Supporting-offset tilting variable-pitch integrated motor system and aircraft

Abstract

The invention belongs to the technical field of electric vertical take-off and landing aircrafts, and discloses a bearing-biased tiltable variable-pitch integrated motor system and an aircraft, the bearing-biased tiltable variable-pitch integrated motor system comprises an integrated tilting motor case, a motor electric control system, a steering engine control system and a tilting actuation system. A vertical motor case is arranged at the upper end of the left side of the integrated tilting motor case, the upper end of the integrated tilting motor case is open, a stator winding electrically controlled by a motor is fixedly mounted on the inner wall of the middle of the integrated tilting motor case, and a cylindrical bearing supporting boss integrally biased upwards is arranged at the bottom of the integrated tilting motor case and is used for mounting a rotor part of a motor electric control system; a control steering engine mounting base is arranged at the lower end of the left side of the integrated tilting motor casing; an annular electric control plate of a motor electric control system and a control steering engine system are respectively mounted below the base; a horizontal tilting installation casing is arranged at the lower end of the right side of the integrated tilting motor casing, an inner gear ring protrusion is arranged in a hole in the left side of the horizontal tilting installation casing and meshed with an output gear of the tilting actuation system, and a bearing installation hole is formed in the right side of the horizontal tilting installation casing.

Description

Technical Field

[0001] This invention belongs to the technical field of electric vertical take-off and landing aircraft, and discloses an integrated motor system and aircraft with a tiltable pitch and offset support. Background Technology

[0002] eVTOL (Electronic Vertical Lifting) is an aircraft that uses electricity as its power source and has vertical takeoff and landing capabilities. It features vertical takeoff and landing, intelligent operation, rapid maneuverability, low cost, low noise, zero emissions, and ease of maintenance, and has broad application prospects in both military and civilian fields. Compared to traditional helicopter power systems, eVTOL electric propulsion systems eliminate mechanical structures, placing higher demands on integration and power-to-weight ratio. The tiltrotor electric propulsion system configuration, because its power system provides both lift and cruise power, has become the mainstream electric propulsion system configuration. A typical tiltrotor electric propulsion system configuration includes a tilt actuation system, an electric motor and control system, a pitch control system, a rotor system, and a reduction gear.

[0003] Conventional electric propulsion systems, to achieve tilting motion and rotor pitch control, typically connect the tilting actuation system to the motor housing via a fixed base, while the pitch control servo system is independently mounted at the tail of the motor. This complex connection structure results in excessive space consumption, high weight, and a lack of compactness, leading to a fragmented and poorly integrated electric propulsion system. With the rapid development of eVTOL technology, electric propulsion systems are facing increasingly higher demands for integration and power-to-weight ratio. The need for integrated design of its subsystems—tilt actuation system, motor and electronic control system, pitch control system, rotor system, and reducer—is becoming increasingly urgent. Summary of the Invention

[0004] Purpose of the invention: This paper proposes a tiltable pitch integrated motor system with support offset and an aircraft.

