High-thrust linear steering engine and unmanned aerial vehicle

Abstract

The utility model provides a high-thrust linear steering engine and an unmanned aerial vehicle, and relates to the technical field of electromechanical equipment of unmanned aerial vehicles. The motor, the reduction gear set, the lead screw and the nut are arranged in the shell, the output end of the motor is connected with the reduction gear set, and the lead screw is driven by the reduction gear set; guide keys are arranged on the upper side wall and the lower side wall of the push rod, and guide grooves are formed in the upper side wall and the lower side wall of the shell correspondingly; a control panel is arranged on the shell, a linear sliding potentiometer is arranged on the side, close to the control panel, in the shell, a sliding arm of the linear sliding potentiometer is connected with the push rod, the control panel is in pin soldering connection with the linear sliding potentiometer, and the control panel is connected with the outside through a connector. According to the utility model, the sliding position of the push rod is conveniently monitored through the linear sliding potentiometer, and the positioning precision can reach the micron level and the response time is shortened to the millisecond level through the combination of the brushless motor and the high-resolution encoder; and the dynamic control precision is further improved through the combination of the ball screw and the reduction gear set.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned aerial vehicle electromechanical equipment technical field, concretely relates to a big thrust linear servo and unmanned aerial vehicle. BACKGROUND

[0002] Linear servo as the core technical equipment of electromechanical action field, its technical background can be traced to the precision demand of aircraft control system. Early rudder machine adopts rotary structure mostly, but along with the promotion of the miniaturization of aircraft, high maneuverability requirement, linear motion output gradually becomes the key demand, and linear servo as the core execution mechanism, bears the key task of converting the rotary motion of motor into high-precision linear displacement.

[0003] At present, traditional electric push rod adopts travel switch or simple encoder positioning, and positioning error is generally in millimeter level, and response delay is obvious, and the transmission gap of trapezoidal screw and synchronous belt further reduces dynamic control precision.

[0004] In summary, at present, it is urgent to design a big thrust linear servo and unmanned aerial vehicle overcoming the above technical problems. INVENTION CONTENTS

[0005] The utility model aims at providing a big thrust linear servo and unmanned aerial vehicle with small positioning error, high dynamic control precision and fast dynamic response.

[0006] In order to realize the above-mentioned purpose, the utility model adopts the technical scheme of big thrust linear servo, comprising:

[0007] The shell, the motor, the reduction gear set, the screw rod and the nut arranged in the shell, the output end of the motor is connected with the reduction gear set, the screw rod is rotatably installed in the shell and is driven to rotate through the reduction gear set,

[0008] The screw rod is a ball screw rod;

[0009] One push rod is fixedly connected to the end of the nut away from the reduction gear set through a screw, the upper and lower side walls of the push rod are provided with guide keys, the upper and lower side walls of the shell are respectively provided with guide grooves matched with the guide keys in sliding connection, and one end of the shell is provided with a sliding hole for the push rod to slide out.

[0010] The shell is provided with a control panel, one side of the shell close to the control panel is provided with a straight sliding potentiometer, the sliding arm of the straight sliding potentiometer is fixedly connected with the push rod, the control panel is connected with the straight sliding potentiometer pin soldering, and the control panel is connected with external equipment through the connector thereon.

[0011] The purpose of the utility model and the technical problems can also be further realized by the following technical measures.

[0012] Optionally, the reduction gear set is a two-stage gear reducer.

[0013] Optionally, one end of the lead screw connected with the reduction gear set is a conical surface;

[0014] One end of the output gear of the reduction gear set is provided with a conical groove, the conical groove is matched and connected with the conical surface of the lead screw, a pre-tightening screw is further arranged in the output gear and is threadedly connected with the end of the lead screw, and the output gear is rotatably connected with the shell through a bearing.

[0015] Optionally, the outer end of the push rod is connected with a fish-eye connecting rod, and a fish-eye bearing is arranged on the end of the shell away from the fish-eye connecting rod.

[0016] Optionally, the shell is provided with a heat dissipation groove hole corresponding to the positions of the motor and the lead screw.

