CN115765306A

CN115765306A - Tilt-rotation combined driving mechanism based on double motors and electric control tilt rotor wing

Info

Publication number: CN115765306A
Application number: CN202211451292.1A
Authority: CN
Inventors: 张流强
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2022-11-20
Filing date: 2022-11-20
Publication date: 2023-03-07

Abstract

The invention provides a tilting-rotating combined driving mechanism based on double motors and an electric control tilting rotor wing. Utilize the transmission of quadrature gear pair, realize the collaborative work of two motors, under the unchangeable circumstances of motor rotation direction, through the rotational speed regulation to two motors, realize a plurality of operating condition of output shaft: rotation, forward vert, reverse vert and rotation and two-way arbitrary combination of verting, can switch wantonly and seamless connection between these operating condition moreover, make it have response speed fast, transmission efficiency is high, control accuracy is high, the system is small, a series of advantages such as reliability and integrated level height.

Description

Tilt-rotation combined driving mechanism based on double motors and electric control tilt rotor wing

Technical Field

The invention belongs to a motor driving technology, and particularly relates to a tilting-rotating combined driving mechanism based on double motors and an electric control tilting rotor wing.

Background

At present, a motor can realize rotary transmission by utilizing driving mechanisms such as a gear, a worm gear, a chain wheel, a belt pulley and the like, and the torque of the motor is efficiently transmitted to a rotary load; and by utilizing transmission mechanisms such as gears, worm wheels and worms, chain wheels and the like, the motor can also realize tilting transmission, and the torque of the motor is efficiently transmitted to tilting loads. However, the tilting and rotating drive mechanisms are typically separate, not only adding redundancy and complexity to the drive mechanism, resulting in an increase in system volume and weight, but also reducing the efficiency, controllability, and reliability of the drive mechanism.

Patent document CN115275606A proposes a differential two-motor driven two-dimensional antenna transmission seat designed for the pitch and rotation of a large antenna. The mechanism adopts a T-shaped rod to be rotatably connected with two contra-rotating second gears and a first gear fixed on a base, and the pitching and the rotation of the system are both output by two motors driving the second gears. On one hand, the two second gears, the two driving motors and the speed reducers of the motors all become driving loads, so that the load and the rotational inertia of the driving mechanism are greatly increased; on the other hand, since the T-bar is rotatably fixed to the two second gears, the high speed rotation of the second gears will cause significant rotational friction and wear. Therefore, this mechanism is suitable only for low-speed rotating mechanisms such as antennas, but is not suitable for high-speed rotating systems such as tiltable rotors of airplanes.

Disclosure of Invention

Aiming at the problem, the invention provides a tilting-rotating combined driving mechanism based on double motors, which not only can realize bidirectional rotation driving, but also can realize bidirectional tilting driving, keeps the simplicity and high efficiency of a system structure, and is suitable for a high-speed rotating system.

Meanwhile, the invention also provides an electric control tilting rotor wing.

The technical scheme of the invention is as follows:

in one aspect, the present invention provides a dual motor based tilt-rotate combined drive mechanism, which includes two motors, two intermediate wheels, an output wheel, and a tiltable frame; the two motors are oppositely arranged and fixed, a rotating shaft of each motor is fixed with one intermediate wheel, the two intermediate wheels are arranged in a mirror symmetry mode and are meshed with the output wheel to form an orthogonal transmission gear pair, and an output shaft of the output wheel is installed on the tilting frame through a rotating bearing and can freely rotate on the tilting frame; the tilting frame is respectively connected to a stator or a shell of a motor through two symmetrical arms through hollow bearings, and the hollow parts of the bearings surround the motor rotating shaft and leave rotating gaps, so that the tilting frame is not contacted with the motor rotating shaft, and can rotate around the motor rotating shaft relative to the motor.

The driving mechanism realizes a plurality of working states and working modes of the output shaft by controlling the rotating speeds and the directions of the two motors:

when the two motors rotate reversely at the same rotating speed, the rotation of the output shaft is realized, namely, the rotation driving mode is realized, and in the mode, the two motors drive the two middle wheels to rotate reversely at the same rotating speed, so that the output wheel is subjected to reverse torque with the same magnitude, the output wheel is enabled to purely rotate (autorotate) around the rotating shaft of the output wheel, and the rotating shaft position of the output wheel is relatively static.