[0005] The technical solution is as follows: A support-biased tiltable pitch-adjustable integrated motor system for an electric propulsion system, comprising: The integrated tilt motor housing is composed of a vertical motor housing, a control servo mounting base, and a horizontal tilt housing, all integrated into one design. The integrated tilting motor housing has a vertical motor housing on the upper left side with an opening at the top. The stator winding of the motor control system is fixedly installed on the inner wall in the middle. The bottom has an integrated upward-biased cylindrical bearing support boss for installing the rotor part of the motor control system. The lower left side of the integrated tilt motor housing is equipped with a servo motor mounting base, and the ring-shaped electronic control board of the motor electronic control system and the servo motor system are respectively installed below the base. The upper right side of the integrated tilt motor housing directly integrates the vertical motor mounting housing and the horizontal tilt mounting housing into one unit. The lower right side of the integrated tilt motor housing is provided with a horizontal tilt mounting housing. The left side of the horizontal tilt mounting housing is provided with a torque transmission spline protrusion that meshes with the output gear of the tilting actuation system. The right side is provided with a bearing mounting hole, which is connected to the tilting actuation system through a pair of tapered roller bearings. Furthermore, the integrated tilt motor housing consists of the following components: The integrated tilt motor housing is composed of a vertical motor housing, a control servo mounting base, and a horizontal tilt housing, all integrated into one design. This allows for the use of a single structure to connect the motor and electronic control system, the control servo system, and the tilt actuation system, effectively reducing the number of connection structures and improving connection reliability. The vertical motor casing has an opening at the top and a ring of screw posts or bolt holes. The bottom has a cylindrical bearing support boss with a through hole in the middle. The inner wall of the through hole has a radial ring platform. The lower end face of the vertical cylinder has an annular boss. This structure allows for easy installation of the stator and rotor of the motor from the top down and reduces the number of connecting structures. The servo mounting base is provided with a ring of bolt mounting holes for mounting the servo system and a ring of mounting holes for mounting the ring-shaped electronic control board, which can facilitate the installation of the electronic control board and the servo from the bottom. The horizontal tilting housing has two stepped holes with openings at both ends; the inner diameter of the left end hole is smaller than that of the right end hole and the inner diameter of the left end hole is set as a torque transmission internal spline, while the right end hole is a large circular support hole, used to install and fix the tilting actuation system and drive the housing to rotate. Furthermore, the motor control system consists of the following components: The stator windings are fixed to the inner wall of the vertical motor casing; The motor cover plate is fixed to the ring of bolts or bolt holes on the upper end face of the vertical motor casing by bolts; The inner surface of the motor cover plate is provided with bearing mounting holes for installing the bearings on the motor; The lower bearing of the motor is installed in the eccentric lower bearing hole position of the through hole of the cylindrical bearing support boss in the vertical motor casing, and the upper bearing of the motor is installed in the bearing mounting hole on the motor cover plate. The upper bearing and the lower bearing of the motor support the motor rotor shaft. The upper end of the rotor shaft drives the load mechanism (reducer or rotor) via a spline. The rotor magnet is installed inside the vertical motor housing and close to the cylindrical bearing support boss, and is fixed to the rotor shaft; The ring-shaped electronic control system provides power and control signals to the stator windings via cables, which pass through the lower end face of the vertical motor casing. The lower bearing of the motor is raised upwards and offset, located on the horizontal symmetry plane of the motor stator winding.

[0006] Furthermore, the servo control system consists of the following components: The servo anti-torsion mount is an inner splined cylinder with an outer ring flange edge, which can be matched with the anti-torsion outer spline to play an anti-torsion role. The servo mount is a rectangular housing, installed below the servo anti-torsion mount; The servo motor is installed inside the servo motor base, and the servo motor output gear is fixedly supported by the servo motor support bearing. The servo motor base is equipped with upper and lower support bearing mounting holes for installing the upper and lower support bearings respectively; The lead screw is installed inside the anti-torsion seat of the servo motor. The lower end of the lead screw passes through the upper and lower support bearings of the servo motor, and the upper and lower support bearings limit the radial and axial displacement. The lower end of the lead screw is also fixedly connected to a bevel gear, and torque can be transmitted using a flat key or a polygonal structure; The motor output gear meshes with a bevel gear, allowing the motor to be placed horizontally, further reducing the space occupied in terms of height.

[0007] Furthermore, the lead screw has an external thread in the middle; The outer edge of the roller is provided with external threads; The middle part of the lead screw is screwed to multiple annularly distributed rollers; Multiple annularly distributed rollers are screwed to roller nuts on their outer sides; The servo control stick is mounted on the lead screw, and the lower end of the servo control stick is screwed to the adapter flange. This structure facilitates the disassembly and loosening of the servo and control stick, and solves the problem of the servo being difficult to disassemble from below and perform routine maintenance and inspection. The anti-torsion external spline is fixed to the adapter flange and roller nut by bolts. This connection can directly use the finished roller screw nut assembly, reducing production costs. The anti-torsion external spline, in conjunction with the anti-torsion mount internal spline of the servo motor, can restrict the rotation of the servo motor control stick. Furthermore, the upper end of the servo anti-torsion mount is fixedly connected to the lower end of the vertical motor casing.

[0008] Furthermore, the motor output shaft is a hollow shaft, and the upper end of the servo joystick passes through the motor output shaft and connects to the load mechanism that needs to be operated up and down.

