阅读说明：本技术 一种无人机刹车用机电作动器 (Electromechanical actuator for unmanned aerial vehicle brake ) 是由 高鑫 于 2020-05-14 设计创作，主要内容包括：本发明提供了一种无人机刹车用机电作动器,包括无刷电机；所述无刷电机的输出前端安装有丝杠螺母且无刷电机带动丝杠螺母旋转,丝杠螺母套装在丝杆上构成丝杠副,丝杆外端一体设置刹车推杆,有位置传感器安装在刹车推杆的侧面。本发明通过锥齿轮传动、展开式齿轮传动、滚珠丝杠,将无刷电机的高速旋转运动转化为刹车推杆的直线运动,并且集成了力传感器和位移传感器,能够反馈刹车力和刹车推杆的位置信号,采用了工作效率较高的齿轮传动和滚珠丝杠传动,并且将力传感器与盖板集成结构设计,从而整体能很好的满足无人机刹车系统自动化、智能化控制的需要,相对于现有技术而言重量更轻、可靠性更高。(The invention provides an electromechanical actuator for an unmanned aerial vehicle brake, which comprises a brushless motor; the output front end of the brushless motor is provided with a lead screw nut, the brushless motor drives the lead screw nut to rotate, the lead screw nut is sleeved on the lead screw to form a lead screw pair, the outer end of the lead screw is integrally provided with a brake push rod, and a position sensor is arranged on the side surface of the brake push rod. According to the invention, through bevel gear transmission, expansion gear transmission and the ball screw, high-speed rotation motion of the brushless motor is converted into linear motion of the brake push rod, and the force sensor and the displacement sensor are integrated, so that brake force and position signals of the brake push rod can be fed back, gear transmission and ball screw transmission with higher working efficiency are adopted, and the force sensor and the cover plate are integrated in a structural design, so that the requirements of automatic and intelligent control of an unmanned aerial vehicle brake system can be well met integrally, and compared with the prior art, the unmanned aerial vehicle brake system is lighter in weight and higher in reliability.)

1. The utility model provides an unmanned aerial vehicle is electromechanical actuator for brake, includes brushless motor (1), its characterized in that: lead screw nut (8) and brushless motor (1) are installed to brushless motor (1) output front end and are driven lead screw nut (8) rotatory, and lead screw nut (8) suit constitutes the lead screw pair on lead screw (16), and lead screw (16) outer end an organic whole sets up brake push rod (10), has position sensor (15) to install the side at brake push rod (10).

2. The electromechanical actuator for unmanned aerial vehicle brake of claim 1, wherein: the lead screw nut (8) and the lead screw (16) are both installed in the machine shell (9), and the brake push rod (10) is located outside the machine shell (9).

3. The electromechanical actuator for braking of an unmanned aerial vehicle as claimed in claim 2, wherein: the electric connector (2) is arranged on the other side of the side face, opposite to the side face where the brake push rod (10) is located, of the machine shell (9), the electric connector (2) is arranged on a cover plate, located at the position, of the machine shell (9) and is led out through the side face, the force sensor (4) is integrally arranged on the front face of the cover plate, and a screw rod (16) through hole is formed in the center of the front face of the cover plate.

4. The electromechanical actuator for braking of unmanned aerial vehicle as claimed in claim 3, wherein: the force sensor (4) is a piezoresistive force sensor, and an annular stress surface is arranged on the bottom side edge of the cover plate at the installation position of the force sensor (4).

5. The electromechanical actuator for unmanned aerial vehicle brake of claim 1, wherein: the output end of the brushless motor (1) sequentially passes through the driving bevel gear (11), the driven bevel gear (12), the driving cylindrical gear (13) and the driven cylindrical gear (7) to realize power transmission for driving the screw nut (8) to rotate, and the driving bevel gear (11), the driven bevel gear (12), the driving cylindrical gear (13) and the driven cylindrical gear (7) are all installed in the shell (9).

6. The electromechanical actuator for unmanned aerial vehicle brake of claim 1, wherein: the brake push rod (10) is a square column.

7. The electromechanical actuator for unmanned aerial vehicle brake of claim 1, wherein: the position sensor (15) is composed of a sliding block (151), a resistance sheet (152) and a base (153), the sliding block (151) is fixed on the side face of the brake push rod (10), the sliding block (151) can slide on the base (153), the base (153) is arranged inside the brake push rod (10) and fixed on the shell (9), and the resistance sheet (152) is fixed at the bottom of the sliding block (151) and forms contact fit with the sliding block (151).

8. The electromechanical actuator for unmanned aerial vehicle brake of claim 1, wherein: the machine shell (9) is made of stainless steel.