When the two motors rotate in the same rotating speed and the same direction, the output shaft drives the tilting frame to tilt, which is a tilting driving mode, and in the mode, the two motors drive the middle wheel to rotate in the same direction at the same rotating speed, so that two sides of the output wheel are subjected to two torques in the same direction, and at the moment, the output wheel cannot rotate and only can drive the tilting frame to rotate or tilt (revolve) around the rotating shaft of the motor.

When the two motors rotate reversely at different rotating speeds, the rotation of the output shaft and the driving of the tilting frame are combined in a tilting-rotating combined driving mode, in the mode, the two motors drive the intermediate wheel to rotate reversely at different speeds, and because the rotating speed of the output wheel depends on the intermediate wheel with low speed, the high-speed motor can only use the part of rotating speed matched with the speed of the low-speed motor to enable the output wheel to rotate around the rotating shaft of the high-speed motor, and the rest rotating speed of the high-speed motor can only drive the output wheel to drive the tilting frame to revolve. For example, if the clockwise rotating motor rotates faster, the rotation speed of the output wheel depends on the low-speed counterclockwise rotating motor, and the tiltable frame will tilt clockwise. Conversely, if the counterclockwise rotating motor rotates faster, the rotation speed of the output wheel will depend on the low-speed clockwise rotating motor, and the tiltable frame will tilt counterclockwise.

In a second aspect, the invention further provides an electrically controlled tilt rotor, which includes the above-mentioned rotation-tilt combined driving mechanism, a wing hanger and a propeller, wherein the propeller is installed on an output shaft of the rotation-tilt combined driving mechanism, and two motors of the rotation-tilt combined driving mechanism are fixedly installed on the wing hanger.

The invention has the following technical effects:

the invention realizes the cooperative work of the two motors by utilizing the single-stage gear transmission, and realizes a plurality of working states of the output shaft by regulating the rotating speed of the two motors under the condition that the rotating direction of the motors is not changed: rotation, positive tilting, reverse tilting and the arbitrary combination of rotation and two-way tilting, moreover can switch wantonly and seamless connection between these operating condition.

In the design of the invention, the two motors are fixed during working, and the output wheel drives the inclinable rotating frame to rotate, so that the two motors move together with the load, the load and the moment of inertia are reduced, and the invention is suitable for high-speed rotating motion.

In the design of the invention, on the basis of reducing the load, the tilting frame adopts the hollow bearing, so that the tilting frame cannot be contacted with the motor shaft, the abrasion caused by the high-speed rotation of the motor shaft can be avoided, and the adaptability of the mechanism to the high-speed rotation motion is further improved.

The control of the motor rotating speed can be realized through the control circuit to realize complete electrification and digital regulation and control, and the control system has the advantages of high response speed, high transmission efficiency, high control precision, small system volume, high reliability, high integration level and the like.

Furthermore, if the transmission ratio of the intermediate wheel and the output wheel is less than 1, the combined rotation-tilt drive system also has the function of a speed reducer.

The invention can be applied to a driving mechanism of the tilt rotor, thereby realizing a tilt rotor system with high speed, high efficiency, high precision, high reliability and high integration level.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural view of a combined rotation-tilt drive mechanism according to an embodiment of the present invention (the tiltable frame is a U-shaped frame);

FIG. 1A is a top view of a U-shaped tiltable frame;

FIG. 1B is a partial view of the motor, intermediate wheel and U-shaped frame mounting;

FIG. 2 shows a combined rotary-tilt drive mechanism (the tiltable frame is a ring frame) according to an embodiment of the present invention

FIG. 3 shows a combined rotary-tilt drive mechanism (the tiltable frame is a ring frame) according to an embodiment of the present invention

Fig. 4 is a schematic diagram of an electrically controlled tilt rotor having a combined rotation-tilt drive configuration. ,

the device comprises a rotating shaft, a rotating intermediate wheel, a rotating output wheel, an output shaft, a U-shaped frame, a circular frame, a cavity frame, a hollow bearing, a bearing hole, a propeller, a wing hanger and a wing, wherein the rotating shaft is 1 of the rotating motor, 2 of the rotating motor, 3 of the rotating shaft, 4 of the rotating motor, 5 of the rotating intermediate wheel, 6 of the rotating intermediate wheel, 7 of the output wheel, 8 of the output shaft, 91 of the U-shaped frame, 92 of the circular frame, 93 of the cavity frame, 10 of the cavity frame, 11 of the hollow bearing, 12 of the propeller, 13 of the wing hanger and 14 of the wing.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1A and fig. 1B, in the present embodiment, the tilt-rotation combined driving mechanism based on two motors is a T-shaped driving mechanism, and is composed of a pair of motors with bevel gears fixed on rotating shafts, a perpendicular bevel gear and a U-shaped frame.