[0009] Furthermore, the tilting actuation system consists of the following components: Fixed flange, which is fixedly connected to the machine body; The tilting motor assembly is installed in the inner hole at the right end of the fixed flange and is fixedly connected. The hollow drive shaft of the tilt motor assembly has a sun gear tooth machined as a single piece on the outside; An internal gear ring that meshes with the right planetary gear is machined on the inner side of the left end of the fixed flange; The connection between the sun gear and the internal gear ring of the planet gears is achieved through the meshing of multiple right-hand planet gears. Both the left and right planetary gears are fixed on a concentric shaft; The left planetary gear and the internal gear ring are integrated to output external spline tooth meshing; The integrated external spline of the internal gear ring meshes with the internal spline of the integrated tilting motor casing and the horizontal tilting casing.

[0010] Furthermore, the integrated tilt motor casing has two support bearings installed inside the horizontal tilt motor casing for connection with the fixed flange, and the complex rotor load is transmitted to the fixed flange through the bearings, and then to the airframe.

[0011] Furthermore, the vertical motor housing and the horizontal tilt housing of the integrated tilt motor housing are arranged at a 90° transition, forming a whole. An annular cavity is cut at the 90° transition position to house the variable pitch control system and the tilt actuation system. The annular cavity design allows the control servo system to be easily installed at the bottom of the motor housing, avoiding interference with the tilt actuation system. This reduces the overall height of the system and facilitates daily disassembly, assembly, maintenance, and inspection. The vertical motor housing and the horizontal tilting housing are connected by reinforcing ribs at the upper right corner to strengthen the connection structure between the motor and the tilting housing, and a weight reduction design has been implemented.

[0012] A cylindrical bearing support boss cylindrical bearing support boss cylindrical bearing support boss cylindrical bearing support boss cylindrical bearing support boss cylindrical bearing support boss a type of aircraft, the aircraft including the aforementioned support-biased tiltable pitch integrated motor system.

[0013] In summary, the beneficial effects of the present invention are as follows: 1. By designing an integrated tilt pitch motor housing, the tilt actuation system, motor and electronic control system, and pitch control system of the electric propulsion system can be integrated and connected. This reduces the connection structure between systems, reduces system complexity, reduces the design difficulty caused by system interference, and reduces system weight. Furthermore, the rotor load can be directly transferred to the fixed wing end through the integrated housing, which greatly improves the connection reliability of the system. 2. The motor casing adopts a design with offset support bearings. The two motor support bearings are no longer distributed on both sides of the motor shaft, but are offset upward inside the motor. This provides some space for the embedding of the servo. The flat, specially designed variable pitch control servo can be partially embedded inside the motor, effectively reducing the height of the entire system and improving the integration of the motor and the variable pitch control system. 3. The motor casing has a special design with only one top cover, which facilitates the installation of the stator and rotor inside the motor. The semi-open design at the bottom allows for easy installation of a ring-shaped electronic control unit and a variable pitch control servo motor. The semi-open bottom casing also facilitates disassembly, daily maintenance, inspection, and troubleshooting. 4. The variable pitch control servo adopts a split design, which can directly use the roller screw nut of the rack. While having a large system load capacity and control precision, the split adapter flange design also facilitates later disassembly and maintenance. 5. The bottom of the integrated motor housing can be directly installed with a tilting actuator. The large bearing bore diameter and bearing span range can fully transfer complex rotor loads to a pair of tapered roller bearings through the integrated motor housing, and then to the fixed end of the fuselage, thereby improving the system's load-bearing capacity, structural strength and rigidity. 6. The tilting actuation system adopts various reducer configurations such as motor-driven NGW planetary reducers, NGWN multi-stage planetary reducers, and RV reducers to reduce speed and increase torque. Finally, the entire electric propulsion system is driven to rotate around the tilting bearing through a pair of spline teeth. This can reduce the axial and radial structural space of the tilting actuation system, reduce structural weight, and improve system integration. Attached Figure Description

[0014] Figure 1 This is a three-dimensional sectional view of the subsystems of an integrated motor design with tiltable pitch support offset for an electric propulsion system. Figure 2 This is a three-dimensional schematic diagram of a subsystem of an integrated motor with tiltable torque and support offset. Figure 3 This is a three-dimensional schematic diagram of the pitch control system, a subsystem of an integrated motor with tiltable pitch and adjustable support offset. Figure 4 This is a three-dimensional schematic diagram of the integrated tilt-torque motor housing, which is a subsystem of an integrated tilt-torque motor with a support offset for tilting torque. Figure 5 This is a schematic diagram of the tilting actuation system, a subsystem of an integrated motor with tiltable torque and support offset. Figure 6 This is a three-dimensional schematic diagram of an integrated motor with tiltable torque and support offset. in, Figure 1 In the middle: 100, motor and electronic control system; 200, integrated tilt motor housing; 300, steering gear system; 400, tilt actuation system.

