EVTOL nacelle tilting steering engine based on high reduction ratio transmission and working method

Abstract

The invention relates to an eVTOL nacelle tilting steering engine based on high reduction ratio transmission and a working method, and relates to the field of electric vertical take-off and landing aircrafts. According to the technical scheme, the design that the double-cycloid speed reducer is combined with the parallel shaft speed reduction gear set is adopted, the wiring harness passing ability problem from the aircraft end to the nacelle is solved, the single-point failure risk that a lead screw of a traditional linear steering engine is stuck is avoided, and the safety and reliability of the steering engine are improved; moreover, depending on the dual-redundancy winding, the dual-redundancy electromagnetic brake and the dual-redundancy rotating speed feedback of the dual-redundancy servo motor, the dual-redundancy design is realized from the electrical level, and the safety performance is further enhanced. In addition, external disturbance can be reduced through high-reduction-ratio transmission, the influence of aerodynamic load disturbance on nacelle actuation is reduced, and the tilting stability is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vertical take-off and landing aircraft, in particular to an eVTOL nacelle tilting rudder based on high reduction ratio transmission and a working method. BACKGROUND

[0002] The electric vertical take-off and landing aircraft eVTOL is a product of the integration of aviation, automobile and new energy electric drive three major technical fields, and is also the core carrier of low-altitude economic development. As a key component of eVTOL, the nacelle tilting rudder bears the function of adjusting the direction of propeller thrust in the vertical take-off ( Figure 1 ) and forward flight ( Figure 2 ) states. The smoothness of the tilting process, the stability of the tilting angle during long-term operation, and the reliability of the rudder itself directly determine the flight quality and operation safety of eVTOL.

[0003] Currently, the eVTOL nacelle tilting is mostly driven by a linear electromechanical actuator, which first outputs linear motion, and then converts it into rotary motion of the nacelle through a motion direction conversion mechanism. However, the linear electromechanical actuator usually adopts planetary roller screw or ball screw transmission; if the screw is mechanically stuck due to long-term wear or instantaneous overload, the nacelle will lose the tilting ability, directly threatening flight safety. In view of the precision decay or damage of the screw, the existing maintenance scheme is mostly to replace the faulty components, resulting in high maintenance cost. In addition, the linear electromechanical actuator needs to be additionally configured with a motion conversion mechanism, further increasing the overall space occupation. SUMMARY

[0004] The purpose of the present application is to provide an eVTOL nacelle tilting rudder based on high reduction ratio transmission and a working method to solve the problems existing in the prior art.

[0005] To achieve the above purpose, the technical scheme adopted by the present application is as follows: In a first aspect, the present application provides an eVTOL nacelle tilting rudder based on high reduction ratio transmission, comprising: a double-cycloid reducer, a first side of which is in transmission connection with a double-redundancy servo motor and a double-redundancy electromagnetic brake through a parallel shaft reduction gear set, and a second side of which is a mechanical interface for realizing eVTOL nacelle tilting; Wherein, the parallel shaft reduction gear set comprises a gear set housing, a double-cycloid reduction input gear, a motor input gear in meshing connection with the double-cycloid reduction input gear, and a brake input gear in meshing connection with the double-cycloid reduction input gear are arranged in the gear set housing, the gear set housing is connected with the outer shell of the double-cycloid reducer, and the double-cycloid reduction input gear is in transmission connection with the input end of the high-speed level cycloid reduction mechanism inside the double-cycloid reducer.

[0006] In some embodiments, the mechanical interface comprises: an inner ring wing mounting flange, which is in driving connection with the output end of a low-speed stage cycloid reduction mechanism inside the double-cycloid reducer, the input end of the low-speed stage cycloid reduction mechanism being in driving connection with the output end of the high-speed stage cycloid reduction mechanism; and an outer ring rudder mounting flange, which is integrated on the outer shell of the double-cycloid reducer; wherein the tilting action of the eVTOL nacelle is realized through the relative rotation of the inner ring wing mounting flange and the outer ring rudder mounting flange.

[0007] In some embodiments, the double-redundancy servo motor comprises: a motor shell, which is connected with the gear set housing; a double-winding stator, which is installed in the motor shell; and a rotor, which is rotatably installed inside the double-winding stator, the central rotating shaft of which is coaxial with the double-winding stator.

