Tilting type electric vertical take-off and landing aircraft with foldable airfoils and operation method of tilting type electric vertical take-off and landing aircraft

Abstract

The invention discloses a tilting type electric vertical take-off and landing aircraft with foldable airfoils and an operation method. Comprising a fuselage, a fixed section wing arranged on the fuselage, a folding section wing connected to the fixed section wing through a wing folding assembly, a vertical fin arranged at the tail of the fuselage, a fixed section horizontal tail arranged on the vertical fin and a folding section horizontal tail connected to the fixed section horizontal tail through a horizontal tail folding assembly. The conversion of the aircraft among a folding mode, a helicopter mode and a fixed-wing aircraft mode can be realized under the action of the wing folding assembly and the horizontal tail folding assembly, a front-end rotor wing is arranged on the fixed-section wing, a middle-end rotor wing is arranged on the folding-section wing, and a rear-end rotor wing is arranged on the folding-section horizontal tail. When the aircraft is parked on the ground, the folding section wings and the folding section horizontal tail can be folded, so that the parking space needed by the aircraft is reduced, the requirement for special infrastructures is lowered, the cost is saved, the aircraft can be more easily integrated into the current limited space of a city, and the operation flexibility is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a tilting electric vertical take-off and landing aircraft with foldable wings and an operation method thereof. Background Art

[0002] Electric vertical take-off and landing aircraft are battery-powered, do not produce exhaust emissions, have less impact on the environment, and help reduce urban air pollution and greenhouse gas emissions. Electric motors are generally quieter than internal combustion engines, can significantly reduce noise, and are more suitable for flying in urban environments. Unlike traditional aircraft, electric vertical take-off and landing aircraft can take off and land vertically at small, non-traditional airports or even in city centers, reducing dependence on large airports and runways. Electric vertical take-off and landing aircraft are a potential solution to urban traffic congestion. They can fly at low altitudes between cities, avoiding ground traffic congestion, and providing a faster and more direct way to travel.

[0003] With the continuous advancement of technology and the reduction of costs, electric vertical take-off and landing aircraft may have a wider range of applications in the future, including personal aircraft, logistics transportation, emergency medical services, etc. Limited by motor and battery technology, in order to increase payload and range, current electric vertical take-off and landing aircraft are usually equipped with large wingspans, resulting in a large demand for parking space. Most cities have not carried out urban planning for such aircraft, and the current situation of limited urban space has become one of the limitations for the integration of electric vertical take-off and landing aircraft into existing urban infrastructure in the future. Electric vertical take-off and landing aircraft with large wingspans need to disassemble their wings for transportation. The disassembly process is time-consuming and labor-intensive, and cannot be flexibly and quickly deployed in different areas. Summary of the invention

[0004] The purpose of the present invention is to provide a tilting electric vertical take-off and landing aircraft with foldable wings and an operation method, so as to solve the problems that existing aircraft cannot simultaneously take into account large load-bearing performance and are difficult to park and transport.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: a tilting electric vertical take-off and landing aircraft with foldable wing surface, comprising a fuselage, a fixed-section wing arranged on the fuselage, a folding-section wing connected to the fixed-section wing through a wing folding assembly, a vertical tail arranged at the tail of the fuselage, a fixed-section horizontal tail arranged on the vertical tail, and a folding-section horizontal tail connected to the fixed-section horizontal tail through a horizontal tail folding assembly, wherein the aircraft can be switched between a folding mode, a helicopter mode and a fixed-wing aircraft mode through the wing folding assembly and the horizontal tail folding assembly;

[0006] A front rotor is arranged on the fixed section wing, a middle rotor is arranged on the folding section wing, and a rear rotor is arranged on the folding section horizontal tail.

[0007] Furthermore, the front rotor includes a front rotor blade, a front rotor hub and a front rotor support arm. The front rotor blade is fixedly connected to the front rotor hub. The front rotor hub is hinged to the end of the front rotor support arm. The front rotor support arm is fixedly connected to the end rib of the fixed section wing.

[0008] Furthermore, the mid-end rotor includes a mid-end rotor blade, a mid-end rotor hub and a mid-end rotor nacelle. The mid-end rotor blade and the mid-end rotor hub are fixedly connected. The mid-end rotor hub is hinged on the mid-end rotor nacelle, and the mid-end rotor nacelle is fixedly connected to the end of the folding section wing.

[0009] Furthermore, the rear end rotor includes a rear end rotor blade, a rear end rotor hub and a rear end rotor nacelle. The rear end rotor blade and the rear end rotor hub are fixedly connected. The rear end rotor hub is hinged at the end of the rear end rotor nacelle. The rear end rotor nacelle is fixedly connected to the end of the folding section horizontal tail.

[0010] Furthermore, the folding section flat tail comprises a left folding section flat tail, a left flat tail ear piece, a left flat tail single ear, a right folding section flat tail, a right flat tail ear piece and a right flat tail single ear;

[0011] The left foldable tailplane is hinged to the fixed-section tailplane through a left tailplane ear, and the right foldable tailplane is hinged to the fixed-section tailplane through a right tailplane ear.