[0015] Figure 2In the middle: 101, motor output shaft gear; 102, motor cover plate bolts; 103, motor cover plate; 104, upper bearing of motor; 105, motor output shaft; 106, lower bearing of motor; 107, stator winding support; 108, rotor magnet; 109, motor stator winding; 110, ring-shaped electronic control; 200, integrated tilting motor casing.

[0016] Figure 3 In the middle: 211, motor flange, 212, eccentric lower bearing hole, 213, pitch hole, 214, electrical control space, 215, tilt bearing hole, 216, internal spline for torque transmission, 217, motor stator and rotor mounting space.

[0017] Figure 4 Components: 301. Servo joystick; 302. Servo support slider; 303. Locking nut; 304. Adapter flange; 305. Anti-torsion external spline; 306. Roller nut; 307. Roller; 308. Lead screw; 309. Upper support bearing; 310. Bevel gear; 311. Lower support bearing; 312. Locking nut; 313. Servo motor; 314. Servo motor support bearing; 315. Servo base; 316. Servo anti-torsion mount.

[0018] Figure 5 In the middle: 401, support bearing 1; 402, support bearing 2; 403, fixed flange; 404, tilt motor assembly; 405, fixed flange bolt connection; 406, hollow drive shaft; 407, integrated internal gear ring output external spline; 408, planetary gear internal gear ring; 409, concentric shaft; 410, left planetary gear; 411, right planetary gear; 412, sun gear. Detailed Implementation

[0019] This paper presents an integrated electric propulsion mechanism with tiltable pitch support offset for use in electric propulsion systems.

[0020] Drawing inspiration from the integrated design principles of electric drive systems in new energy vehicles, this system combines the tilting actuation system, motor and electronic control system, and pitch control system of the electric propulsion system into a highly integrated, unified design through a series of integrated structures. This significantly reduces complex connection structures, improves system integration, and enhances system reliability, maintainability, and structural safety. It can meet the application requirements of electric propulsion systems in future high-power-density eVTOL or hybrid aircraft.

[0021] By integrating the motor housing and tilt housing into a single integrated tilt pitch motor housing, the tilt actuation system, motor control system, and pitch control system of the electric propulsion system can be connected in a unified manner. This reduces the number of connecting structures between systems, lightens the system weight, and allows the rotor load to be directly transferred to the fixed wing end through the housing, greatly improving the structural strength and rigidity of the system. The motor housing adopts an offset bearing design, where the two motor support bearings are no longer distributed on both sides of the motor shaft, but are offset upwards inside the motor. This provides some space for the embedded servo. The specially designed flat pitch control servo can be partially embedded inside the motor, improving the integration between the motor and the pitch control system. The motor housing has a special design with only one upper cover, facilitating the installation of the stator and rotor inside the motor. The semi-open bottom design allows for easy installation of the annular motor. The control unit can also install a variable pitch control servo at the bottom. The semi-open casing at the bottom facilitates disassembly and daily maintenance and inspection. The variable pitch control servo adopts a split design, which can directly use the roller screw nut of the rack. While having a large system load capacity, the split adapter flange design also facilitates later disassembly and maintenance. The bottom of the integrated motor casing can directly install the tilt actuator. The large bearing bore diameter and bearing span range can fully transfer the complex rotor load to a pair of tapered roller bearings through the integrated motor casing, and then to the fixed end of the wing. The tilt actuator uses a variety of reducer configurations such as motor-driven NGW planetary reducer, NGWN multi-stage planetary reducer, and RV reducer to reduce speed and increase torque. Finally, it drives the entire electric propulsion system to rotate around the tilt bearing through a pair of spline teeth, which can reduce the structural space of the tilt actuator system and improve the system integration.