[0008] In some embodiments, the first end of the central rotating shaft of the rotor is connected with the center of the motor input gear through splines or keys, and the second end of the central rotating shaft of the rotor is installed with a double-redundancy rotating speed feedback.

[0009] In some embodiments, the double-redundancy rotating speed feedback at least comprises one of a resolver transmitter, a magnetic encoder, a Hall sensor, and an eddy current sensor.

[0010] In some embodiments, the double-redundancy electromagnetic brake is installed in a brake shell, and the double-redundancy electromagnetic brake is connected with the central rotating shaft of the brake input gear.

[0011] In some embodiments, the brake shell is integrally machined with the motor shell of the double-redundancy servo motor.

[0012] In some embodiments, the brake shell is further provided with a power supply socket for supplying power to the eVTOL nacelle tilting rudder and a communication electrical socket for communicating with the eVTOL nacelle tilting rudder.

[0013] In a second aspect, the application provides a working method of an eVTOL nacelle tilting rudder based on high-reduction-ratio transmission, which is applied to the above-mentioned eVTOL nacelle tilting rudder based on high-reduction-ratio transmission, and comprises the following steps: S1, supplying power to the eVTOL nacelle tilting rudder through the power supply socket and establishing the communication connection between the eVTOL nacelle tilting rudder and the eVTOL control system through the communication electrical socket; S2, the double-redundancy servo motor is powered to drive the rotor to rotate, the center shaft of the rotor drives the motor input gear to rotate through the spline or the key, the motor input gear meshes with the double-cycloid reduction input gear to transmit power, and primary reduction is completed; S3, the double-cycloid reduction input gear transmits power to the high-speed cycloid reduction mechanism of the double-cycloid reducer, after the power is reduced through the high-speed cycloid reduction mechanism, the power is transmitted to the low-speed cycloid reduction mechanism of the double-cycloid reducer for secondary reduction, and high reduction ratio transmission is realized; S4, the low-speed cycloid reduction mechanism of the double-cycloid reducer drives the inner circle wing mounting flange of the mechanical interface to rotate, and through the relative rotation of the inner circle wing mounting flange and the outer circle actuator mounting flange, the eVTOL nacelle is driven to complete the tilting action; S5, the double-redundancy rotation speed feedback collects the rotation speed signal of the rotor and transmits it to the eVTOL control system, when one set of detection channels in the double-redundancy rotation speed feedback fails, the other independent channel continuously outputs the rotation speed signal; S6, the double-redundancy electromagnetic brake is connected with the center shaft of the brake input gear, the brake input gear meshes with the double-cycloid reduction input gear; when the eVTOL nacelle needs to be positioned or stopped tilting, the on-off of the coil of the double-redundancy electromagnetic brake realizes brake release and braking respectively; when one set of coils in the double-redundancy electromagnetic brake fails, the other independent coil takes over the braking function.

[0014] The technical scheme provided by the present application has at least the following beneficial effects: The present technical scheme adopts the design of a double-cycloid reducer combined with a parallel shaft reduction gear set, solves the wire harness passability problem from the aircraft end to the nacelle, avoids the single-point failure risk of the traditional linear actuator screw rod being stuck, and improves the safety and reliability of the actuator; moreover, the double-redundancy winding of the double-redundancy servo motor, the double-redundancy electromagnetic brake and the double-redundancy rotation speed feedback realize double-redundancy design from the electrical level, and further strengthen the safety performance; in addition, the high reduction ratio transmission can reduce external disturbances and reduce the influence of aerodynamic load disturbance on the nacelle actuation, and greatly improve the tilting stability. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation on the present application.

[0016] Figure 1 An eVTOL vertical flight state diagram provided by one exemplary embodiment of the present application is shown.

[0017] Figure 2 An eVTOL forward flight state diagram provided by one exemplary embodiment of the present application is shown.

[0018] Figure 3A first shaft side schematic diagram of an eVTOL nacelle tilting rudder motor based on high reduction ratio transmission provided by an example embodiment of the present application is shown.

[0019] Figure 4 A second shaft side schematic diagram of an eVTOL nacelle tilting rudder motor based on high reduction ratio transmission provided by an example embodiment of the present application is shown.