[0017] Optionally, the control board is in communication connection with the autopilot of the unmanned aerial vehicle through the connector, and is used for real-time monitoring of the state of the large-thrust linear servo by the autopilot.

[0018] Optionally, the control board is connected with the upper computer of the linear servo through the connector, and the user can debug the linear servo and obtain the data of the linear servo through the upper computer.

[0019] An unmanned aerial vehicle comprises a landing gear system and the large-thrust linear servo, and the large-thrust linear servo is used for driving the landing gear system to be retracted or lowered.

[0020] An unmanned aerial vehicle comprises a foldable wing and the large-thrust linear servo, and the large-thrust linear servo is used for driving the foldable wing to be folded or unfolded.

[0021] Compared with the prior art, the large-thrust linear servo and the unmanned aerial vehicle have the following beneficial effects:

[0022] 1、the large-thrust linear servo and the unmanned aerial vehicle, the rotation shafts of the motor and the lead screw mechanism of the linear servo are arranged on different straight lines through the transmission of the reduction gear set, i.e., the two are arranged in parallel, so that the overall length of the linear servo is shorter; the sliding arm of the straight sliding potentiometer is connected with the nut, so as to facilitate monitoring of the sliding position of the push rod; through the combination of the brushless motor and the high-resolution encoder, the positioning accuracy can reach the micron level, and the response time is shortened to the millisecond level; the dynamic control accuracy is further improved through the combination of the ball screw and the reduction gear set.

[0023] 2. The large-thrust linear servo motor and the unmanned aerial vehicle, through the adoption of the two-stage gear reducer, load distribution can be optimized through multi-stage transmission, high load capacity, low noise and stable operation can be realized in a larger transmission ratio range.

[0024] 3. The large-thrust linear servo motor and the unmanned aerial vehicle, the output gear end of the reduction gear set is in friction transmission with the screw rod, the friction transmission has significant advantages in the scene of high rotation speed, variable load, overload protection and convenient maintenance, the theoretical load capacity of the friction transmission can reach more than 2 times of that of the flat key under the same shaft diameter, and the friction transmission is particularly suitable for a high-torque scene, and the friction transmission can realize rapid installation through the automatic centering effect. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a whole structure schematic view of the large-thrust linear servo motor and the unmanned aerial vehicle provided by the utility model;

[0026] Figure 2 is a cutaway structure schematic view of the large-thrust linear servo motor provided by the utility model;

[0027] MARKS OF THE DRAWINGS:

[0028] 1. Straight sliding potentiometer; 2. Connector; 3. Control panel; 4. Motor; 5. Reduction gear set; 501. Output gear; 503. Bearing; 504. Conical groove; 505. Pre-tightening screw; 6. Fish eye bearing; 7. Screw rod; 8. Nut; 9. Guide key; 10. Push rod; 11. Shell; 12. Fish eye connecting rod; 13. Guide groove; 14. Radiating slot hole; 15. Slide hole. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the utility model more clear and intelligible, the utility model will be further described in detail below by combining with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and are not used to limit the utility model.

[0030] As shown in Figure 1 and Figure 2 , a large-thrust linear servo motor comprises:

[0031] The shell 11 and the motor 4, the reduction gear set 5, the screw rod 7 and the nut 8 arranged inside the shell 11, the output end of the motor 4 is connected with the reduction gear set 5, the screw rod 7 is rotatably installed in the shell 11 and is driven to rotate through the reduction gear set 5; as shown in Figure 2 , the rotation shafts of the motor 4 and the screw rod mechanism of the linear servo motor are arranged on different straight lines through the transmission of the reduction gear set 5, that is, the two are arranged in parallel, so that the overall length of the linear servo motor is shorter;

[0032] The lead screw 7 is a ball screw; the dynamic control precision of the ball screw is higher than that of the trapezoidal screw;

[0033] The nut 8 is fixedly connected with a push rod 10 through a screw at one end away from the gear reduction set 5, the upper and lower side walls of the push rod 10 are provided with guide keys 9, the upper and lower side walls of the shell 11 are respectively provided with guide grooves 13 matched with the guide keys 9 in sliding connection, and one end of the shell 11 is provided with a sliding hole 15 for sliding out of the push rod 10; the nut 8 is driven to slide back and forth by the rotation of the lead screw 7, so as to realize the sliding out and sliding in of the push rod 10 in the sliding hole 15.