Two motors are fixed on a common base in a mirror symmetry mode, one is a forward rotation motor 1, the other is a reverse rotation motor 2, the two motors rotate in opposite directions and respectively drive a bevel gear fixed on a rotating shaft 3 and a rotating shaft 4 of the two motors, and the two bevel gears are also arranged in a mirror symmetry mode and respectively serve as a forward rotation intermediate wheel 5 and a reverse rotation intermediate wheel 6. The pair of bevel gears are respectively engaged with one of the intermediate position bevel gears orthogonal thereto, and the orthogonal bevel gear is driven by teeth, and the orthogonal bevel gear serves as an output wheel 7, so that the output wheel and the two intermediate wheels constitute a T-shaped bevel gear driving mechanism, i.e., an orthogonal transmission gear pair. The output shaft 8 of the output wheel 7 is mounted on the bottom of a tiltable U-shaped frame 91 through a rotary bearing, and can rotate freely on the U-shaped frame 91. The U-shaped frame 91 is connected to the stator or the housing of a motor through two symmetrical arms respectively through the hollow bearing 10, and the hollow part of the hollow bearing 10 surrounds the motor rotation shaft and leaves a rotation gap, so that the U-shaped frame 91 is not in contact with the motor rotation shaft, and can rotate around the motor rotation shaft relative to the motor.

The above structure can have three modes of rotation driving, tilt driving and tilt-rotation combined driving:

in the rotation driving mode, the two motors drive the two intermediate wheels to rotate reversely at the same rotating speed, so that the output wheels are subjected to reverse torques with the same magnitude, the output wheels simply rotate (autorotate) around the rotating shafts of the output wheels, and the rotating shafts of the output wheels are relatively static.

Under the drive mode that verts, two motors drive the equidirectional rotation of intermediate wheel with the same rotational speed to make the both sides of output wheel receive two equidirectional torques, the output wheel can not the rotation this moment, and can only drive U type frame and rotate or vert (the revolution) around motor shaft.

Under the combined driving mode of tilting and rotating, the two motors drive the intermediate wheel to rotate reversely at different speeds, because the rotating speed of the output wheel depends on the intermediate wheel with low speed, the high-speed motor can only use the part of rotating speed matched with the speed of the low-speed motor to enable the output wheel to rotate around the rotating shaft of the high-speed motor, and the rest of rotating speed of the high-speed motor can only drive the output wheel to drive the U-shaped frame to revolve. For example, if the clockwise rotating motor rotates faster, the rotation speed of the output wheel depends on the low speed counterclockwise rotating motor, and the U-shaped frame tilts clockwise. Conversely, if the counterclockwise rotating motor rotates faster, the rotation speed of the output wheel will depend on the low speed clockwise rotating motor, and the U-shaped frame will tilt counterclockwise.

In another embodiment, as shown in fig. 2, the two arms of the U-shaped frame may be extended and connected together as a modification to form a tiltable annular frame 92. Another advantage of using the ring frame is that the output shaft can be extended and fixed at the front and rear ends of the ring frame through the rotation bearings, thereby increasing the stability of the output rotating shaft.

In another embodiment, as shown in fig. 3, further, the tiltable annular frame can be completely closed and two intermediate wheels and an output wheel are enclosed in its inner cavity to form a tiltable chamber frame 93. The benefits of using a closed tiltable frame are: on the one hand, the structural strength of the tiltable frame can be enhanced; on the other hand, the transmission gear can be completely enclosed in the cavity, so that dust and sand pollution of the external environment is avoided, and mechanical noise is reduced.

Furthermore, according to the common knowledge, the above intermediate wheel and output wheel can be replaced by other orthogonal transmission gears, magnetic wheels and friction wheels, such as spur gears and crown gears, helical gears or worm gears, and when the orthogonal transmission magnetic wheels are used, the advantage of completely eliminating contact friction can be brought.

Also, the rotary bearings may be replaced with other bearings such as ball bearings, needle bearings, air bearings, or magnetic bearings, etc.

