Motor power coupling driving system of low-altitude large and medium-sized unmanned aerial vehicle

Abstract

The motor power coupling driving system comprises two motors, two shaft locks, two input shafts, a left-side small sun gear, a left-side planet gear, a right-side large sun gear, a right-side planet carrier, a right-side planet gear, a driving bevel gear wheel, a driven bevel gear wheel and a power output mechanism. The left planet wheel is meshed with the right planet wheel; a first motor penetrates through a first shaft lock and a right planet carrier through a first input shaft and is connected with a right large sun gear, and a second motor penetrates through a second shaft lock and a driving large bevel gear through a second input shaft and is connected with a left small sun gear. And the power output mechanism is coaxially connected with the driven bevel pinion. According to the utility model, the dual-motor power is coupled to one power source for output, so that the problem of force fighting caused by different torque outputs of a dual-actuation system in a main-main mode of large and medium-sized unmanned aerial vehicles is avoided. The three different driving modes enable the motor to work in a more efficient range on the premise of meeting the safety requirement.

Description

Technical Field

[0001] The utility model belongs to the technical field of aircraft actuation systems, and particularly relates to a dual-row planetary gear train dual-motor power coupling drive system applied to low-altitude large and medium-sized fixed-wing unmanned aerial vehicles and general aviation aircraft. Background Technique

[0002] In large civil aircraft such as China's C919, ARJ21 and their derivative models, and the large amphibious aircraft Kunpeng AG600, actuators are important components of the flight control system, which usually include electro-mechanical actuators, hydraulic actuators, etc. In recent years, general aviation aircraft and large and medium-sized unmanned aerial vehicles have been rising worldwide, with rapid technological evolution, and actuation systems are also used therein to perform functions such as machinery and flight control.

[0003] Electro-mechanical actuators are commonly used in aircraft rudder surface actuation systems. According to the safety requirements in the aircraft-level system requirements of Article 23.2500 of the airworthiness regulations for normal category aircraft, the main rudder surfaces of aircraft generally use two-channel or three-channel (applied to the rudder) actuators to drive the rudder surface in parallel. In the main-main mode, the main rudder surface driven due to the accumulation of errors will cause different output torques of the two groups of actuators, which may lead to damage to the rudder surface. In view of this, there is an urgent need for a new design idea or structure to solve the problems existing in the current aircraft actuation system. Content of the Utility Model

[0004] Aiming at the problem that in the main-main mode of the current aircraft actuation system, the main rudder surface will cause different output torques of the two groups of actuators due to the accumulation of errors, which may lead to damage to the rudder surface, the utility model provides a motor power coupling drive system for low-altitude large and medium-sized unmanned aerial vehicles to solve the problems in the background technique, realizing the simplification of the structure as much as possible, reducing the impact generated during the coupling process, improving the transmission efficiency, and being able to provide multiple drive modes.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] A motor power coupling drive system for low-altitude large and medium-sized unmanned aerial vehicles, comprising a first motor, a first input shaft, a first shaft lock, a second motor, a second input shaft, a second shaft lock, a left planetary gear train, a right planetary gear train, a bevel gear set, an output shaft and a power output mechanism;

[0007] The bevel gear set includes a driving large bevel gear and a driven small bevel gear; the driving large bevel gear is located on the left side of the left planetary gear train and simultaneously serves as the left planetary carrier; the driving large bevel gear meshes with the driven small bevel gear; the driven small bevel gear is coaxially connected to the power output mechanism through the output shaft;

[0008] The left planetary gear train includes a left small sun gear and left planetary gears; the driving large bevel gear is disposed as a left planetary gear carrier on the left side of the left small sun gear; the left planetary gears are disposed between the left small sun gear and the right planetary gears of the right planetary gear train, and are respectively meshed with the left small sun gear and the right planetary gears; the left planetary gear carrier is coaxially connected to the left side of the left planetary gears; the second motor is coaxially connected to the left small sun gear through the second input shaft, passing through the second shaft lock and the driving large bevel gear.