[0012] Further, the wing folding assembly includes a wing tilt motor, a wing tilt bearing, a wing tilt shaft, a folding motor, a stop pin, a tilt-folding connector, and a leading edge block;

[0013] The wing tilt motor is installed inside the fixed section wing, the outer ring of the wing tilt bearing is fixedly connected to the fixed section wing, the wing tilt shaft is fixedly connected to the inner ring of the wing tilt bearing, and the end of the wing tilt shaft is connected to the rotating shaft of the wing tilt motor through a flange, the folding motor is fixed inside the folding section wing, the tilt-folding connecting piece is fixedly connected to the end of the wing tilt shaft away from the wing tilt motor through a stop pin, the bottom of the tilt-folding connecting piece is connected to the rotating shaft of the folding motor through a key, the side of the leading edge block is fixedly connected to the end rib of the folding section wing, and the bottom of the leading edge block is connected to the tilt-folding connecting piece through a bearing.

[0014] Further, the tilt-folding connection member includes a folding limit pin, an upper folding shaft, a positioning hole, a line hole, a lower folding bearing and a lower folding shaft;

[0015] The inner ring of the lower folding bearing is fixed on the lower folding shaft, and the outer ring of the lower folding bearing is fixedly connected to the folding section wing.

[0016] Furthermore, the leading edge block includes an upper folding bearing and a folding limit channel, the inner ring of the upper folding bearing is fixedly connected to the upper folding axis of the tilting-folding connection piece, and the folding limit pin of the tilting-folding connection piece is located inside the folding limit channel.

[0017] Further, the horizontal tail folding assembly includes a left folding section horizontal tail driving servo, a left folding section horizontal tail driving servo fixing plate, a left folding section horizontal tail driving servo connecting rod, a right folding section horizontal tail driving servo, a right folding section horizontal tail driving servo fixing plate and a right folding section horizontal tail driving servo connecting rod;

[0018] The left folding section horizontal tail driving servo is connected to the left folding section horizontal tail driving servo fixing plate through a lug ear piece, the left folding section horizontal tail driving servo fixing plate is fixedly connected to the right end rib of the fixed section horizontal tail, the left folding section horizontal tail driving servo connecting rod is fixedly connected to the end of the left folding section horizontal tail driving servo, and the other end of the left folding section horizontal tail driving servo connecting rod is hinged to the left folding section horizontal tail through the left horizontal tail single ear;

[0019] The right folding section horizontal tail driving servo is connected to the right folding section horizontal tail driving servo fixing plate through a lug ear piece, the right folding section horizontal tail driving servo fixing plate is fixedly connected to the left end rib of the fixed section horizontal tail, the right folding section horizontal tail driving servo connecting rod is fixedly connected to the end of the right folding section horizontal tail driving servo, and the other end of the right folding section horizontal tail driving servo connecting rod is hinged to the right folding section horizontal tail through the right horizontal tail single ear.

[0020] The present invention also provides an operation method of a tilting electric vertical take-off and landing aircraft with foldable wings, comprising the following steps:

[0021] S1: Folding mode:

[0022] The wing tilt motor drives the wing tilt shaft to rotate from the nose to the tail until the folding section wing, the upper folding shaft and the lower folding shaft are driven to a vertical state; then the folding motor drives the lower folding bearing and the outer ring of the upper folding bearing to rotate backward, and the folding section wing moves synchronously with the lower folding bearing and the upper folding bearing to a folded state, the folding motor is locked at the set extreme folding position, and the folding limit pin moves to the folding limit position of the folding limit channel;

[0023] The left folding section horizontal tail driving servo and the right folding section horizontal tail driving servo are in the maximum extension state and locked in this position. The extension of the left folding section horizontal tail driving servo and the right folding section horizontal tail driving servo will drive the left folding section horizontal tail driving servo connecting rod and the right folding section horizontal tail driving servo connecting rod to move away from the symmetry plane of the fuselage, thereby driving the left folding section horizontal tail to rotate counterclockwise and the right folding section horizontal tail to rotate clockwise, so that the folding section horizontal tail can be folded downward; the propeller disc of the rear end rotor is parallel to the folding section horizontal tail, and the propeller disc of the rear end rotor is attached to the side of the fuselage to complete the folding;

[0024] S2: Helicopter mode:

[0025] The folding motor drives the lower folding bearing and the upper folding bearing to rotate forward first, and at the same time drives the folding section wing to rotate forward until the folding section wing rotates to a state perpendicular to the longitudinal axis of the fuselage, the folding motor is locked at the set wing unfolding limit position, and the folding limit pin moves to the unfolding limit position of the folding limit channel;

[0026] The left folding section horizontal tail driving servo and the right folding section horizontal tail driving servo are retracted, driving the left folding section horizontal tail driving servo connecting rod and the right folding section horizontal tail driving servo connecting rod to move toward the symmetric plane of the fuselage, the left folding section horizontal tail driving servo connecting rod drives the left folding section horizontal tail to rotate clockwise, and the right folding section horizontal tail driving servo connecting rod drives the right folding section horizontal tail to rotate counterclockwise, until the folding section horizontal tail is connected to the fixed section horizontal tail as a whole, and the left folding section horizontal tail driving servo and the right folding section horizontal tail driving servo are locked at this position;

[0027] The propeller discs of the front rotor, the middle rotor and the rear rotor are all rotated to be parallel to the longitudinal axis of the fuselage. At this time, the electric vertical take-off and landing aircraft is converted from the folding mode to the helicopter mode and can take off vertically;

[0028] S3: Fixed-wing aircraft mode:

[0029] After the electric vertical take-off and landing aircraft climbs to a certain height in helicopter mode, the wing tilt motor drives the wing tilt axis to rotate forward, driving the folding section wing and the middle rotor to tilt forward. When the folding section wing and the fixed section wing are connected as a whole, the wing tilt motor is locked in this position. At the same time, the front rotor and the rear rotor are tilted forward until their rotor discs are perpendicular to the longitudinal axis of the fuselage, completing the conversion from helicopter mode to fixed-wing aircraft mode;

[0030] S4: Landing process:

[0031] The front rotor and the rear rotor tilt until their propeller discs are parallel to the longitudinal axis of the fuselage. The wing tilt motor drives the wing tilt axis to rotate backward, causing the folded wing section and the mid-end rotor to tilt to a vertical state, completing the conversion from fixed-wing aircraft mode to helicopter mode. Under the lift of the six rotors, the electric vertical take-off and landing aircraft lands in helicopter mode.

