CN215851859U

CN215851859U - Electric steering engine for unmanned aerial vehicle suitable for narrow space

Info

Publication number: CN215851859U
Application number: CN202121887223.6U
Authority: CN
Inventors: 李莎莎; 隆强; 张旭; 沈生龙; 吴凯; 吴凡
Original assignee: Sichuan Aerospace Fenghuo Servo Control Technology Co ltd
Current assignee: Sichuan Aerospace Fenghuo Servo Control Technology Co ltd
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2022-02-18
Anticipated expiration: 2031-08-12

Abstract

The electric steering engine for the unmanned aerial vehicle, which is suitable for the narrow space, adopts a closed-loop control mode, drives an output shaft of a motor to rotate through a controller, outputs the required rotating speed and torque after being decelerated by a speed reducer, and an angular displacement sensor is arranged on the output shaft of the speed reducer and collects the output angle in real time to be used as a feedback signal source for closed-loop control so as to keep the dynamic quality and stability of a rudder loop and control the deflection of a rudder piece. The integral structure of the electric steering engine is designed on a straight line, so that the steering engine is more suitable for the use working condition of insufficient space in the vertical direction compared with the traditional mode of vertically installing a steering engine speed reducer and a motor; simultaneously, with angular displacement sensor design for hollow structure, directly establish on the output shaft of reduction gear, the space of rational utilization steering wheel installation kneck further saves axial space, the adaptable narrow installation space of above-mentioned setting.

Description

Electric steering engine for unmanned aerial vehicle suitable for narrow space

Technical Field

The utility model belongs to the technical field of electric steering engines, and particularly relates to an electric steering engine for an unmanned aerial vehicle, which is suitable for a narrow space.

Background

The electric rudder system is used as an actuating mechanism of the control system, receives a control signal of the guidance control assembly, drives the rudder surface to deflect through power amplification, and adjusts the flight attitude of the aircraft. The steering engine feeds back a rudder deflection angle signal to the guidance assembly through the angular displacement sensor, and the dynamic quality and stability of a steering engine loop are kept.

The small-sized electric steering engine is high-precision servo equipment, and generally requires small volume, high precision and high transmission efficiency. Along with the requirement of miniaturization of the overall design of the aircraft, the aircraft puts higher requirements on the volume, the transmission precision and the transmission efficiency of the steering engine. In certain narrow spaces, the vertical installation of the speed reducer and the motor of the steering engine cannot meet the use requirement.

Therefore, how to improve the adaptability of the small electric steering engine to a narrow installation space is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an electric steering engine for an unmanned aerial vehicle, which is suitable for a narrow installation space.

In order to solve the technical problem, the utility model provides an electric steering engine for an unmanned aerial vehicle, which is suitable for a narrow space and comprises a controller, a motor, a speed reducer and an angular displacement sensor, wherein the controller is connected with the motor; wherein the content of the first and second substances,

the controller is used for driving an output shaft of the motor to rotate, and the output shaft of the motor is connected with an input shaft of the speed reducer;

the angular displacement sensor comprises a sensor shell, a sensor cover plate and a sensor rotating shaft, wherein the sensor rotating shaft is a hollow cylinder and is sleeved on an output shaft of the speed reducer;

the motor, the speed reducer and the angular displacement sensor are arranged in the axial direction.

Optionally, the speed reducer is an integrated structure of a harmonic speed reducer and a planetary speed reducer, and the speed reducer comprises a speed reducer shell, a steel wheel, a flexible wheel, a planetary wheel and a sun wheel;

the inner wall of the speed reducer shell is respectively provided with a harmonic drive gear meshed with the flexible gear and a planet drive gear meshed with the planet gear;

the output shaft of motor is connected the sun gear, the sun gear pass through the planet driving gear of reduction gear casing with planet wheel transmission cooperation, the planet wheel with wave generator is connected, the harmonic driving gear of reduction gear casing with flexible gear transmission cooperation, the flexible gear with steel wheel transmission cooperation, the steel wheel is the output shaft of reduction gear.

Optionally, the reducer casing is a tubular structure with openings at two ends, and the two ends of the reducer casing are respectively provided with an end cover and a cover plate.

Optionally, the steel wheel is connected with the end cover through a deep groove ball bearing.

Optionally, the sensor rotating shaft is made of stainless steel, the sensor shell is made of duralumin, and the sensor cover plate is made of duralumin.

Optionally, the angular displacement sensor further comprises a mounting lug arranged on the sensor cover plate and used for connecting the speed reducer.

Optionally, a hollow portion of the sensor rotating shaft is in transition fit with the output shaft of the speed reducer.

Optionally, the sensor housing and the sensor rotating shaft are respectively provided with a positioning identifier for zeroing the radial positions of the sensor housing and the sensor rotating shaft.