[0009] The right planetary gear train includes a right large sun gear, a right planetary gear carrier and right planetary gears; the right planetary gear carrier is disposed on the right side of the right large sun gear; the right planetary gears are disposed outside the left planetary gears and the right large sun gear, and are respectively meshed with the left planetary gears and the right large sun gear; the right planetary gear carrier is coaxially connected to the right side of the right planetary gears; the first motor is coaxially connected to the right large sun gear through the first input shaft, passing through the first shaft lock and the right planetary gear carrier.

[0010] Further, the driven small bevel gear is vertically disposed below the driving large bevel gear and meshed with the driving large bevel gear.

[0011] Further, both the driven small bevel gear and the driving large bevel gear are spiral bevel gears.

[0012] Further, both the left planetary gears and the left small sun gear are helical gears.

[0013] Further, both the right planetary gears and the right large sun gear are helical gears.

[0014] Further, a planetary gear housing is disposed outside the left planetary gear train, the right planetary gear train and the bevel gear set, and the left planetary gear train, the right planetary gear train and the bevel gear set are all installed inside the planetary gear housing.

[0015] The remarkable effects of the present utility model are as follows:

[0016] 1. In the coupling mechanism of the dual-motor coupling drive system of the present utility model, a compound planetary gear train mechanism is adopted. Compared with coupling mechanisms such as the Simpson planetary gear train coupling mechanism and the Ravigneaux planetary gear train coupling mechanism, the compound planetary gear train coupling mechanism has a simpler configuration and fewer components, saving installation space and reducing installation difficulty.

[0017] 2. The traditional power coupling system generally uses a traditional planetary gear structure with an external gear ring, while the dual-motor power coupling system of the present utility model adopts a design without an external gear ring, reducing the number of parts and the overall weight.

[0018] 3. The traditional power coupling device has a low transmission efficiency and a complex structure. In contrast, the planetary gear structure of the present utility model is simple, has a high transmission efficiency, and generates less impact during the coupling process, reducing the wear between gear teeth, improving safety, and extending the service life. The use of helical gears can extend the meshing length and improve the transmission efficiency.

[0019] 4. Compared with the master-master mode, the driving mode coupled and output by the power coupling device of the present utility model can effectively avoid the force dispute problem caused by different output torques of the actuators.

[0020] 5. The present utility model has a total of three different driving modes, enabling the motor to operate more in the high-efficiency range while meeting the safety requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structural principle of the present utility model.

[0022] Figure 2 It is a front view of the structure of the present utility model.

[0023] Figure 3 It is a power transmission diagram of Driving Mode 1 of the present utility model.

[0024] Figure 4 It is a power transmission diagram of Driving Mode 2 of the present utility model.

[0025] Figure 5 It is a power transmission diagram of Driving Mode 3 of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. The following embodiments are used to illustrate the present utility model.

[0027] Refer to Figure 1 and Figure 2 , which shows the specific structure of an embodiment of a motor power coupling drive system for a low-altitude medium and large unmanned aerial vehicle proposed by the present utility model. The drive system includes a first motor 1, a first input shaft 3, a first shaft lock 2, a second motor 11, a second input shaft 10, a second shaft lock 12, a double-row planetary gear train power coupling mechanism, an output shaft 14, and a power output mechanism 15.

[0028] The double-row planetary gear train power coupling mechanism includes a left planetary gear train, a right planetary gear train, and a bevel gear set.