[0032] The present invention has the following beneficial effects: The present invention provides a tilting electric vertical take-off and landing aircraft with foldable wings and an operation method thereof:

[0033] (1) When the aircraft is parked on the ground, the foldable wings and foldable horizontal tail can be folded, thereby reducing the parking space required for the aircraft, reducing the demand for dedicated infrastructure, thereby saving costs, making it easier to integrate into the current limited space in cities, enhancing operational flexibility, and facilitating the electric vertical take-off and landing aircraft to open up a large-scale home user market;

[0034] In addition, the electric vertical take-off and landing aircraft uses a backward folding wing method. When preparing for take-off, it only needs to rotate the wings forward and unfold them to enter the vertical take-off state, achieving rapid response and deployment.

[0035] (2) The aircraft achieves the dual purpose of tilting and folding wings through a folding-tilting connection, which can effectively reduce the aerodynamic interference between the rotor and the wing in the helicopter mode of the aircraft: the outer section of the wing below the mid-end rotor has a smaller projected area, which can reduce the additional downward load on the wing caused by the rotor downwash, which is beneficial to reduce motor power waste and improve load-bearing performance and range.

[0036] (3) The wing and tail folding components of this aircraft are directly driven by the servos, eliminating the need for a complex transmission system, operating stably and reliably, and significantly reducing the structural weight compared to hydraulic transmission. The wing folding components have dual redundancy of electrical and mechanical limits to ensure accurate positioning of wing folding and unfolding. The full-machine folding components not only achieve the folding goal, but also have no adverse effects on the aerodynamic shape of the wings and tail. Covers are provided for the wing and tail folding components to facilitate inspection and maintenance of the folding components.

[0037] (4) The wings and tail of the aircraft are folded to shorten their wingspan, which can reduce the bending moment caused by the rotors and motors at the ends of the wing and tail on the wings and tail, and is beneficial to alleviating the deformation of the wing and tail structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of the aircraft provided by the present invention in a folded mode;

[0039] Figure 2 This is a schematic diagram of the structure of the aircraft provided by the present invention in helicopter mode;

[0040] Figure 3 This is a schematic diagram of the structure of the aircraft provided by the present invention in the fixed-wing aircraft mode;

[0041] Figure 4 It is a schematic diagram of the rotor structure in the present invention;

[0042] Figure 5 It is a schematic diagram of the tail wing structure in the present invention;

[0043] Figure 6 This is a schematic diagram of the folding section tail structure of the present invention;

[0044] Figure 7 It is a schematic diagram of the structure of the wing folding assembly in the present invention;

[0045] Figure 8 It is a schematic diagram of the structure of the wing in the folding mode of the present invention;

[0046] Fig. 9 It is a schematic diagram of the structure of the wing in the helicopter mode of the present invention;

[0047] Fig.10 It is a schematic diagram of the structure of the wing in the fixed-wing aircraft mode of the present invention;

[0048] Fig.11 It is a schematic diagram of the upper side structure of the tilt-folding connector of the wing folding assembly of the present invention;

[0049] Fig.12 It is a schematic diagram of the lower side structure of the tilt-folding connector of the wing folding assembly of the present invention;

[0050] Fig.13 It is a schematic diagram of the leading edge block structure of the wing folding assembly in the present invention;

[0051] Fig.14 This is a schematic diagram of the structure of the horizontal tail folding assembly in the present invention;

[0052] Fig.15 This is a schematic diagram of the unfolded structure of the horizontal tail in the present invention;

[0053] Fig.16 This is a schematic diagram of the folding structure of the horizontal tail in the present invention;

[0054] Figures 1 to 16The reference numerals shown in the figure are respectively represented as: 100-fuselage, 201-fixed section wing, 500-wing folding assembly, 202-folding section wing, 401-vertical tail, 402-fixed section horizontal tail, 403-folding section horizontal tail, 301-front rotor, 302-middle rotor, 303-rear rotor, 3011-front rotor blade, 3012-front rotor hub, 3013-front rotor Wing support arm, 3021-middle rotor blade, 3022-middle rotor hub, 3023-middle rotor nacelle, 3031-rear rotor blade, 3032-rear rotor hub, 3033-rear rotor nacelle, 4031-left folding section horizontal tail, 4032-left horizontal tail ear, 4033-left horizontal tail single ear, 4034-right folding section horizontal tail, 4035-right horizontal tail ear, 4036-right side horizontal tail single ear, 501-wing tilt motor, 502-wing tilt bearing, 503-wing tilt shaft, 504-folding motor, 505-stop pin, 506-tilt-folding connector, 507-leading edge block, 5061-folding limit pin, 5062-upper folding shaft, 5063-positioning hole, 5064-line hole, 5065-lower folding bearing, 5066-lower folding shaft, 5071-upper folding bearing, 5072-folding limit channel, 601-left folding section horizontal tail drive servo, 602-left folding section horizontal tail drive servo fixing plate, 603-left folding section horizontal tail drive servo connecting rod, 604-right folding section horizontal tail drive servo, 605-right folding section horizontal tail drive servo fixing plate, 606-right folding section horizontal tail drive servo connecting rod. DETAILED DESCRIPTION

