The invention discloses a redundant steering engine speed reducer for an unmanned aerial vehicle. A gear transmission chain and a harmonic reducer (a flexible gear, a flexible bearing, a wave generator and a fixed rigid gear) are used for torque transmission. The reduction ratio of the harmonic reducer is large, the flexible gear serves as the output end to be connected with the output shaft, and large rigidity and bearing capacity are guaranteed. Double motors and double angle displacement sensors are adopted, paired redundancy of electronic components on a steering engine is ensured, the whole device is highly symmetrical, consistency and interchangeability of two channels are ensured, two sets of independent motors, two sets of independent angle displacement sensors and two sets of independent gear reducers are adopted, and the two independent motors are installed in parallel. And the system reliability can be effectively improved while the requirements on components are relatively reduced. When a certain transmission chain breaks down, the control system can rapidly isolate the broken-down transmission chain and switch to the other transmission chain to achieve operation, and continuity of functions of the steering engine is guaranteed.
本发明公开了一种无人机用冗余舵机减速装置,运用齿轮传动链+谐波减速器(柔轮、柔性轴承、波发生器和固定刚轮)进行力矩传输。谐波减速器减速比大,柔轮作为输出端与输出轴相连,保证较大的刚度和承载能力。采用双电机+双角度位移传感器,确保舵机上电子元器件成对冗余,整个装置高度对称,保证两通道一致性和互换性,采用两套独立的电机、角度位移传感器以及齿轮减速器,两个独立的电机并联安装,可以在相对降低对元器件的要求的同时有效提高系统可靠性。当某一个传动链发生故障时,控制系统可以迅速隔离故障传动链并切换到另一个传动链实现运行,保证舵机功能的连续性。
Redundant steering engine speed reducer for unmanned aerial vehicle
一种无人机用冗余舵机减速装置
2024-07-12
Patent
Electronic Resource
Chinese
IPC: | B64U |
Redundant steering engine system for unmanned aerial vehicle
European Patent Office | 2020
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