[0029] The bevel gear set includes a driving large bevel gear 9 and a driven small bevel gear 13; both the driving large bevel gear 9 and the driven small bevel gear 13 are spiral bevel gears; the driven small bevel gear 13 is vertically placed below the driving large bevel gear 9 and meshes with the driving large bevel gear 9; the driving large bevel gear 9 also serves as the left planetary gear carrier at the same time;

[0030] The left planetary gear train includes a left small sun gear 8 and a left planetary gear 7; the driving large bevel gear 9 also serves as the left planetary gear carrier and is placed on the left side of the left small sun gear 8; both the left planetary gear 7 and the left small sun gear 8 are helical gears; the number of left planetary gears 7 is three in this embodiment, which are arranged outside the left small sun gear 8 and inside the right planetary gear 6, and mesh with the left small sun gear 8 and the right planetary gear 6 respectively; the left planetary gear carrier is coaxially connected to the left side of the left planetary gear 7; the second motor 11 passes through the second shaft lock 12 and the driving large bevel gear 9 in sequence through the second input shaft 10 and is coaxially connected to the left small sun gear 8.

[0031] The right planetary gear train includes a right large sun gear 5, a right planetary gear carrier 4, and a right planetary gear 6; the right planetary gear carrier 4 is placed on the right side of the right large sun gear 5; both the right planetary gear 6 and the right large sun gear 5 are helical gears; the number of right planetary gears 6 is three in this embodiment, which are arranged outside the right large sun gear 5 and the left planetary gear 7, and mesh with the left planetary gear 7 and the right large sun gear 5 respectively; the right planetary gear carrier 4 is coaxially connected to the right side of the right planetary gear 6; the first motor 1 passes through the first shaft lock 2 and the right planetary gear carrier 4 in sequence through the first input shaft 3 and is coaxially connected to the right large sun gear 5.

[0032] The power output mechanism 15 is coaxially and fixedly connected to the driven small bevel gear 13 through the output shaft 14, and is used to output the power output by the two motors to the power output mechanism 15 through the double-row planetary gear train mechanism, and then drive the aircraft rudder surface.

[0033] There is a planetary gear housing (not shown in the figure) outside the double-row planetary gear train power coupling mechanism; the double-row planetary gear train power coupling mechanism is installed in the planetary gear housing.

[0034] The present invention cooperates with the control system of the driven mechanism - the aircraft rudder surface. The control system of the driven mechanism receives signals from the sensors to judge when to switch the input mode of the actuating system; the state evaluation module sends the evaluation results to the industrial control computer and the trimming switch. Then, the industrial control computer and the trimming switch send signals to the alternating current sensors of the two motors respectively to control the working state of the motors.

[0035] The present invention includes three driving modes, namely Mode 1 - the first motor single driving mode, Mode 2 - the second motor single driving mode, and Mode 3 - the double motor speed coupling driving mode; among them:

[0036] Mode 1 - First motor single drive mode: As shown in Figure 3 , the first motor 1 is powered on and working, the second motor 11 is not working, and the second shaft lock 12 is locked. The whole system is in the single motor drive mode. When the first motor 1 works, the power is transmitted via the first input shaft 3 to the right large sun gear 5, and the power is transmitted to the driving large bevel gear 9 through the double row planetary gear train. Further, the power is output on the output shaft 14 through the bevel gear set. For the specific power transmission path, see the Figure 3 arrows on the gear train.

[0037] Mode 2 - Second motor single drive mode: As shown in Figure 4 , the second motor 11 is powered on and working, the first motor 1 is not working, and the first shaft lock 2 is locked. The whole system is in the single motor drive mode. When the second motor 11 works, the power is transmitted via the second input shaft 10 to the left small sun gear 8, and the power is transmitted to the driving large bevel gear 9 through the double row planetary gear train. Further, the power is output on the output shaft 14 through the bevel gear set. For the specific power transmission path, see the Figure 4 arrows on the gear train.

[0038] Mode 3 - Dual motor speed coupling drive mode: As shown in Figure 5 , the first motor 1 and the second motor 11 work simultaneously, and the whole system is in the dual motor speed coupling working mode. When the first motor 1 and the second motor 11 work simultaneously, the power is input to the right large sun gear 5 and the left small sun gear 8 through the first input shaft 3 and the second input shaft 10. Further, the power is coupled and transmitted to the driving large bevel gear 9 via the dynamic ringless double row planetary gear train, and the power is then output on the output shaft 14 through the bevel gear set. For the specific power transmission path, see the Figure 5 arrows on the gear train.