[0055] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0056] like Figures 1 to 3As shown, a tilting electric vertical take-off and landing aircraft with foldable wing surface comprises a fuselage 100, a fixed section wing 201 arranged on the fuselage 100, a folding section wing 202 connected to the fixed section wing 201 through a wing folding assembly 500, a vertical tail 401 arranged at the tail of the fuselage 100, a fixed section horizontal tail 402 arranged on the vertical tail 401, and a folding section horizontal tail 403 connected to the fixed section horizontal tail 402 through a horizontal tail folding assembly 600. The aircraft can be switched between a folding mode, a helicopter mode, and a fixed-wing aircraft mode through the wing folding assembly 500 and the horizontal tail folding assembly 600. The vertical tail 401 and the fixed section horizontal tail 402 are arranged in a "T" shape, and the horizontal tail can avoid the wake interference of the wing, improve the control efficiency of the horizontal tail, and thus reduce the area of ​​the horizontal tail and thus reduce the structural weight. The fuselage 100 includes a fuselage and a skid landing gear. The skid landing gear is used to support the aircraft on the ground and can also serve as a landing cushion. Compared with a wheeled landing gear, it has a simple and reliable structure, simple maintenance, and reduced structural weight, so that the electric vertical take-off and landing aircraft has more commercial space.

[0057] In helicopter mode, the folding section wing 202 is in a vertical state to reduce the rotor-wing aerodynamic interference during vertical take-off and landing. In fixed-wing aircraft mode, the folding section wing 202 is unfolded and forms an overall shape with the fixed section wing 201 to improve lift and flight efficiency. The folding section wing 202 is connected to the fixed section wing 201 through the wing folding assembly 500 to achieve the functions of folding and unfolding. In folding mode, the folding section horizontal tail 403 is folded up to reduce the space size. In fixed-wing aircraft mode, the folding section horizontal tail 403 is unfolded to provide pitch control and increase flight stability. It is connected to the fixed section horizontal tail 402 through the horizontal tail folding assembly 600 to achieve the functions of folding and unfolding. The wing folding assembly 500 and the horizontal tail folding assembly 600: realize the folding and unfolding functions of the wing and the horizontal tail, so as to switch between different flight modes. The fixed section wing 201 is provided with a front rotor 301 , the folding section wing 202 is provided with a middle rotor 302 , and the folding section horizontal tail 403 is provided with a rear rotor 303 .

[0058] like Figure 4As shown, the front rotor 301 includes a front rotor blade 3011, a front rotor hub 3012 and a front rotor arm 3013, the front rotor blade 3011 is fixedly connected to the front rotor hub 3012, the front rotor hub 3012 is hinged at the end of the front rotor arm 3013, and the front rotor arm 3013 is fixedly connected to the end rib of the fixed section wing 201. When the rotor rotates, the blade cuts the air and generates lift and thrust, which is the key to the vertical take-off and landing and horizontal flight of the aircraft. By adjusting the tilt angle and rotation speed of the blade, the flight attitude and flight direction of the aircraft can be controlled. The front rotor hub 3012 is a key component connecting the blade and the rotor arm, which ensures that the blade can be stably fixed on the arm, and the hub drives the blade to tilt synchronously. The hub needs to bear the torque from the motor and transmit it to the blade, drive the blade to rotate, and enable the blade to generate enough lift and thrust. The front rotor support arm 3013 is a component connecting the propeller hub and the fixed section wing 201. It supports and fixes the propeller hub to ensure that the propeller hub can rotate stably.

[0059] Similarly, the mid-end rotor 302 includes a mid-end rotor blade 3021, a mid-end rotor hub 3022 and a mid-end rotor nacelle 3023. The mid-end rotor blade 3021 and the mid-end rotor hub 3022 are fixedly connected. The mid-end rotor hub 3022 is connected to the mid-end rotor nacelle 3023. The mid-end rotor nacelle 3023 is fixedly connected to the end of the folding section wing 202.

[0060] Similarly, the rear end rotor 303 includes a rear end rotor blade 3031, a rear end rotor hub 3032 and a rear end rotor nacelle 3033. The rear end rotor blade 3031 and the rear end rotor hub 3032 are fixedly connected. The rear end rotor hub 3032 is hinged at the end of the rear end rotor nacelle 3033. The rear end rotor nacelle 3033 is fixedly connected to the end of the folding section horizontal tail 403.

[0061] like Figures 5 and 6 As shown, the foldable section tailplane 403 comprises a left foldable section tailplane 4031, a left tailplane ear piece 4032, a left tailplane single ear 4033, a right foldable section tailplane 4034, a right tailplane ear piece 4035 and a right tailplane single ear 4036; the left foldable section tailplane 4031 is hinged to the fixed section tailplane 402 via the left tailplane ear piece 4032, and the right foldable section tailplane 4034 is hinged to the fixed section tailplane 402 via the right tailplane ear piece 4035.