Technical Field

The invention relates to an electromechanical actuator for braking an unmanned aerial vehicle.

Background

At present comparatively common unmanned aerial vehicle brake actuator is hydraulic pressure or pneumatic actuator, and the structure is complicated, maintains the difficulty, and the reliability is low, also has electromagnetic type and electrodynamic type, and the electromagnetic type structure is simpler, nevertheless can't realize brake force linear control, can't realize smooth-going reliable brake, and the electrodynamic type generally adopts trapezoidal lead screw to realize brake push rod linear motion, and work efficiency is low, and response time is great, and the sensor integration is low.

Disclosure of Invention

In order to solve the technical problems, the invention provides the electromechanical actuator for the brake of the unmanned aerial vehicle, which can effectively solve the technical problems of low working efficiency, longer response time and low sensor integration level of the electric brake actuator of the unmanned aerial vehicle in the prior art, and meet the requirements of automatic and intelligent control of a brake system of the unmanned aerial vehicle.

The invention is realized by the following technical scheme.

The invention provides an electromechanical actuator for an unmanned aerial vehicle brake, which comprises a brushless motor; the output front end of the brushless motor is provided with a lead screw nut, the brushless motor drives the lead screw nut to rotate, the lead screw nut is sleeved on the lead screw to form a lead screw pair, the outer end of the lead screw is integrally provided with a brake push rod, and a position sensor is arranged on the side surface of the brake push rod.

The screw nut and the screw rod are both arranged in the shell, and the brake push rod is positioned outside the shell.

The other side of the side face, opposite to the side face where the brake push rod is located, of the machine shell is provided with an electric connector, the electric connector is installed on a cover plate, where the machine shell is located, of the machine shell and is led out through the side face, the force sensor is integrally installed on the front face of the cover plate, and a screw rod through hole is formed in the center of the front face of the cover plate.

The force sensor is a piezoresistive force sensor, and an annular stress surface is arranged on the bottom side edge of the cover plate at the installation position of the force sensor.

The output end of the brushless motor sequentially passes through the driving bevel gear, the driven bevel gear, the driving cylindrical gear and the driven cylindrical gear to realize power transmission for driving the screw nut to rotate, and the driving bevel gear, the driven bevel gear, the driving cylindrical gear and the driven cylindrical gear are all installed in the shell.

The brake push rod is a square column.

The position sensor comprises a sliding block, a resistor disc and a base, wherein the sliding block is fixed on the side face of the brake push rod and can slide on the base, the base is arranged inside the brake push rod and fixed on the shell, and the resistor disc is fixed at the bottom of the sliding block and forms contact fit with the sliding block.

The casing is made of stainless steel.

The invention has the beneficial effects that: through bevel gear transmission, expansion gear drive, ball, convert brushless motor's high-speed rotary motion into brake push rod's linear motion, and force transducer and displacement sensor have been integrated, can feed back brake power and brake push rod's position signal, gear drive and ball drive that work efficiency is higher have been adopted, and with force transducer and apron integrated structure design, adopt combination resistance piece formula linear position sensor, greatly increased space utilization, the complete machine weight has been reduced, be not more than 600g at complete machine weight, when rated power 115W, can provide the brake power that is not less than 1800N, thereby whole can be fine satisfy unmanned aerial vehicle braking system automation, the needs of intelligent control, the weight is lighter for prior art, the reliability is higher.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a cross-sectional view taken along the line A-A in FIG. 2;

FIG. 4 is a top partial cross-sectional view of FIG. 1;

FIG. 5 is a schematic diagram of the electrical connector of FIG. 1;

FIG. 6 is a schematic structural view of the brake push rod of FIG. 1;

FIG. 7 is a schematic diagram of the position sensor of FIG. 1;

FIG. 8 is a schematic view of the installation of FIG. 1;

fig. 9 is a side view of fig. 8.

In the figure: the brake comprises a brushless motor 1, an electric connector 2, a positioning pin 3, a force sensor 4, a bearing support 5, a first angular contact bearing 6, a driven cylindrical gear 7, a lead screw nut 8, a machine shell 9, a brake push rod 10, a driving bevel gear 11, a driven bevel gear 12, a driving cylindrical gear 13, an angular contact bearing 14, a position sensor 15, a slider 151, a resistor disc 152, a base 153, a lead screw 16, a brake disc 17 and a brake disc 18.

Detailed Description

The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.