[0039] The above Mode 3 - Dual motor speed coupling drive mode is the main drive mode of the present invention. The present invention synthesizes the power of the two motors into one output power source to drive the main rudder surface through the double row planetary gear train power coupling mechanism. The final synthesized speed is the coupling superposition of the output speeds of the two power sources. Compared with the master-master mode, the drive mode coupled and output through the double row planetary gear train power coupling mechanism not only meets the requirements of aircraft safety but also prevents damage to the rudder surface. Through the above optimized design, it is expected to provide a new idea for the design and manufacture of medium and large unmanned aerial vehicles, general aviation aircraft, etc. in the low-altitude economy.

[0040] Matters not detailed in the present invention are well-known technologies.

[0041] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A motor power coupling drive system for a medium and large-sized low-altitude unmanned aerial vehicle, characterized in that: It includes a first motor (1), a first input shaft (3), a first shaft lock (2), a second motor (11), a second input shaft (10), a second shaft lock (12), a left planetary gear train, a right planetary gear train, a bevel gear set, an output shaft (14) and a power output mechanism (15); The bevel gear set includes a driving large bevel gear (9) and a driven small bevel gear (13); the driving large bevel gear (9) is located on the left side of the left planetary gear train and serves as the left planetary carrier at the same time; the driving large bevel gear (9) meshes with the driven small bevel gear (13); the driven small bevel gear (13) is coaxially connected to the power output mechanism (15) through the output shaft (14); The left planetary gear train includes a left small sun gear (8) and a left planetary gear (7); the driving large bevel gear (9) is placed on the left side of the left small sun gear (8) as the left planetary carrier; the left planetary gear (7) is arranged between the left small sun gear (8) and the right planetary gear (6) of the right planetary gear train and meshes with the left small sun gear (8) and the right planetary gear (6) respectively; the left planetary carrier is coaxially connected to the left side of the left planetary gear (7); the second motor (11) is coaxially connected to the left small sun gear (8) through the second input shaft (10), passing through the second shaft lock (12) and the driving large bevel gear (9); The right planetary gear train includes a right large sun gear (5), a right planetary carrier (4) and a right planetary gear (6); the right planetary carrier (4) is placed on the right side of the right large sun gear (5); the right planetary gear (6) is arranged outside the left planetary gear (7) and the right large sun gear (5) and meshes with the left planetary gear (7) and the right large sun gear (5) respectively; the right planetary carrier (4) is coaxially connected to the right side of the right planetary gear (6); the first motor (1) is coaxially connected to the right large sun gear (5) through the first input shaft (3), passing through the first shaft lock (2) and the right planetary carrier (4).

2. The motor power coupling drive system of a low-altitude medium and large-sized unmanned aerial vehicle according to claim 1, characterized in that: The driven small bevel gear (13) is vertically placed below the driving large bevel gear (9) and meshes with the driving large bevel gear (9).

3. The motor power coupling drive system for a low-altitude medium and large unmanned aerial vehicle according to claim 2, characterized in that: Both the driven small bevel gear (13) and the driving large bevel gear (9) are spiral bevel gears.

4. The motor power coupling drive system of a low-altitude medium and large unmanned aerial vehicle according to claim 1, characterized in that: Both the left planetary gear (7) and the left small sun gear (8) are helical gears.

5. The motor power coupling drive system of a low-altitude medium and large-sized unmanned aerial vehicle according to claim 1, characterized in that: Both the right planetary gear (6) and the right large sun gear (5) are helical gears.

6. The motor power coupling drive system for a low-altitude medium and large-sized unmanned aerial vehicle according to claim 1, characterized in that: A planetary gear housing is provided outside the left planetary gear train, the right planetary gear train and the bevel gear set, and the left planetary gear train, the right planetary gear train and the bevel gear set are all installed inside the planetary gear housing.

Images