[0022] An integrated electric motor configuration with tiltable pitch-shifting support bias for use in an electric propulsion system: The drive mechanism mainly consists of four systems: a motor and electronic control system 100, an integrated tilt motor housing 200, a control servo system 300, and a tilt actuation system 400. Its working principle is as follows: The integrated tilt motor housing 200 is a multi-functional fixed housing with the integrated tilt motor housing 200 as its core. Its upper part is the motor stator and rotor mounting space 217, where the motor cover plate 103 is fixed via holes in the motor flange 211. The bottom of the integrated tilt motor housing 200 is a raised support with multiple mounting holes. The lower motor bearing can be installed through the eccentric lower bearing hole 212, the variable pitch servo can be installed through the variable pitch hole 213, and the ring-shaped electronic control unit can be installed through the bottom electronic control space 214. The tilt bearing hole 215 on the right side of the integrated tilt motor housing 200 is the main tilt actuator mounting space, and the torque output of the tilt actuator to the integrated tilt motor housing 200 is achieved through the internal torque transmission spline 216. Ultimately, the integrated tilt motor housing 200 integrates the motor electronic control system 100, the control servo system 300, and the tilt actuation system 400 into a single integrated unit.

[0023] The electric motor control system 100, as the main power source of the electric propulsion system, is installed in the integrated tilt motor housing 200. It outputs motor power to the reducer or rotor system through the motor shaft 101, thereby converting rotational power into lift. The control servo system 300 is installed in the semi-open end face at the bottom of the integrated tilt motor housing 200. It provides reciprocating control force for the rotor system of the electric propulsion system to change pitch through the servo control stick 301. The tilting actuation system 400 is installed in the hole on the right side of the bottom of the integrated tilt motor housing 200. It provides power for the tilting of the electric propulsion system through the spline 407. The load of the electric propulsion system is transmitted to the fixed wing through the tapered roller bearing 401 and the bearing (402).

[0024] The electric motor and control system 100, as the main power source of the electric propulsion system, is installed in the integrated tilting motor casing 200 and outputs motor power to the reducer or rotor system, thereby converting rotational power into lift. Electricity is transmitted to the stator winding 109 of the motor via the ring-shaped electronic control 110. The stator winding 109 is fixed to the inner wall of the integrated tilting motor housing 200 via the stator winding support 107. Through the electromagnetic induction between the stator winding 109 and the rotor magnet 108, electrical energy is converted into the mechanical energy of the rotor magnet 108. The rotation of the rotor magnet 108 further drives the motor output shaft 105 and the motor output shaft gear 101 at the top of the shaft to rotate. The lower part of the motor output shaft 105 is fixed to the eccentric lower bearing hole 212 of the integrated tilting motor housing 200 via the lower motor bearing 106. The upper part of the motor output shaft 105 is fixed to the bearing support hole of the motor cover plate 103 via the upper motor bearing 104. The motor cover plate 103 is fixed to the integrated tilting motor housing 200 by the motor cover plate bolts 102, which also support the motor output shaft 105 and output torque only.

[0025] The servo system 300 is installed in the semi-open end face of the bottom of the integrated tilt motor housing 200, providing reciprocating control force for the rotor system of the electric propulsion system to change pitch. The servo motor 313 is mounted and fixed on the servo base 315 and supported by the servo motor support bearing 314. It is reversed via a bevel gear 310, converting horizontal rotation to vertical rotation, which drives the lead screw 308 fixed on the bevel gear 310 to rotate. The lead screw 308 is restricted in radial and axial displacement by the upper support bearing 309 and the lower support bearing 311, retaining only rotational freedom, and is locked by a lock nut 312. The rotation of the lead screw 308 drives the rollers 307 of the roller nut assembly to rotate, which in turn drives the threaded roller nut 306 to rotate. The anti-torsion external spline 305 with external splines is fixed by bolts. The anti-torsion external spline 305 cooperates with the internal spline of the servo anti-torsion seat 316 to prevent torsion. The rotational motion of the lead screw 308 is converted into the up and down movement of the servo roller nut 306. The servo control stick 301 is connected to the adapter flange 304 by threads and locked by the lock nut 303. The connecting bolts connect the servo control stick 301, the anti-torsion external spline 305 and the roller nut 306 together. Finally, the rotational motion of the servo motor 313 is converted into the up and down movement of the servo control stick 301, providing reciprocating control force for the pitch change of the rotor system of the electric propulsion system.