[0062] like Figures 7 to 9 As shown, the wing folding assembly 500 includes a wing tilt motor 501, a wing tilt bearing 502, a wing tilt shaft 503, a folding motor 504, a stop pin 505, a tilt-folding connector 506, and a leading edge block 507;

[0063] The wing tilt motor 501 is installed inside the fixed section wing 201, the outer ring of the wing tilt bearing 502 is fixedly connected to the fixed section wing 201, the wing tilt shaft 503 is fixedly connected to the inner ring of the wing tilt bearing 502, and the end of the wing tilt shaft 503 is connected to the rotating shaft of the wing tilt motor 501 through a flange, the folding motor 504 is fixed inside the folding section wing 202, the tilt-folding connecting piece 506 is fixedly connected to the end of the wing tilt shaft 503 away from the wing tilt motor 501 through a stop pin 505, the bottom of the tilt-folding connecting piece 506 is connected to the rotating shaft of the folding motor 504 through a key, the side of the leading edge block 507 is fixedly connected to the end rib of the folding section wing 202, and the bottom of the leading edge block 507 is connected to the tilt-folding connecting piece 506 through a bearing. The wing tilt motor 501 acts as a power source, and drives the wing tilt shaft 503 and the components connected thereto to perform tilting motion by rotating its rotating shaft. The folding motor 504 also acts as a power source, and drives the folding section wing 202 to perform folding motion by rotating its rotating shaft, and drives the folding section wing 202 to fold or unfold. The stop pin 505 is used to fix the position of the tilt-folding connection 506 on the wing tilt shaft 503 to prevent accidental rotation or displacement during the tilting process. It ensures that the tilt-folding connection 506 can stably rotate with the rotation of the wing tilt shaft 503 while maintaining connection with the folding motor 504. The wing tilt bearing 502 is used to reduce friction and wear, and improve the operating efficiency and life of the mechanical system. The wing tilt bearing 502 is used to connect the fixed section wing 201 and the tilt shaft 503, allowing relative rotation between them without generating excessive friction resistance.

[0064] like Figures 11 to 13 As shown, the tilt-folding connection member 506 includes a folding stop pin 5061, an upper folding shaft 5062, a positioning hole 5063, a line hole 5064, a lower folding bearing 5065 and a lower folding shaft 5066; the inner ring of the lower folding bearing 5065 is fixed on the lower folding shaft 5066, and the outer ring of the lower folding bearing 5065 is fixedly connected to the folding section wing 202. The leading edge block 507 includes an upper folding bearing 5071 and a folding stop channel 5072. The shape of the leading edge block 5072 is adapted to the shape of the adjacent folding section wing 202. The inner ring of the upper folding bearing 5071 is fixedly connected to the upper folding shaft 5062 of the tilt-folding connection member 506, and the folding stop pin 5061 of the tilt-folding connection member 506 is located inside the folding stop channel 5072. The folding limit pin 5061 is fixed on the tilting-folding connecting member 506 , and the folding limit channel 5072 is arranged on the leading edge block 507 .

[0065] When the folding section wing 202 is folded or unfolded, the folding limit pin 5061 will slide in the folding limit channel 5072, thereby limiting the folding angle of the wing and ensuring that the wing can stably stay in the predetermined folding position. The upper folding axis 5062 is located on the tilt-folding connection 506, and the upper folding bearing 5071 is installed on the leading edge block 507, and the upper folding axis 5062 is fixedly connected to the inner ring of the upper folding bearing 5071. The cooperation between the two allows the leading edge block 507 to rotate relative to the tilt-folding connection 506 during the folding process while maintaining a stable connection. The lower folding axis 5066 is located on the tilt-folding connection 506, and the inner ring of the lower folding bearing 5065 is fixed on the lower folding axis 5066, and the outer ring is fixedly connected to the folding section wing 202, so that the folding section wing 202 can perform a smooth rotational movement relative to the fixed section wing 201 during the folding and unfolding process, while reducing friction and wear.

[0066] When parked or transported on the ground, the folding section wing 202 first rotates around the wing tilt axis 503 to the helicopter mode, and then rotates and folds backward around the upper folding axis 5062 and the lower folding axis 5066 until the folding limit pin 5061 reaches the folding limit position of the folding limit channel 5072. When taking off, the folding section wing 202 first rotates forward around the upper folding axis 5062 and the lower folding axis 5066 to unfold, until the folding limit pin 5061 reaches the unfolding limit position of the folding limit channel 5072, and the folding section wing 202 and the middle end rotor 302 complete the conversion to the vertical take-off state.

[0067] like Figures 14 to 16 As shown, the tailplane folding assembly 600 includes a left-side folding tailplane driving servo 601, a left-side folding tailplane driving servo fixing plate 602, a left-side folding tailplane driving servo connecting rod 603, a right-side folding tailplane driving servo 604, a right-side folding tailplane driving servo fixing plate 605, and a right-side folding tailplane driving servo connecting rod 606;

[0068] The left folding section tailplane driving servo 601 is connected to the left folding section tailplane driving servo fixing plate 602 through a lug ear piece, the left folding section tailplane driving servo fixing plate 602 is fixedly connected to the right end rib of the fixed section tailplane 402, the left folding section tailplane driving servo connecting rod 603 is fixedly connected to the end of the left folding section tailplane driving servo 601, and the other end of the left folding section tailplane driving servo connecting rod 603 is hinged to the left folding section tailplane 4031 through the left tailplane single ear 4033;

[0069] The right folding section tailplane driving servo 604 is connected to the right folding section tailplane driving servo fixing plate 605 through a lug ear piece, the right folding section tailplane driving servo fixing plate 605 is fixedly connected to the left end rib of the fixed section tailplane 402, the right folding section tailplane driving servo connecting rod 606 is fixedly connected to the end of the right folding section tailplane driving servo 604, and the other end of the right folding section tailplane driving servo connecting rod 606 is hinged to the right folding section tailplane 4034 through the right tailplane single ear 4036.