[0034] The shell 11 is provided with a control panel 3, one side of the shell 11 close to the control panel 3 is provided with a straight sliding potentiometer 1, the sliding arm of the straight sliding potentiometer 1 is fixedly connected with the push rod 10, the control panel 3 is tin soldered with the pin of the straight sliding potentiometer 1, and the control panel 3 is connected with external equipment through the connector 2 thereon.

[0035] In the utility model, the motor 4 provides power, the gear reduction set 5 reduces speed and improves torque, the lead screw 7 and the nut 8 convert rotary motion into linear motion, the push rod 10 carries out linear transmission along the inner wall of the shell 11, the guide key 9 guides and supports the push rod 10, the straight sliding potentiometer 1 is used for measuring the position of the push rod 10, the speed of the push rod 10 is limited by setting the parameters of the motor 4, the control panel 3 manages and controls the movement process of the linear servo, and data and power transmission are carried out through the connector 2. The straight sliding potentiometer has the advantages of low cost, signal directness and strong environmental adaptability, and is more competitive in occasions with moderate precision requirements, limited budget or harsh environment. The linear servo of the utility model is combined by a brushless motor and a high-resolution encoder, the positioning accuracy can reach the micron level, and the response time is shortened to the millisecond level.

[0036] Optionally, the gear reduction set 5 is a two-stage gear reducer. Through multi-stage transmission, load distribution can be optimized, high load capacity, low noise and smooth operation can be realized in a larger transmission ratio range.

[0037] Optionally, one end of the lead screw 7 connected with the gear reduction set 5 is a conical surface;

[0038] One end of the output gear 501 of the gear reduction set 5 is provided with a conical groove 504, the conical groove 504 is matched with the conical surface of the lead screw 7 in connection, the output gear 501 is further provided with a pre-tightening screw 505 threadedly connected with the end of the lead screw 7, and the output gear 501 is rotatably connected with the shell 11 through a bearing 503.

[0039] In this embodiment, the output gear 501 of the reduction gear set 5 is in friction transmission with the lead screw 7 by a conical surface, which has significant advantages in high speed, variable load, overload protection and convenient maintenance. In the same shaft diameter, the theoretical bearing capacity of the conical surface friction transmission can reach more than twice that of the flat key, especially suitable for high torque scenes, and the conical surface friction transmission can realize rapid installation through the automatic centering effect.

[0040] Optionally, the outer end of the push rod 10 is connected with a fish eye connecting rod 12, and the shell 11 is installed with a fish eye bearing 6 away from one end of the fish eye connecting rod 12. In this embodiment, the outer end of the push rod 10 and the other end of the shell 11 are respectively assembled and fixed by the fish eye connecting rod 12 and the fish eye bearing 6, so as to improve the installation adaptability of the large thrust linear actuator. If used for landing gear folding, the device is connected between the fuselage and the landing gear connecting rod; if used for wing folding, the device is connected between the fuselage and the wing connecting rod; if used for other occasions, the specific situation can be analyzed, and detailed description is not made here.

[0041] Optionally, the shell 11 is provided with a heat dissipation groove 14 corresponding to the positions of the motor 4 and the lead screw 7. In this embodiment, an integrated slotted heat dissipation shell can be installed outside the motor, and the heat dissipation groove 14 is designed at the position of the shell 11 with more reciprocating friction, so as to facilitate the heat dissipation of the linear actuator and improve the working performance.