[0020] Figure 5 An internal structure schematic diagram of a dual-redundancy servo motor and dual-redundancy electromagnetic brake of an eVTOL nacelle tilting rudder motor based on high reduction ratio transmission provided by an example embodiment of the present application is shown.

[0021] Figure 6 An internal structure schematic diagram of a parallel shaft reduction gear set of an eVTOL nacelle tilting rudder motor based on high reduction ratio transmission provided by an example embodiment of the present application is shown.

[0022] In the figure: 1, double-cycloid reducer; 2, parallel shaft reduction gear set; 21, gear set housing; 22, double-cycloid reduction input gear; 23, motor input gear; 24, brake input gear; 3, dual-redundancy servo motor; 31, motor housing; 32, double-winding stator; 33, rotor; 34, dual-redundancy rotational speed feedback; 4, dual-redundancy electromagnetic brake; 5, mechanical interface; 51, inner ring wing mounting flange; 52, outer ring rudder mounting flange; 6, brake housing; 7, power supply socket; 8, communication electrical socket. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0024] Wherein, the same parts are denoted by the same reference signs. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings of the present application, and the words "bottom" and "top", "inner" and "outer" refer to the directions towards or away from the specific parts. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can be explicitly or implicitly included one or more. In the description of the present application, the meaning of "multiple" is two or more.

[0025] The present application will be further described below in conjunction with the drawings and examples.

[0026] Please refer to 3 to Figure 6 The eVTOL short nacelle tilting rudder based on high reduction ratio transmission includes: a double-cycloid reducer 1, a first side of which is connected with a double-redundancy servo motor 3 and a double-redundancy electromagnetic brake 4 through a parallel shaft reduction gear set 2, and a second side of which is a mechanical interface 5 for realizing eVTOL short nacelle tilting; wherein the parallel shaft reduction gear set 2 includes a gear set housing 21, a double-cycloid reduction input gear 22 arranged in the gear set housing 21, a motor input gear 23 in meshing connection with the double-cycloid reduction input gear 22, and a brake input gear 24 in meshing connection with the double-cycloid reduction input gear 22, the gear set housing 21 is connected with an outer shell of the double-cycloid reducer 1, and the double-cycloid reduction input gear 22 is in transmission connection with an input end of a high-speed stage cycloid reduction mechanism inside the double-cycloid reducer 1.

[0027] In the embodiment of the present application, the double-cycloid reducer 1 bears the functions of power input integration and tilting action output on both sides, one side builds a connection bridge with the driving and braking components through the parallel shaft reduction gear set 2, and the other side directly associates the short nacelle through the mechanical interface 5 to realize the conversion of power to tilting action. The parallel shaft reduction gear set 2 has multiple functions, the motor input gear 23 receives the power of the double-redundancy servo motor 3, the brake input gear 24 provides a braking intervention node for the double-redundancy electromagnetic brake 4, and the double-cycloid reduction input gear 22 transmits the power to the reducer high-speed mechanism after aggregation, thereby optimizing the power transmission path.

[0028] In some embodiments, referring to Figure 3, the mechanical interface 5 comprises: an inner ring wing mounting flange 51, which is in transmission connection with the output end of the low-speed stage cycloid reduction mechanism inside the double-cycloid reducer 1, and the input end of the low-speed stage cycloid reduction mechanism is in transmission connection with the output end of the high-speed stage cycloid reduction mechanism; and an outer ring actuator mounting flange 52 integrated on the outer shell of the double-cycloid reducer 1; wherein the tilting action of the eVTOL nacelle is realized through the relative rotation of the inner ring wing mounting flange 51 and the outer ring actuator mounting flange 52.

[0029] In the embodiment of the present application, the inner ring wing mounting flange 51 connects the output end of the low-speed stage cycloid reduction mechanism of the double-cycloid reducer 1, can receive the stable torque after two-stage reduction, avoids the influence of power fluctuation on the tilting precision of the nacelle, and directly provides a force support point for the nacelle to ensure that the power transmission has no additional loss. The outer ring actuator mounting flange 52 is integrated on the outer shell of the double-cycloid reducer 1, can be used as a fixed reference for the tilting action, the rotation of the inner ring wing mounting flange 51 has a clear reference, and radial deviation of the nacelle during tilting is prevented. The relative rotation design of the two also simplifies the connection structure of the actuator, the nacelle and the fuselage, without additional adapter components, which saves installation space and improves overall assembly precision.