[0070] The telescopic movement of the left folding section tailplane driving servo 601 and the right folding section tailplane driving servo 604 drives the folding section tailplane 403 to rotate around the fixed section tailplane 402, thereby realizing the folding and unfolding of the tailplane.

[0071] The present invention also provides an operation method of a tilting electric vertical take-off and landing aircraft with foldable wings, comprising the following steps:

[0072] S1: Folding mode:

[0073] The wing tilt motor 501 drives the wing tilt shaft 503 to rotate from the nose to the tail until the folding section wing 202, the upper folding shaft 5062 and the lower folding shaft 5066 are driven to a vertical state; then the folding motor 504 drives the lower folding bearing 5065 and the outer ring of the upper folding bearing 5071 to rotate backward, and the folding section wing 202 moves synchronously with the lower folding bearing 5065 and the upper folding bearing 5071 to a folding state, the folding motor 504 is locked at the set extreme folding position, and the folding limit pin 5061 moves to the folding limit position of the folding limit channel 5072;

[0074] The left folding section horizontal tail driving servo 601 and the right folding section horizontal tail driving servo 604 are in the maximum extension state and locked at this position. The extension of the left folding section horizontal tail driving servo 601 and the right folding section horizontal tail driving servo 604 will drive the left folding section horizontal tail driving servo connecting rod 603 and the right folding section horizontal tail driving servo connecting rod 606 to move away from the symmetry plane of the fuselage 100, thereby driving the left folding section horizontal tail 4031 to rotate counterclockwise and the right folding section horizontal tail 4034 to rotate clockwise, so that the folding section horizontal tail 403 is folded downward; the propeller disc of the rear end rotor 303 is parallel to the folding section horizontal tail 403, and the propeller disc of the rear end rotor 303 is attached to the side of the fuselage 100, and the folding is completed;

[0075] S2: Helicopter mode:

[0076] The folding motor 504 drives the lower folding bearing 5065 and the upper folding bearing 5071 to rotate forward first, and at the same time drives the folding section wing 202 to rotate forward, until the folding section wing 202 rotates to a state perpendicular to the longitudinal axis of the fuselage 100, and the folding motor 504 is locked at the set wing unfolding limit position, and the folding limit pin 5061 moves to the unfolding limit position of the folding limit channel 5072;

[0077] The left folding section tailplane driving servo 601 and the right folding section tailplane driving servo 604 are retracted, driving the left folding section tailplane driving servo connecting rod 603 and the right folding section tailplane driving servo connecting rod 606 to move toward the symmetric plane of the fuselage 100, the left folding section tailplane driving servo connecting rod 603 drives the left folding section tailplane 4031 to rotate clockwise, and the right folding section tailplane driving servo connecting rod 606 drives the right folding section tailplane 4034 to rotate counterclockwise, until the folding section tailplane 403 is connected to the fixed section tailplane 402 as a whole, and the left folding section tailplane driving servo 601 and the right folding section tailplane driving servo 604 are locked at this position;

[0078] The propeller discs of the front rotor 301, the middle rotor 302 and the rear rotor 303 are all rotated to be parallel to the longitudinal axis of the fuselage 100. At this time, the electric vertical take-off and landing aircraft is converted from the folding mode to the helicopter mode, and can take off vertically;

[0079] S3: Fixed-wing aircraft mode:

[0080] After the electric vertical take-off and landing aircraft climbs to a certain height in helicopter mode, the wing tilt motor 501 drives the wing tilt shaft 503 to rotate forward, driving the folding section wing 202 and the middle end rotor 302 to tilt forward. When the folding section wing 202 and the fixed section wing 201 are connected as a whole, the wing tilt motor 501 is locked at this position. At the same time, the front rotor 301 and the rear rotor 303 are tilted forward until their rotor discs are perpendicular to the longitudinal axis of the fuselage 100, completing the conversion from helicopter mode to fixed-wing aircraft mode;

[0081] S4: Landing process:

[0082] The front rotor 301 and the rear rotor 303 are tilted to a state where the propeller disc is parallel to the longitudinal axis of the fuselage 100, and the wing tilt motor 501 drives the wing tilt shaft 503 to rotate backward, so that the folding section wing 202 and the middle rotor 302 are tilted to a vertical state, completing the conversion from the fixed-wing aircraft mode to the helicopter mode. Under the lift of the six rotors, the electric vertical take-off and landing aircraft lands in the helicopter mode. At this time, the upper folding shaft 5062 and the lower folding shaft 5066 are in a vertical state, and the folding motor 504 drives the lower folding bearing 5065 and the outer ring of the upper folding bearing 5071 to rotate backward, driving the folding section wing 202 to rotate backward to a folded state, until the folding limit pin 5061 moves to the folding limit position of the folding limit channel 5072. The left folding section horizontal tail driving servo 601 and the right folding section horizontal tail driving servo 604 are extended, and the folding section horizontal tail 403 is pushed to rotate downward to the folded state through the left folding section horizontal tail driving servo connecting rod 603 and the right folding section horizontal tail driving servo connecting rod 606. At this time, the left folding section horizontal tail driving servo 601 and the right folding section horizontal tail driving servo 604 are locked in this position, completing the conversion from the helicopter mode to the folding mode, which is convenient for the electric vertical take-off and landing aircraft to be parked or transported in a small space.