Optionally, the positioning marks are circles, triangles or arrows.

Optionally, the steering engine shell is covered on the controller, the motor, the speed reducer and the angular displacement sensor, and the sensor base is fixed on the inner wall of the steering engine shell.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an electric steering engine for an unmanned aerial vehicle adapted to a narrow space according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a retarder according to an embodiment of the present invention;

FIG. 3 is a right side view of FIG. 2;

fig. 4 is a schematic structural diagram of an angular displacement sensor provided in an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a reducer housing according to an embodiment of the present invention.

In the upper diagram:

1-a motor; 2-a reducer; 201-reducer casing; 2011-harmonic drive teeth; 2012-planetary gear teeth; 202-end cap; 203-cover plate; 204-steel wheel; 205-a flexspline; 206-planet wheel; 207-sun gear; 3-angular displacement sensor; 301-sensor shaft; 302-mounting ears.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality is more than two, if there are first and second described for the purpose of distinguishing technical features, but not for indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

The core of the utility model is to provide the electric steering engine for the unmanned aerial vehicle, which is suitable for narrow installation space.

In order to make those skilled in the art better understand the technical solutions provided by the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 5, the present invention provides an electric steering engine for an unmanned aerial vehicle adapted to a narrow space, including a controller, a motor 1, a speed reducer 2, and an angular displacement sensor 3.

The controller is used for driving an output shaft of the motor 1 to rotate, and the output shaft of the motor 1 is connected with an input shaft of the speed reducer 2. The output shaft of reduction gear 2 is used for connecting the output rocking arm to the motion of drive unmanned aerial vehicle. Specifically, the motor 1 is a dc servo motor.

The angular displacement sensor 3 comprises a sensor shell, a sensor cover plate and a sensor rotating shaft 301, the sensor rotating shaft 301 is a hollow cylinder, and the output shaft of the speed reducer 2 is sleeved with the sensor rotating shaft 301 and used for detecting and feeding back the rotating angle of the output shaft of the speed reducer 2 in real time.

The motor 1, the speed reducer 2 and the angular displacement sensor 3 are arranged in the axial direction.

The working principle of the scheme is as follows: the controller is adopted to drive the output shaft of the motor 1 to rotate in a closed-loop control mode, the required rotating speed and torque are output after the speed of the output shaft is reduced by the speed reducer 2, the angular displacement sensor 3 is installed on the output shaft of the speed reducer 2, and the output angle is collected in real time to be used as a feedback signal source of the closed-loop control, so that the dynamic quality and stability of a rudder loop are kept, and the deflection of a rudder piece is controlled.

The integral structure of the electric steering engine is designed on a straight line, so that the steering engine is more suitable for the use working condition of insufficient space in the vertical direction compared with the traditional mode of vertically installing a steering engine speed reducer and a motor; simultaneously, with angular displacement sensor 3 design for hollow structure, directly establish to install on the output shaft of reduction gear 2 in the cover, the space of rational utilization steering wheel installation kneck further saves axial space, the adaptable narrow installation space of the aforesaid setting.

In the specific embodiment, the reducer 2 is an integrated design of a harmonic reducer and a planetary reducer, and the reducer 2 comprises a reducer casing 201, a steel wheel 204, a flexible wheel 205, a planetary wheel 206 and a sun wheel 207.

The inner wall of the reducer case 201 is provided with harmonic drive teeth 2011 for meshing with the flexspline 205 and planetary drive teeth 2012 for meshing with the planetary gears 206, respectively.

The output shaft of the motor 1 is connected to the sun gear 207, in particular by a pin. The sun gear 207 is in transmission fit with the planet gear 206 through the planet transmission gear 2012 of the reducer casing 201, the planet gear 206 is connected with the wave generator, the harmonic transmission gear 2011 of the reducer casing 201 is in transmission fit with the flexible gear 205, the flexible gear 205 is in transmission fit with the steel gear 204, and the steel gear 204 is an output shaft of the reducer 2.

It should be noted that the reducer case 201 with the planetary gear 2012 can be regarded as a planetary carrier, and similarly, the reducer case 201 with the harmonic gear 2011 can also be regarded as a wave generator, the harmonic gear 2011 and the planetary gear 2012 are integrally designed on the reducer case, the sun gear 207 serves as an input end of the reducer 2, the planetary gear 206 and the wave generator of the harmonic reducer are integrated as an input end of the harmonic reducer, and the steel wheel 204 serves as an output end of the reducer 2.

Further, the reducer case 201 is a cylindrical structure with openings at both ends, and an end cover 202 and a cover plate 203 are respectively mounted at both ends of the reducer case 201. The related components of the planetary reducer are arranged on one side of the cover plate 203, and the related components of the harmonic reducer are arranged on one side of the end cover 202. Specifically, the steel wheel 204 is coupled to the end cap 202 by deep groove ball bearings to achieve a rotationally coupling that axially limits displacement and circumferentially.