[0030] In some embodiments, referring to Figure 5 and Figure 6 , the double-redundancy servo motor 3 comprises: a motor shell 31 connected with the gear set shell 21; a double-winding stator 32 installed in the motor shell 31; and a rotor 33 rotatably installed on the inner side of the double-winding stator 32, with a central rotating shaft coaxial with the double-winding stator 32. The first end of the central rotating shaft of the rotor 33 is connected with the center of the motor input gear 23 through a spline or a key, and the second end of the central rotating shaft of the rotor 33 is provided with a double-redundancy rotating speed feedback 34. The double-redundancy rotating speed feedback 34 at least comprises one of a rotary transducer transmitter, a magnetic encoder, a Hall sensor and an eddy current sensor.

[0031] In the embodiment of the present application, the double-winding stator 32 constructs electrical redundancy through double-winding design, so that when one set of winding fails, the other set can immediately compensate, avoiding power interruption. The double-redundancy rotating speed feedback 34 can adapt to different working conditions, and the double-redundancy design eliminates single-point monitoring failure, provides real-time synchronous rotating speed data, and provides a basis for accurate speed regulation of the actuator and fault warning.

[0032] In some embodiments, referring to Figure 5 and Figure 6The dual-redundancy electromagnetic brake 4 is installed in the brake shell 6 and connected with the central rotating shaft of the brake input gear 24. The brake shell 6 is integrally formed with the motor shell 31 of the dual-redundancy servo motor 3. The brake shell 6 is also provided with a power supply socket 7 for supplying power to the eVTOL nacelle tilting rudder and a communication electrical socket 8 for communication with the eVTOL nacelle tilting rudder.

[0033] In the embodiment of the present application, the dual-redundancy electromagnetic brake 4 is connected with the central rotating shaft of the brake input gear 24, ensuring that the braking torque is transmitted to the transmission chain link, avoiding single-point failure in cooperation with the dual-redundancy design, and ensuring the stable positioning of the nacelle after tilting. The brake shell 6 is integrally machined with the motor shell 31, which can eliminate the gap between the components and compress the installation space. The power supply socket 7 and the communication electrical socket 8 can concentrate and regularize the power supply and communication link, reduce the interference risk caused by the disorder of the wire harness, and also facilitate quick docking of the interface during later maintenance.

[0034] As common knowledge, the high-speed cycloid reduction mechanism as the first-stage power transmission and reduction unit of the double-cycloid reducer 1 is mainly composed of an input shaft assembly, a double eccentric sleeve, two cycloid gears with a phase difference of 180°, a fixed pin gear shell and an output transmission assembly. The input shaft is connected with the double-cycloid reduction input gear 22 through a key at one end and is connected with the double-cycloid reducer 1 shell at the other end. The shaft body is integrated with a double eccentric sleeve, and the outer circle of the eccentric sleeve is matched with the inner hole of the cycloid gear through a needle bearing. The fixed pin gear shell is rigidly connected with the double-cycloid reducer 1 shell, and the inner wall of the shell is uniformly distributed with pin gears with needle bearings, which are meshed with the outer teeth of the cycloid gear to form a planetary transmission pair. The output transmission assembly adopts a cross slider coupling, which is matched with the pin hole on the end face of the cycloid gear at one end and is connected with the input component of the low-speed cycloid reduction mechanism at the other end. The cross slider coupling can convert the revolution and rotation motion of the cycloid gear into unidirectional rotation power, realize high-proportion reduction of the first stage, and reduce the impact and vibration in the power transmission process. The low-speed cycloid reduction mechanism as the secondary reduction and power output unit of the double-cycloid reducer 1 mainly includes a low-speed input shaft, a reinforced double eccentric sleeve, a large modulus cycloid gear, an adjustable pin gear shell and a flange type output end. The low-speed input shaft is rigidly connected with the cross slider coupling of the high-speed stage at one end and receives the power after the first-stage reduction. The reinforced double eccentric sleeve is integrally forged to meet the higher torque requirement of the low-speed stage. The large modulus cycloid gear is shaped and processed, and the outer teeth are meshed with the pin gears in the adjustable pin gear shell. The pin gear shell can finely adjust the tooth side clearance through the circumferential adjustment bolt. The flange type output end is connected with the cycloid gear through a spline or a flat key. The end face of the output end is processed with a positioning stop and a bolt hole, which is directly and rigidly connected with the inner circle wing mounting flange 51 of the mechanical interface 5, ensuring that the stable torque after the secondary reduction is transmitted to the nacelle.