[0083] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tilting electric vertical take-off and landing aircraft with foldable wings, characterized in that: The invention comprises a fuselage (100), a fixed section wing (201) arranged on the fuselage (100), a folding section wing (202) connected to the fixed section wing (201) via a wing folding assembly (500), a vertical tail (401) arranged at the tail of the fuselage (100), a fixed section horizontal tail (402) arranged on the vertical tail (401), and a folding section horizontal tail (403) connected to the fixed section horizontal tail (402) via a horizontal tail folding assembly (600), wherein the aircraft can be switched between a folding mode, a helicopter mode and a fixed-wing aircraft mode through the functions of the wing folding assembly (500) and the horizontal tail folding assembly (600); The fixed section wing (201) is provided with a front rotor (301), the folding section wing (202) is provided with a middle rotor (302), and the folding section horizontal tail (403) is provided with a rear rotor (303).

2. The electric vertical take-off and landing aircraft with foldable wings according to claim 1, characterized in that: The front rotor (301) comprises a front rotor blade (3011), a front rotor hub (3012) and a front rotor support arm (3013); the front rotor blade (3011) is fixedly connected to the front rotor hub (3012); the front rotor hub (3012) is hinged to the end of the front rotor support arm (3013); and the front rotor support arm (3013) is fixedly connected to the end rib of the fixed section wing (201).

3. The electric vertical take-off and landing aircraft with foldable wing surface according to claim 1, characterized in that: The mid-end rotor (302) comprises a mid-end rotor blade (3021), a mid-end rotor hub (3022) and a mid-end rotor nacelle (3023); the mid-end rotor blade (3021) and the mid-end rotor hub (3022) are fixedly connected; the mid-end rotor hub (3022) is hinged on the mid-end rotor nacelle (3023); and the mid-end rotor nacelle (3023) is fixedly connected to the end of the folding section wing (202).

4. The electric vertical take-off and landing aircraft with foldable wing surface according to claim 1, characterized in that: The rear end rotor (303) comprises a rear end rotor blade (3031), a rear end rotor hub (3032) and a rear end rotor nacelle (3033); the rear end rotor blade (3031) and the rear end rotor hub (3032) are fixedly connected; the rear end rotor hub (3032) is hinged at the end of the rear end rotor nacelle (3033); and the rear end rotor nacelle (3033) is fixedly connected to the end of the folding section horizontal tail (403).

5. The tilt-type electric vertical take-off and landing aircraft with foldable wings according to claim 1, characterized in that: The folded section flat tail (403) comprises a left folded section flat tail (4031), a left flat tail ear piece (4032), a left flat tail single ear (4033), a right folded section flat tail (4034), a right flat tail ear piece (4035) and a right flat tail single ear (4036); The left folding section tailplane (4031) is hinged to the fixed section tailplane (402) via a left tailplane ear piece (4032), and the right folding section tailplane (4034) is hinged to the fixed section tailplane (402) via a right tailplane ear piece (4035).

6. The electric vertical take-off and landing aircraft with foldable wing surface according to claim 1, characterized in that: The wing folding assembly (500) comprises a wing tilting motor (501), a wing tilting bearing (502), a wing tilting shaft (503), a folding motor (504), a stop pin (505), a tilting-folding connector (506) and a leading edge block (507); The wing tilt motor (501) is installed inside the fixed section wing (201), the outer ring of the wing tilt bearing (502) is fixedly connected to the fixed section wing (201), the wing tilt shaft (503) is fixedly connected to the inner ring of the wing tilt bearing (502), and the end of the wing tilt shaft (503) is connected to the rotating shaft of the wing tilt motor (501) through a flange, and the folding motor (504) is fixed to the folding section wing (202 ), the tilt-folding connection piece (506) is fixedly connected to the end of the wing tilt shaft (503) away from the wing tilt motor (501) through a stop pin (505), the bottom of the tilt-folding connection piece (506) is connected to the rotating shaft of the folding motor (504) through a key, the side of the leading edge block (507) is fixedly connected to the end rib of the folding section wing (202), and the bottom of the leading edge block (507) is connected to the tilt-folding connection piece (506) through a bearing.

7. The tilt-type electric vertical take-off and landing aircraft with foldable wings according to claim 6, characterized in that: The tilting-folding connecting member (506) includes a folding limit pin (5061), an upper folding shaft (5062), a positioning hole (5063), a line hole (5064), a lower folding bearing (5065) and a lower folding shaft (5066); The inner ring of the lower folding bearing (5065) is fixed on the lower folding shaft (5066), and the outer ring of the lower folding bearing (5065) is fixedly connected to the folding section wing (202).

8. The electric vertical take-off and landing aircraft with foldable wing surfaces according to claim 7, characterized in that: The leading edge block (507) includes an upper folding bearing (5071) and a folding limit channel (5072), the inner ring of the upper folding bearing (5071) is fixedly connected to the upper folding axis (5062) of the tilting-folding connection (506), and the folding limit pin (5061) of the tilting-folding connection (506) is located inside the folding limit channel (5072).