[0026] The tilting actuation system 400 is installed in a hole on the bottom right side of the integrated tilting motor housing 200, providing power for the tilting of the electric propulsion system. The load of the electric propulsion system is transmitted to the fixed wing via two tapered roller bearings. The aerodynamic load of the entire electric propulsion system is transmitted to the integrated tilting motor housing 200 through the rotor system, and then to the tapered roller support bearings 401 and 402 through bearing holes 215 within the integrated tilting motor housing 200. The load is then transmitted to the fixed flange 403 via the bearings, simultaneously transmitting the load and ensuring that the electric propulsion system retains only the degree of freedom in the rotational direction. The rotational torque output of the tilting actuator is provided by the tilting motor assembly 404, consisting of a torque motor and a reducer within the fixed flange. The output torque is supplied to the integrated tilting motor housing 200 via an NGWN reducer or another compact reducer type. The output end of the tilt motor assembly 404 is connected to the hollow drive shaft 406 via a keyway or toothed spline. Cables can pass through the inner hole of the hollow shaft. The outer side of the hollow drive shaft 406 is an integrated sun gear 411, which can mate with the right planetary gear 411. The right planetary gear 411 meshes with the planetary gear external gear ring 408, which is fixed to the fixed flange 403. The left planetary gear 403 and the right planetary gear 411 are double gears on a common spindle 409, with a difference in the number of teeth. The planetary gear 410 meshes with the internal gear ring of the integrated output external spline 407. The outer circumference of the integrated output external spline 407 is a ring of spline teeth, which can mesh with the torque transmission internal spline 216 of the integrated tilt motor housing 200. Ultimately, the tilt motor assembly 404, through a compact reducer, transmits torque to the integrated tilt motor housing 200 via splines, realizing the rotational motion of the integrated tilt motor housing 200 and ultimately achieving the tilting motion of the electric propulsion system.

[0027] This structure has the following characteristics: The electric motor control system 100 serves as the main power source for the electric propulsion system. It is installed inside the integrated tilt motor housing 200 and outputs motor power to the reducer or rotor system through the motor shaft 101. The control servo system 300 is installed in the semi-open end face at the bottom of the integrated tilt motor housing 200 and provides reciprocating control force for the rotor system of the electric propulsion system to change pitch through the servo control stick 301. The tilting actuation system 400 is installed in the hole on the right side of the bottom of the integrated tilt motor housing 200 and provides power for the tilting of the electric propulsion system through the spline 407. The load of the electric propulsion system is transmitted to the fixed wing through the tapered roller bearing 401 and the bearing (402).

[0028] The integrated tilt motor housing 200 is a multi-functional fixed housing. Its upper part is the motor stator and rotor mounting space 217, and the motor cover plate 103 is fixed through the holes of the motor flange 211. The bottom is a raised support with multiple mounting holes. The motor lower bearing can be installed through the eccentric lower bearing hole 212, the variable pitch servo can be installed through the variable pitch hole 213, and the ring electronic control can be installed through the bottom electronic control space 214. The tilt bearing hole 215 on the right side is the main tilt actuator bearing mounting space, and the torque output of the tilt actuator to the integrated tilt motor housing 200 is realized through the torque transmission internal spline 216.

[0029] The lower part of the motor output shaft 105 is fixed to the eccentric lower bearing hole 212 of the integrated tilting motor housing 200 via the lower motor bearing 106. The upper part of the motor output shaft 105 is fixed to the bearing support hole of the motor cover plate 103 via the upper motor bearing 104. The motor cover plate 103 is fixed to the integrated tilting motor housing 200 via the motor cover plate bolts 102. At the same time, the motor output shaft 105 can be supported and only output torque.

[0030] 4) The rotation of the lead screw 308 of the servo motor 313 will drive the roller 307 of the roller nut assembly to rotate. The rotation of the roller 307 will drive the roller nut 306, which is threadedly engaged with it, to rotate. The roller nut 306 and the anti-torsion external spline 305 with external spline are fixed by bolts.

[0031] The anti-torsion external spline 305 of the servo motor 313 engages with the internal spline of the servo anti-torsion seat 316 to prevent torsion, converting the rotational motion of the lead screw 308 into the up-and-down movement of the servo roller nut 306. The servo control lever 301 is connected to the adapter flange 304 via threads and is locked by the lock nut 303. The connecting bolts of the servo motor 313 connect the servo control stick 301, the anti-torsion external spline 305, and the roller nut 306 together, ultimately converting the rotational motion of the servo motor 313 into the up-and-down movement of the servo control stick 301, providing reciprocating control force for the pitch change of the rotor system of the electric propulsion system.