In the embodiment, the sensor shaft 301 is made of stainless steel, and has a certain structural strength. The sensor shell is made of hard aluminum, and the sensor cover plate is made of hard aluminum.

In a particular embodiment, angular displacement sensor 3 further includes mounting ears 302 disposed on the sensor cover for attachment to reducer 2. The number of the mounting ears 302 can be multiple, and the multiple mounting ears 302 are symmetrically arranged on the outer edge of the sensor cover plate. As shown in fig. 4, two mounting ears 302 fixedly connect the angular displacement sensor 3 to the speed reducer 2 by two mounting screws.

In order to improve the fastening of the connection, the sensor shaft 301 is in transition fit with the output shaft of the speed reducer 2.

Preferably, in order to prevent the misalignment, before the angular displacement sensor leaves the factory, positioning marks are respectively arranged on the sensor housing and the sensor rotating shaft 301, and are used for zeroing the radial positions of the sensor housing and the sensor rotating shaft 301. As shown in fig. 4, the positioning mark is a circle mark, but may also be a triangle or an arrow, etc. as a landmark pattern.

The present case still includes the steering wheel casing, and on controller, motor 1, reduction gear 2 and angular displacement sensor 3 were located to steering wheel casing cover, the sensor base was fixed in on the inner wall of steering wheel casing.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. An electric steering engine for an unmanned aerial vehicle, which is suitable for narrow space, is characterized by comprising a controller, a motor (1), a speed reducer (2) and an angular displacement sensor (3); wherein the content of the first and second substances,

the controller is used for driving an output shaft of the motor (1) to rotate, and the output shaft of the motor (1) is connected with an input shaft of the speed reducer (2);

the angular displacement sensor (3) comprises a sensor shell, a sensor cover plate and a sensor rotating shaft (301), the sensor rotating shaft (301) is a hollow cylinder, and the sensor rotating shaft (301) is sleeved on an output shaft of the speed reducer (2);

the motor (1), the speed reducer (2) and the angular displacement sensor (3) are arranged along the axial direction.

2. The electric steering engine for the unmanned aerial vehicle according to claim 1, wherein the reducer (2) is an integrated structure of a harmonic reducer and a planetary reducer, and the reducer (2) comprises a reducer housing (201), a steel wheel (204), a flexible wheel (205), a planetary wheel (206) and a sun wheel (207);

the inner wall of the speed reducer shell (201) is provided with a harmonic drive gear (2011) meshed with the flexible gear (205) and a planet drive gear (2012) meshed with the planet gear (206) respectively;

the output shaft of motor (1) is connected sun gear (207), sun gear (207) pass through planet driving gear (2012) of reduction gear casing (201) with planet wheel (206) transmission cooperation, planet wheel (206) are connected with wave generator, harmonic driving gear (2011) of reduction gear casing (201) with flexbile gear (205) transmission cooperation, flexbile gear (205) with steel wheel (204) transmission cooperation, steel wheel (204) do the output shaft of reduction gear (2).

3. The electric steering engine for the unmanned aerial vehicle of claim 2, wherein the reducer housing (201) is a cylindrical structure with openings at two ends, and an end cover (202) and a cover plate (203) are respectively installed at two ends of the reducer housing (201).

4. The electric steering engine for the unmanned aerial vehicle of claim 3, wherein the steel wheel (204) is connected with the end cap (202) through a deep groove ball bearing.

5. The electric steering engine for the unmanned aerial vehicle of claim 1, wherein the sensor rotating shaft (301) is made of stainless steel, the sensor housing is made of duralumin, and the sensor cover plate is made of duralumin.

6. The electric steering engine for the unmanned aerial vehicle of claim 1, wherein the angular displacement sensor (3) further comprises a mounting lug (302) arranged on the sensor cover plate and used for connecting the speed reducer (2).

7. The electric steering engine for the unmanned aerial vehicle according to claim 1, wherein a hollow portion of the sensor rotating shaft (301) is in transition fit with an output shaft of the speed reducer (2).

8. The electric steering engine for the unmanned aerial vehicle of claim 1, wherein the sensor housing and the sensor rotating shaft (301) are respectively provided with a positioning mark for zeroing the radial positions of the sensor housing and the sensor rotating shaft (301).

9. The electric steering engine for the unmanned aerial vehicle of claim 8, wherein the positioning marks are circles, triangles or arrows.

10. The electric steering engine for the unmanned aerial vehicle of claim 1, further comprising a steering engine housing, wherein the steering engine housing is covered on the controller, the motor (1), the speed reducer (2) and the angular displacement sensor (3), and the sensor base is fixed on the inner wall of the steering engine housing.