy-duty UAV can achieve a larger overall transmission ratio. Combined with a matching motor drive, the output torque can be significantly increased, meeting the high-torque drive requirements of the large control surfaces of the heavy-duty UAV.

[0042] Throughout this specification, references to "implementation method," "partial implementation method," "one implementation method," "another method," "specific method," or "partial method" mean that at least one implementation method or embodiment in this application includes the specific features, structures, materials, or characteristics described in that implementation method or embodiment.

[0043] In this application, numerical ranges are involved. Unless otherwise specified, the numerical ranges mentioned above are considered continuous and include the minimum and maximum values ​​of the range, as well as every value between the minimum and maximum values. Any lower limit can be combined with any upper limit to form an unspecified range; and any lower limit can be combined with other lower limits to form an unspecified range, just as any upper limit can be combined with any other upper limit to form an unspecified range. Furthermore, each individually disclosed point or single value can itself serve as a lower or upper limit and be combined with any other point or single value or with other lower or upper limits to form an unspecified range.

[0044] Although illustrative embodiments have been demonstrated and described, those skilled in the art should understand that the above embodiments should not be construed as limiting the present application, and that changes, substitutions and modifications can be made to the embodiments without departing from the spirit, principles and scope of the present application.

Claims

1. A dual-redundant motor, dual-sensor rudder surface, and servo drive system, characterized in that, include: Rotor structure; The planetary gear structure includes an input rod, an output rod, a first planetary gear set, and a second planetary gear set. The input rod is connected to the first planetary gear set, and the first planetary gear set is connected to the second planetary gear set in a driving connection. The output rod is connected to the second planetary gear set, and the rotor structure is mounted on the output rod. An input gear is mounted on the input rod and is connected to the input rod in a driving manner; The drive structure includes an output shaft and two sets of stator windings, each stator winding including a rotor, and the rotors of both sets of stator windings are mounted on the output shaft; the drive circuits of the two sets of stator windings are independent of each other, and the two sets of stator windings are spaced apart along the axial direction of the output shaft. A transmission gear is connected to the output shaft, and the transmission gear meshes with the input gear.

2. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 1, characterized in that, The drive structure is a series permanent magnet brushless DC motor.

3. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 1, characterized in that, The output shaft is equipped with two position detection devices, which are respectively located at both ends of the output shaft.

4. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 1, characterized in that, The output shaft is connected to the transmission gear via a clutch.

5. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 1, characterized in that, The axis of the transmission gear is perpendicular to the axis of the input gear, and the axis of the output shaft is collinear with the axis of the transmission gear.

6. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 1, characterized in that, The input rod is equipped with a first detection element, and the output rod is equipped with a second detection element.

7. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 1, characterized in that, The first planetary gear set includes: First gear ring; The first sun gear is concentrically arranged with the first gear ring, and the first sun gear is connected to the input rod; The first cage is connected to the second planetary gear set; The first planetary gear is mounted on the first cage and is drively connected to the first sun gear and the first ring gear; the first planetary gear has multiple first planetary gears, which are spaced apart on the outer periphery of the first sun gear.

8. The dual-redundant motor dual-sensor rudder surface servo transmission system according to claim 7, characterized in that, The second planetary gear set includes: Second gear ring; The second sun gear is concentrically arranged with the second ring gear, and the second sun gear is connected to the first cage; The second retainer is connected to the output rod; The second planetary gear is mounted on the second cage and is drively connected to the second sun gear and the second ring gear; there are multiple second planetary gears, which are spaced apart on the outer periphery of the second sun gear.

9. A heavy-load unmanned aerial vehicle, characterized in that, It includes at least one dual-redundant motor dual-sensor rudder surface servo drive system as described in any one of claims 1 to 8.

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