9. The tilt-type electric vertical take-off and landing aircraft with foldable wings according to claim 5, characterized in that: The tailplane folding assembly (600) comprises a left-side folding section tailplane driving steering gear (601), a left-side folding section tailplane driving steering gear fixing plate (602), a left-side folding section tailplane driving steering gear connecting rod (603), a right-side folding section tailplane driving steering gear (604), a right-side folding section tailplane driving steering gear fixing plate (605) and a right-side folding section tailplane driving steering gear connecting rod (606); The left folding section tailplane driving servo (601) is connected to the left folding section tailplane driving servo fixing plate (602) via a lug ear piece; the left folding section tailplane driving servo fixing plate (602) is fixedly connected to the right end rib of the fixed section tailplane (402); the left folding section tailplane driving servo connecting rod (603) is fixedly connected to the end of the left folding section tailplane driving servo (601); the other end of the left folding section tailplane driving servo connecting rod (603) is hinged to the left folding section tailplane (4031) via a left tailplane single ear (4033); The right folding section tailplane driving servo (604) is connected to the right folding section tailplane driving servo fixing plate (605) via a lug ear piece; the right folding section tailplane driving servo fixing plate (605) is fixedly connected to the left end rib of the fixed section tailplane (402); the right folding section tailplane driving servo connecting rod (606) is fixedly connected to the end of the right folding section tailplane driving servo (604); the other end of the right folding section tailplane driving servo connecting rod (606) is hinged to the right folding section tailplane (4034) via a right tailplane single ear (4036).

10. An operating method of a tilt-type electric vertical take-off and landing aircraft with foldable wings according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Folding mode: The wing tilt motor (501) drives the wing tilt shaft (503) to rotate from the nose to the tail until the folding section wing (202), the upper folding shaft (5062) and the lower folding shaft (5066) are driven to a vertical state; then the folding motor (504) drives the lower folding bearing (5065) and the outer ring of the upper folding bearing (5071) to rotate backward, and the folding section wing (202) moves synchronously with the lower folding bearing (5065) and the upper folding bearing (5071) to a folded state, the folding motor (504) is locked at a set extreme folding position, the folding limit pin (5061) moves to the folding limit position of the folding limit channel (5072), and the cable of the folding motor (504) is transmitted to the fuselage (100) through the internal channel of the line hole (5064); The left folding section horizontal tail driving servo (601) and the right folding section horizontal tail driving servo (604) are in the maximum extension state and locked at this position. The extension of the left folding section horizontal tail driving servo (601) and the right folding section horizontal tail driving servo (604) will drive the left folding section horizontal tail driving servo connecting rod (603) and the right folding section horizontal tail driving servo connecting rod (606) to move away from the symmetry plane of the fuselage (100), thereby driving the left folding section horizontal tail (4031) to rotate counterclockwise and the right folding section horizontal tail (4034) to rotate clockwise, so that the folding section horizontal tail (403) can be folded downward; the propeller disc of the rear end rotor (303) is parallel to the folding section horizontal tail (403), and the propeller disc of the rear end rotor (303) is attached to the side of the fuselage (100), and the folding is completed; S2: Helicopter mode: The folding motor (504) drives the lower folding bearing (5065) and the upper folding bearing (5071) to rotate forward first, and at the same time drives the folding section wing (202) to rotate forward, until the folding section wing (202) rotates to a state perpendicular to the longitudinal axis of the fuselage (100), the folding motor (504) is locked at the set wing unfolding limit position, and the folding limit pin (5061) moves to the unfolding limit position of the folding limit channel (5072); The left folding section horizontal tail driving servo (601) and the right folding section horizontal tail driving servo (604) are retracted, driving the left folding section horizontal tail driving servo connecting rod (603) and the right folding section horizontal tail driving servo connecting rod (606) to move in the direction of the symmetric plane of the fuselage (100); the left folding section horizontal tail driving servo connecting rod (603) drives the left folding section horizontal tail (4031) to rotate clockwise, and the right folding section horizontal tail driving servo connecting rod (606) drives the right folding section horizontal tail (4034) to rotate counterclockwise, until the folding section horizontal tail (403) is connected to the fixed section horizontal tail (402) as a whole, and the left folding section horizontal tail driving servo (601) and the right folding section horizontal tail driving servo (604) are locked at this position; The propeller discs of the front rotor (301), the middle rotor (302) and the rear rotor (303) are all rotated to be parallel to the longitudinal axis of the fuselage (100), and the electric vertical take-off and landing aircraft is converted from the folding mode to the helicopter mode, and can take off vertically; S3: Fixed-wing aircraft mode: After the electric vertical take-off and landing aircraft climbs to a certain height in helicopter mode, the wing tilt motor (501) drives the wing tilt shaft (503) to rotate forward, driving the folding section wing (202) and the middle end rotor (302) to tilt forward. When the folding section wing (202) and the fixed section wing (201) are connected as a whole, the wing tilt motor (501) is locked at this position; at the same time, the front end rotor (301) and the rear end rotor (303) are tilted forward until their rotor discs are perpendicular to the longitudinal axis of the fuselage (100), completing the conversion from helicopter mode to fixed-wing aircraft mode; S4: Landing process: The front rotor (301) and the rear rotor (303) are tilted to a state where the rotor discs are parallel to the longitudinal axis of the fuselage (100), and the wing tilt motor (501) drives the wing tilt shaft (503) to rotate backward, so that the folding section wing (202) and the middle rotor (302) are tilted to a vertical state, completing the conversion from the fixed-wing aircraft mode to the helicopter mode. Under the lift of the six rotors, the electric vertical take-off and landing aircraft lands in the helicopter mode.

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