[0035] Next, combined with the above-mentioned Figures 3 to 6A working method of an eVTOL short nacelle tilting rudder machine based on high reduction ratio transmission is described, which is applied to the eVTOL short nacelle tilting rudder machine based on high reduction ratio transmission, and the method comprises the following steps: In step S1, the eVTOL short nacelle tilting rudder machine is powered through the power supply socket 7, and the communication connection between the eVTOL short nacelle tilting rudder machine and the eVTOL control system is established through the communication socket 8. In step S2, the double-redundancy servo motor 3 is powered to drive the rotor 33 to rotate, the central shaft of the rotor 33 drives the motor input gear 23 to rotate through the spline or key, the motor input gear 23 is engaged with the double-cycloid reduction input gear 22 to transmit power, and primary reduction is completed. In step S3, the double-cycloid reduction input gear 22 transmits power to the high-speed cycloid reduction mechanism of the double-cycloid reducer 1, after the power is reduced through the high-speed cycloid reduction mechanism, the power is transmitted to the low-speed cycloid reduction mechanism of the double-cycloid reducer 1 for secondary reduction, and high reduction ratio transmission is realized. In step S4, the low-speed cycloid reduction mechanism of the double-cycloid reducer 1 drives the inner circle wing mounting flange 51 of the mechanical interface 5 to rotate, and through the relative rotation of the inner circle wing mounting flange 51 and the outer circle rudder mounting flange 52, the eVTOL short nacelle is driven to complete the tilting action. In step S5, the double-redundancy speed feedback 34 collects the speed signal of the rotor 33 and transmits it to the eVTOL control system, when one set of detection channels in the double-redundancy speed feedback 34 fails, the other independent channel continuously outputs the speed signal. In step S6, the double-redundancy electromagnetic brake 4 is connected with the central shaft of the brake input gear 24, and the brake input gear 24 is engaged with the double-cycloid reduction input gear 22; when the eVTOL short nacelle needs to be positioned or stopped tilting, the on-off of the coil of the double-redundancy electromagnetic brake 4 realizes the release and braking respectively; when one set of coils in the double-redundancy electromagnetic brake 4 fails, the other independent coil takes over the braking function.

[0036] In summary, the technical scheme adopts the design of double-cycloid reducer combined with parallel shaft reduction gear set, solves the wire harness passing problem from the aircraft end to the short nacelle, avoids the single-point failure risk of traditional linear rudder machine screw rod jamming, and improves the safety and reliability of the rudder machine; and relying on the double-redundancy winding of the double-redundancy servo motor, the double-redundancy electromagnetic brake and the double-redundancy speed feedback, the double-redundancy design is realized from the electrical level, and the safety performance is further strengthened; in addition, the high reduction ratio transmission can reduce external disturbance and reduce the influence of aerodynamic load disturbance on short nacelle actuation, and greatly improve the tilting stability.

[0037] In the embodiments disclosed in the present application, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense. For example, "connecting" can be fixedly connected, or detachably connected, or integrally connected. "Connecting" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments disclosed in the present application can be understood according to the specific circumstances.

[0038] The above only describes the preferred embodiments of the present application. It should be noted that those skilled in the art can make some improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered within the scope of protection of the present application.

Claims

1. An eVTOL nacelle tilting rudder based on high reduction ratio transmission, characterized in that, Comprise: The first side of the double-cycloid reducer (1) is connected with the double-redundancy servo motor (3) and the double-redundancy electromagnetic brake (4) through the parallel shaft reduction gear set (2), and the second side is a mechanical interface (5) for realizing the tilting of the eVTOL nacelle; The parallel shaft reduction gear set (2) comprises a gear set housing (21), a double-cycloid reduction input gear (22) arranged in the gear set housing (21), a motor input gear (23) in meshing connection with the double-cycloid reduction input gear (22), and a brake input gear (24) in meshing connection with the double-cycloid reduction input gear (22), the gear set housing (21) is connected with the shell of the double-cycloid reducer (1), and the double-cycloid reduction input gear (22) is in transmission connection with the input end of the high-speed stage cycloid reduction mechanism in the double-cycloid reducer (1).

2. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 1 wherein, The mechanical interface (5) comprises: An inner ring wing mounting flange (51) in transmission connection with the output end of the low-speed stage cycloid reduction mechanism in the double-cycloid reducer (1), and the input end of the low-speed stage cycloid reduction mechanism is in transmission connection with the output end of the high-speed stage cycloid reduction mechanism; and An outer ring actuator mounting flange (52) integrated on the shell of the double-cycloid reducer (1); The tilting action of the eVTOL nacelle is realized through the relative rotation of the inner ring wing mounting flange (51) and the outer ring actuator mounting flange (52).

3. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 1 wherein, The double-redundancy servo motor (3) comprises: A motor shell (31) connected with the gear set housing (21); A double-winding stator (32) mounted in the motor shell (31); and A rotor (33) rotatably mounted on the inner side of the double-winding stator (32), and the central rotating shaft thereof is coaxial with the double-winding stator (32).

4. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 3, wherein, The first end of the central rotating shaft of the rotor (33) is connected with the center of the motor input gear (23) through a spline or a key, and the second end of the central rotating shaft of the rotor (33) is provided with a double-redundancy rotating speed feedback (34).

5. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 4 wherein, The double-redundancy rotating speed feedback (34) at least comprises one of a resolver transmitter, a magnetic encoder, a Hall sensor and an eddy current sensor.

6. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 1 wherein, The double-redundancy electromagnetic brake (4) is mounted in a brake shell (6), and the double-redundancy electromagnetic brake (4) is connected with the central rotating shaft of the brake input gear (24).

7. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 6 wherein, The brake shell (6) is integrally processed and formed with the motor shell (31) of the double-redundancy servo motor (3).

8. The high-reduction-ratio transmission based eVTOL nacelle tilting propeUor of claim 6, wherein, The brake shell (6) is further provided with a power supply socket (7) for supplying power to the eVTOL nacelle tilting actuator and a communication electrical socket (8) for communication of the eVTOL nacelle tilting actuator.

9. A working method of an eVTOL nacelle swivel rudder machine based on high reduction ratio transmission, characterized in that, The method is applied to the eVTOL nacelle tilting actuator based on high reduction ratio transmission in any one of claims 1 to 8, and the method comprises: S1, supplying power to the eVTOL nacelle tilting actuator through the power supply socket (7), and establishing the communication connection between the eVTOL nacelle tilting actuator and the eVTOL control system through the communication electrical socket (8); S2, the double-redundancy servo motor (3) is powered to drive the rotor (33) to rotate, the central shaft of the rotor (33) drives the motor input gear (23) to rotate through the spline or key, the motor input gear (23) is engaged with the double-cycloid reduction input gear (22) to transmit power, and primary reduction is completed; S3, the double-cycloid reduction input gear (22) transmits power to the high-speed cycloid reduction mechanism of the double-cycloid reducer (1), after the power is reduced by the high-speed cycloid reduction mechanism, the power is transmitted to the low-speed cycloid reduction mechanism of the double-cycloid reducer (1) for secondary reduction, and high reduction ratio transmission is realized; S4, the low-speed cycloid reduction mechanism of the double-cycloid reducer (1) drives the inner circle wing mounting flange (51) of the mechanical interface (5) to rotate, and through the relative rotation of the inner circle wing mounting flange (51) and the outer circle rudder mounting flange (52), the eVTOL nacelle is driven to complete the tilting action; S5, the double-redundancy speed feedback (34) collects the speed signal of the rotor (33) and transmits it to the eVTOL control system, when one set of detection channels in the double-redundancy speed feedback (34) fails, the other independent channel continuously outputs the speed signal; S6, the double-redundancy electromagnetic brake (4) is connected with the central shaft of the brake input gear (24), the brake input gear (24) is engaged with the double-cycloid reduction input gear (22); when the eVTOL nacelle needs to be positioned or stopped tilting, the on-off of the coil of the double-redundancy electromagnetic brake (4) respectively realizes brake release and braking; when one set of coils in the double-redundancy electromagnetic brake (4) fails, the other independent coil takes over the braking function.

Images