[0042] Optionally, the control panel 3 is in communication connection with the autopilot of the unmanned aerial vehicle through the connector 2, for the autopilot to monitor the state of the large thrust linear actuator in real time. When the large thrust linear actuator is applied to the unmanned aerial vehicle, the control panel 3 is in communication connection with the autopilot through the connector 2, the autopilot can send control instructions to the control panel 3, and the control panel 3 can also transmit data of the linear actuator to the autopilot, so as to monitor the state of the large thrust linear actuator in real time.

[0043] Optionally, the control panel 3 is connected with the upper computer of the linear actuator through the connector 2, and the user can debug the linear actuator and obtain data of the linear actuator through the upper computer.

[0044] An unmanned aerial vehicle, comprising a landing gear system and the large thrust linear actuator, the large thrust linear actuator is used to drive the landing gear system to be folded or unfolded.

[0045] An unmanned aerial vehicle, comprising a foldable wing and the large thrust linear actuator, the large thrust linear actuator is used to drive the foldable wing to be folded or unfolded.

[0046] The utility model makes further description in combination with the embodiment above, but the utility model is not limited to the above implementation, within the knowledge scope of ordinary skill in the art, still can make various changes without departing from the utility model's purpose.

Claims

1. A large-thrust straight-line rudder mechanism, comprising a shell (11) and a motor (4), a reduction gear set (5), a lead screw (7) and a nut (8) arranged inside the shell (11), the output end of the motor (4) being connected with the reduction gear set (5), the lead screw (7) being rotatably mounted in the shell (11) and being driven to rotate by the reduction gear set (5), characterized in that: the lead screw (7) is a ball screw; one end of the nut (8) away from the reduction gear set (5) is fixedly connected with a push rod (10) through a screw, the upper and lower side walls of the push rod (10) are each provided with a guide key (9), the upper and lower side walls of the shell (11) are each provided with a guide groove (13) for slidingly connecting with the guide key (9), and one end of the shell (11) is provided with a sliding hole (15) for the push rod (10) to slide out. The shell (11) is provided with a control board (3), one side of the shell (11) close to the control board (3) is provided with a straight sliding potentiometer (1), the sliding arm of the straight sliding potentiometer (1) is fixedly connected with the push rod (10), the control board (3) is tin soldered with the pin of the straight sliding potentiometer (1), and the control board (3) is connected with external equipment through the connector (2) thereon. The reduction gear set (5) is a two-stage gear reducer. One end of the lead screw (7) connected with the reduction gear set (5) is a conical surface.

2. The large thrust linear actuator of claim 1, wherein, One end of an output gear (501) of the reduction gear set (5) is provided with a conical groove (504), the conical groove (504) is connected with the conical surface of the lead screw (7), the output gear (501) is further provided with a pre-tightening screw (505) threadedly connected with the end of the lead screw (7), and the output gear (501) is rotatably connected with the shell (11) through a bearing (503).

3. The large thrust linear actuator of claim 1, wherein: The outer end of the push rod (10) is connected with a fisheye connecting rod (12), and a fisheye bearing (6) is mounted on one end of the shell (11) away from the fisheye connecting rod (12). Corresponding to the positions of the motor (4) and the lead screw (7), the shell (11) is provided with heat dissipation groove holes (14).

4. The large thrust linear actuator of claim 1, wherein, The control board (3) is communicatively connected with a self-pilot of a drone through the connector (2), and is used for the self-pilot to monitor the state of the large-thrust straight-line rudder mechanism in real time.

5. The large thrust linear actuator of claim 1, wherein, The control board (3) is connected with an upper computer of the straight-line rudder mechanism through the connector (2), and a user can debug the straight-line rudder mechanism and obtain data of the straight-line rudder mechanism through the upper computer.

6. Large thrust linear actuator according to any of claims 1-5, characterized in that The large-thrust straight-line rudder mechanism according to any one of claims 1-7 is used to drive a landing gear system to be retracted or lowered.

7. The large thrust linear actuator of claim 6, wherein, The large-thrust straight-line rudder mechanism according to any one of claims 1-7 is used to drive a foldable wing to be folded or unfolded.

8. An unmanned aerial vehicle, comprising: ​ 9. An unmanned aerial vehicle, comprising: ​

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