[0032] The tilting actuation system 400 is installed in the hole on the right side of the bottom of the integrated tilting motor housing 200, providing power for the tilting of the electric propulsion system. It transmits the load of the electric propulsion system to the fixed wing via two tapered roller bearings. The aerodynamic load of the entire electric propulsion system is transmitted to the integrated tilting motor housing 200 through the rotor system, and then to the tapered roller support bearings 1401 and 2402 through the bearing holes 215 within the integrated tilting motor housing 200. The load is then transmitted to the fixed flange 403 via the bearings. This process, while transmitting the load, also ensures that the electric propulsion system retains only the degree of freedom in the rotational direction.

[0033] The rotational torque output of the 8 tilt actuator is powered by the tilt motor assembly 404, which consists of a torque motor and a reducer within the fixed flange. The output torque is supplied to the integrated tilt motor housing 200 via an NGWN reducer or another compact reducer type.

[0034] The output end of the tilt motor assembly 404 is connected to the hollow drive shaft 406 via a keyway or toothed spline. The hollow shaft can be used to run cables. The outer side of the hollow drive shaft 406 is an integrated sun gear 411, which can cooperate with the right planetary gear 411. The right planetary gear 411 meshes with the planetary gear external gear ring 408, which is fixed to the fixed flange 403. The left planetary gear 403 and the right planetary gear 411 are double gears with a common spindle 409 and have a difference in the number of teeth. The left planetary gear 410 meshes with the internal gear ring of the integrated output external spline 407. The outer circumference of the integrated output external spline 407 is a ring of spline teeth, which can mesh with the torque transmission internal spline 216 of the integrated tilt motor housing 200. The 10 tilt motor assembly 404 passes through a compact reducer and finally transmits torque to the integrated tilt motor housing 200 via splines, realizing the rotational motion of the integrated tilt motor housing 200 and ultimately achieving the tilting motion of the electric propulsion system.

[0035] Obviously, the embodiments described in the specific implementation details of this application are merely for the purpose of more clearly explaining the technical solutions in the specification, and are only a part of the embodiments of this application, and are not intended to limit this application. All other embodiments obtained by those skilled in the art based on the embodiments in the specific implementation details without creative effort should fall within the protection scope of this application.

Claims

1. A support-biased tiltable pitch-changing integrated motor system for an electric propulsion system, characterized in that, The system includes: Electric motor control system, integrated tilt motor housing, steering gear system, tilt actuation system; The integrated tilt motor housing is composed of a vertical motor housing, a control servo mounting base, and a horizontal tilt housing, all integrated into one design. The upper left side of the integrated tilting motor housing is equipped with a vertical motor housing. The upper end of the vertical motor housing is open, and the stator winding of the motor control system is fixedly installed on the middle inner wall. The bottom is equipped with an integrated upwardly offset cylindrical bearing support boss, and the rotor part of the motor control system is installed there. The lower left side of the integrated tilt motor housing is equipped with a servo motor mounting base, and the ring-shaped electronic control board of the motor electronic control system and the servo motor system are respectively installed below the base. The upper right side of the integrated tilt motor housing directly integrates the vertical motor mounting housing and the horizontal tilt mounting housing into one unit. The lower right side of the integrated tilt motor housing is equipped with a horizontal tilt mounting housing. The left side of the horizontal tilt mounting housing has a torque transmission spline protrusion that meshes with the output gear of the tilting actuation system. The right side has a bearing mounting hole and is connected to the tilting actuation system through a pair of tapered roller bearings.

2. The system according to claim 1, characterized in that: The integrated tilt motor housing consists of the following components: The upper end of the vertical motor casing is provided with a ring of screw posts or bolt holes, and the bottom is provided with a cylindrical bearing support boss. The cylindrical bearing support boss has a through hole in the middle, and a radial ring platform is provided in the middle of the inner wall of the through hole. The lower end face of the vertical cylinder is provided with an annular boss. The servo motor mounting base is provided with a ring of bolt mounting holes for mounting the servo motor system and a ring of mounting holes for mounting the annular electronic control board. The horizontal tilting casing has two stepped holes with openings at both ends; the inner diameter of the left hole is smaller than that of the right hole and the inner diameter of the left hole is set as a torque transmission internal spline, while the right hole is a large circular support hole.