An electromechanical actuator for braking an unmanned aerial vehicle as shown in fig. 1 to 7 comprises a brushless motor 1; the output front end of brushless motor 1 is installed lead screw nut 8 and brushless motor 1 drives lead screw nut 8 rotatory, and lead screw nut 8 suit constitutes the lead screw pair on lead screw 16, and 16 outer ends of lead screw integratively set up brake push rod 10, have position sensor 15 to install the side at brake push rod 10.

The screw nut 8 and the screw 16 are both arranged in the machine shell 9, and the brake push rod 10 is positioned outside the machine shell 9.

The electric connector 2 is arranged on the other side of the side face, opposite to the side face where the brake push rod 10 is located, of the machine shell 9, the electric connector 2 is arranged on a cover plate of the machine shell 9 and is led out from the side face, the force sensor 4 is integrally arranged on the front face of the cover plate, and a screw rod 16 through hole is formed in the center of the front face of the cover plate.

The force sensor 4 is a piezoresistive force sensor, and an annular stress surface is arranged on the bottom side edge of the cover plate at the installation position of the force sensor 4.

The output end of the brushless motor 1 sequentially passes through the driving bevel gear 11, the driven bevel gear 12, the driving cylindrical gear 13 and the driven cylindrical gear 7 to realize power transmission for driving the screw nut 8 to rotate, and the driving bevel gear 11, the driven bevel gear 12, the driving cylindrical gear 13 and the driven cylindrical gear 7 are all installed in the machine shell 9.

The brake push rod 10 is a square column.

The position sensor 15 is composed of a slider 151, a resistor disc 152 and a base 153, the slider 151 is fixed on the side surface of the brake push rod 10, the slider 151 can slide on the base 153, the base 153 is arranged inside the brake push rod 10 and fixed on the machine shell 9, and the resistor disc 152 is fixed at the bottom of the slider 151 and forms contact fit with the slider 151.

The casing 9 is made of stainless steel.

Therefore, the invention mainly solves the technical problems of low working efficiency, longer response time and low sensor integration level commonly existing in the electric unmanned aerial vehicle brake actuator in the prior art through three-aspect structural design:

firstly, designing an integrated structure of a force sensor;

a piezoresistive force sensor is adopted, the power supply voltage (0-10) V DC, the force measuring range (0-2000) N and the output signal are voltage analog quantity. The force sensor shell and the supporting material are made of stainless steel, the force sensor and the cover plate are designed into an integrated structure, and the side face of the mounting line is led out. According to the size of an outer ring of the angular contact bearing, an annular stress surface is designed on the force sensor, the annular stress surface also plays a role in axial positioning and fixing of the angular contact bearing, and the middle of the annular stress surface is designed to be of a hollow structure and serves as a lead screw through hole.

Integration design of ball screw and brake push rod

The lead screw and the brake push rod are integrally designed, the position sensor sliding block is installed on the brake push rod, the brake push rod section is set to be square, the square hole on the shell is matched, the lead screw is limited to rotate, and a linear motion guide structure is formed. The lead screw nut and the driven cylindrical gear are coaxially linked, and the lead screw nut is provided with an angular contact bearing installation position, so that the lead screw nut becomes a driving pair of the ball screw.

Structural design of position sensor

The common linear position sensor comprises a Hall type linear position sensor, an LVDT type linear position sensor, an independent contact type linear position sensor and a combined resistance sheet type linear position sensor, wherein the combined resistance sheet type linear position sensor is selected to reduce the space size as much as possible, and the structural design of the position sensor is carried out according to the limitation of the installation space. The resistance card and the base are installed in a square hole in the shell, the position sensor sliding block is installed on the brake push rod, the position sensor sliding block is in contact fit with the resistance card after the whole machine is assembled, a combined resistance sheet type linear position sensor is formed, and position information collection of the brake push rod can be achieved.

As shown in fig. 8 and 9, the operation principle of the present invention mainly lies in:

the electromechanical actuators are mounted on the brake disc 17 of the wheel hub (the mounting number can be determined according to the braking force, and 3 brake discs are generally recommended to be mounted on one wheel hub), so that the end face of the brake push rod is in contact with the brake pad 18. When the brake is needed, the brushless motor is controlled to rotate through the electric connector, the motor drives the driving bevel gear to rotate, the driven bevel gear rotates immediately, the driven bevel gear drives the driving cylindrical gear to rotate, then the driven cylindrical gear and the lead screw nut are driven to rotate simultaneously, and the lead screw nut drives the lead screw (namely the brake push rod) to generate linear motion to complete the brake action. When the brake needs to be released, the electric connector controls the motor to rotate in the opposite direction, so that the brake push rod retracts, and the brake can be released. In the process of braking or releasing the braking, the voltage signals of the braking force and the position information of the braking push rod are fed back through the force sensor and the position sensor.