The counter-rotating double motors can be replaced by various motors with direct output, motors with speed reducers or fuel engines, such as direct current motors, alternating current motors, brushless motors, brush motors, stepping motors, internal combustion engines and the like.

In addition, the specific shape of the U-shaped, annular and closed tilt frames can be adjusted according to the application without affecting the transmission mechanism, and the technical characteristics provided by the present invention are not affected.

In another embodiment, shown in fig. 3, a specific application of the combined rotary-tilt drive mechanism of the present invention is applied to an airfoil to form an electrically controlled tilt rotor. The two motors are fixed on a wing hanger 13 of a wing 14, a propeller 12 is installed on an output shaft, and a totally-enclosed tilting frame 93 is adopted. This automatically controlled rotor that verts utilizes counter-rotating machine's speed control, the output shaft both can rotate, also can two-way vert to can be simultaneously rotatory with vert between the state continuous switching. Namely: (1) When the two motors rotate in opposite directions, the output shaft drives the propeller to rotate; (2) When the double motors rotate in the same direction, the output shaft drives the propeller to rotate in an inclined way; (3) When the two motors have speed difference, the driving mechanism rotates and tilts bidirectionally. Thus, a tiltrotor system of high speed, high efficiency, high accuracy, high reliability and high integration can be obtained.

Claims

1. The tilting-rotating combined driving mechanism based on the double motors is characterized by comprising two motors, two middle wheels, an output wheel and a tilting frame; the two motors are oppositely arranged and fixed, a rotating shaft of each motor is fixed with one intermediate wheel, the two intermediate wheels are arranged in a mirror symmetry mode and are meshed with the output wheel to form an orthogonal transmission gear pair, and an output shaft of the output wheel is installed on the tilting frame through a rotating bearing and can freely rotate on the tilting frame; the tiltable rack is respectively connected to a stator or a shell of a motor through two symmetrical arms through hollow bearings, and the hollow parts of the bearings surround a motor rotating shaft and leave rotating gaps, so that the tiltable rack is not contacted with the motor rotating shaft, and can rotate around the motor rotating shaft relative to the motor;

the driving mechanism realizes a plurality of working states of the output shaft by controlling the rotating speeds and the directions of the two motors:

when the two motors rotate reversely at the same rotating speed, the rotation of the output shaft is realized; when the two motors rotate in the same direction at the same rotating speed, the tilting frame is driven by the output shaft to tilt; when the two motors rotate in different rotating speeds and in opposite directions, the rotation of the output shaft and the tilting of the tilting frame are combined.

2. A dual motor based tilt-rotate combination drive mechanism according to claim 1, wherein the tiltable frame is a U-shaped frame, the output gear is mounted at the bottom of the U-shaped frame through an output shaft, and two arms connecting the stator or housing of the motor are provided at both sides of the U-shaped frame.

3. The dual-motor based tilt-rotation combined drive mechanism according to claim 1, wherein the tiltable frame is a ring frame, the output shaft of the output gear extends and is fixed to opposite ends of the ring frame through rotating bearings, the output gear is mounted at the bottom of one end of the ring frame through the output shaft, and two arms connecting the stator or the housing of the motor are provided at two sides of the ring frame.

4. The dual-motor based tilt-rotate combination drive mechanism of claim 3, wherein the ring frame is closed enclosing both the intermediate gear and the output gear within its cavity.

5. The dual-motor based tilt-rotation combined drive mechanism according to any one of claims 1-4, wherein the intermediate wheel and the output wheel are orthogonally driven gears, magnetic wheels or friction wheels.

6. A tilting-rotating combined driving mechanism based on double motors according to any one of claims 1-4, wherein the bearing of the tilting frame connected with the stator or the housing of the motor is a hollow bearing, i.e. the shaft center of the bearing is provided with a through hole and is sleeved outside the rotating shaft of the motor in a non-contact manner;

the output wheel employs conventional rotational bearings including, but not limited to, ball bearings, needle bearings, air bearings, or magnetic bearings.

7. The dual-motor based tilting-rotation combined drive mechanism according to any one of claims 1-4, wherein the motor is a direct output motor, a reducer-mounted motor or a fuel engine.

8. An electric control tilting rotor wing, which is characterized by comprising the rotation-tilting combined driving mechanism, a wing hanger and a propeller, wherein the propeller is arranged on an output shaft of the rotation-tilting combined driving mechanism, and two motors of the rotation-tilting combined driving mechanism are fixedly arranged on the wing hanger.