3. The system according to claim 1, characterized in that: The motor control system consists of the following components: The stator windings are fixed to the inner wall of the vertical motor casing; The motor cover plate is fixed to the ring of bolts or bolt holes on the upper end face of the vertical motor casing by bolts; The inner surface of the motor cover plate is provided with bearing mounting holes; The lower bearing of the motor is installed in the eccentric lower bearing hole position of the through hole of the cylindrical bearing support boss in the vertical motor casing, and the upper bearing of the motor is installed in the bearing mounting hole on the motor cover plate. The upper bearing and the lower bearing of the motor support the motor rotor shaft. The upper end of the rotor shaft drives the load mechanism via a spline; The rotor magnet is installed inside the vertical motor housing and close to the cylindrical bearing support boss, and is fixed to the rotor shaft; The ring-shaped electronic control system provides power and control signals to the stator windings via cables, which pass through the lower end face of the vertical motor casing. The lower bearing of the motor is raised upwards and offset, located on the horizontal symmetry plane of the motor stator winding.

4. The system according to claim 2, characterized in that: The servo control system consists of the following components: The servo anti-torsion mount is an inner splined cylinder with an annular flange edge on the outside; the upper end of the servo anti-torsion mount is fixedly connected to the lower end of the vertical motor housing. The servo mount is a rectangular housing, installed below the servo anti-torsion mount; The servo motor is installed inside the servo motor base, and the servo motor output gear is fixedly supported by the servo motor support bearing. The servo motor base is equipped with upper and lower support bearing mounting holes for installing the upper and lower support bearings respectively; The lead screw is installed inside the anti-torsion seat of the servo motor. The lower end of the lead screw passes through the upper and lower support bearings of the servo motor, and the upper and lower support bearings limit the radial and axial displacement. The lower end of the lead screw is also fixedly connected to a bevel gear; The motor output gear meshes with a bevel gear.

5. The system according to claim 3, characterized in that: The lead screw has an external thread in the middle; The roller is a threaded column; The middle part of the lead screw is screwed to multiple annularly distributed rollers; Multiple annularly distributed rollers are screwed to roller nuts on their outer sides; The servo control stick is sleeved on the lead screw, and the lower end of the servo control stick is screwed to the adapter flange for fixation. The anti-torsion external spline is fixed to the adapter flange and roller nut as a whole by bolts; The external anti-torsion spline engages with the internal spline of the servo anti-torsion mount to restrict the rotation of the servo control stick.

6. The system according to claim 5, characterized in that: The motor output shaft is a hollow shaft, and the upper end of the servo joystick passes through the motor output shaft and connects to the load mechanism that needs to be operated up and down.

7. The system according to claim 6, characterized in that: The tilting actuation system consists of the following components: Fixed flange, which is fixedly connected to the machine body; The tilting motor assembly is installed in the inner hole at the right end of the fixed flange and is fixedly connected. The hollow drive shaft of the tilt motor assembly has a sun gear tooth machined as a single piece on the outside; An internal gear ring that meshes with the right planetary gear is machined on the inner side of the left end of the fixed flange; The connection between the sun gear and the internal gear ring of the planet gears is achieved through the meshing of multiple right-hand planet gears. Both the left and right planetary gears are fixed on a concentric shaft; The left planetary gear and the internal gear ring are integrated to output external spline tooth meshing; The integrated external spline of the internal gear ring meshes with the internal spline of the integrated tilting motor casing and the horizontal tilting casing.

8. The system according to claim 7, characterized in that: The integrated tilting motor casing has two support bearings installed inside the horizontal tilting casing for connection with the fixed flange.

9. The system according to claim 1, characterized in that: The vertical motor housing and the horizontal tilt housing of the integrated tilt motor housing are arranged at a 90° junction and are a whole. An annular cavity is cut out at the 90° junction to accommodate the variable pitch control system and the tilt actuation system. The vertical motor housing and the horizontal tilting housing are connected by reinforcing ribs at the upper right corner, and a weight-reduction design has been implemented.

10. An aircraft, characterized in that: The aircraft includes a supported bias tiltable pitch integrated motor system according to any one of claims 1-9.

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