Tilting rotorcraft tilting device and method based on linear steering engine

Abstract

The invention discloses a tilting rotorcraft tilting device and method based on a linear steering engine, and relates to the technical field of aircraft power system control. The tilting device comprises an electric linear steering engine, a tilting rib plate and a linear steering engine connecting rod; the rear end of the electric linear steering engine is hinged to one end of the tilting rib plate, a telescopic rod on the front portion of the electric linear steering engine is hinged to one end of the linear steering engine connecting rod, the other end of the linear steering engine connecting rod is fixedly provided with a tilting shaft, the tilting shaft is hinged to the other end of the tilting rib plate, and the tilting shaft is used for installing a rotor cabin. The telescopic rod of the electric linear steering engine drives the linear steering engine connecting rod to drive the tilting shaft fixedly arranged at the tail end of the connecting rod to rotate, so that the rotor cabin is driven to tilt, and flight mode switching is achieved. The device adopts a simple hinged transmission structure to realize power transmission, has the characteristics of compact structure, small transmission clearance and simplicity and convenience in control, and is particularly suitable for the requirements of light weight and low cost of small tilting rotorcrafts.

Description

Technical Field

[0001] This invention relates to the field of aircraft power system control technology, and in particular to a tilting device and method for a tiltrotor aircraft based on a linear servo. Background Technology

[0002] As an aircraft capable of both vertical takeoff and landing and high-speed cruise, one of the core technologies of tiltrotor aircraft lies in the tilt drive mechanism of the rotor system. Existing tilt drive technologies are mainly divided into two categories: hydraulic transmission and electric gear transmission.

[0003] Hydraulic transmission solutions, exemplified by the V-22 Osprey tiltrotor aircraft developed by Bell-Boeing, use hydraulic cylinders in conjunction with a crank-connecting rod mechanism to drive the rotor nacelle to tilt. This solution has strong load capacity and excellent overload resistance, but it also has drawbacks such as complex system structure, cumbersome hydraulic pipeline layout, high maintenance costs, and the risk of hydraulic oil leakage.

[0004] Traditional electric gear transmission solutions, exemplified by small tiltrotor UAVs, use a split electric servo motor in conjunction with a multi-stage gear reduction mechanism to drive the rotor shaft to tilt. This solution has a fast response speed, but the mechanism is bulky, the transmission clearance is difficult to control precisely, and it is prone to rotor vibration, affecting flight stability.

[0005] While the aforementioned existing technical solutions have been validated in engineering, they still have significant shortcomings: the hydraulic transmission solution has strong load capacity and excellent overload resistance, making it suitable for the needs of large tiltrotor aircraft, but its system structure is complex, its pipeline layout is cumbersome, its maintenance costs are high, and it poses a safety risk of hydraulic oil leakage; the traditional electric gear transmission solution has a fast response speed, making it suitable for the lightweight requirements of small UAVs, but its mechanism is bulky, its transmission clearance is difficult to control precisely, it is prone to rotor vibration, and its flight stability is reduced. Moreover, existing tilt control algorithms mostly rely on closed-loop regulation through multi-sensor fusion, which requires high computing power resources for small platforms, limiting its widespread application in low-cost small tiltrotor aircraft.

[0006] The above background information is provided only to aid in understanding the concept and technical solution of this invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Summary of the Invention

[0007] The purpose of this invention is to provide a tilting device and method for tilt rotors based on linear servos, so as to solve the problems existing in the prior art, achieve tilting action control with simple structure, precise transmission and convenient maintenance, adapt to the lightweight and low cost requirements of small tilt rotors, and improve flight stability.

[0008] To achieve the above objectives, the present invention provides the following solution: A tilting device for a tiltrotor aircraft based on a linear servo motor, comprising: Tilting ribs are used for fixed connection with the fuselage; Electric linear servo; Linear servo linkage; Tilting axis; and Tilting seat; The rear end of the electric linear servo is hinged to one end of the tilting rib, the telescopic rod at the front of the electric linear servo is hinged to one end of the linear servo connecting rod, the other end of the linear servo connecting rod is fixedly connected to the tilting shaft, the tilting shaft is rotatably connected to the other end of the tilting rib, the tilting seat is fixedly mounted on the tilting shaft, and the tilting seat is used to install the rotor nacelle. The electric linear servo drives the linear servo linkage to rotate the tilt shaft through the extension and retraction of the telescopic rod, thereby causing the tilt seat and the rotor compartment on it to tilt, so as to switch the flight mode.

[0009] In an exemplary embodiment, the tilting rib includes a left rib and a right rib. The left rib and the right rib are respectively assembled from a cooperating upper rib and a lower rib. The assembled left rib and the right rib are assembled into one piece by a cover plate to form a stable support base. The upper rib and the lower rib are respectively fixedly connected to the fuselage.

[0010] In one exemplary embodiment, the tilting base includes a tilting bracket and a motor base. The tilting bracket is fixedly connected to the tilting shaft, and the motor base is fixedly mounted on the tilting bracket for mounting a motor inside the rotor cabin.

[0011] In an exemplary embodiment, the tilting support includes a left tilting support and a right tilting support (11), which are respectively fixedly disposed at both ends of the tilting shaft.

[0012] In an exemplary embodiment, the hinge joints between the electric linear servo and the tilting rib, the hinge joints between the telescopic rod and the linear servo connecting rod, and the connection between the tilting shaft and the tilting rib all employ a gapless connection structure to eliminate transmission backlash.

[0013] In one exemplary embodiment, the gapless hinge structure is a stopcock screw, and the preload of the stopcock screw eliminates the gap error at the hinge.

[0014] The present invention also provides a tilting method for a tiltrotor based on a linear servo motor, applied to the aforementioned tilting device, characterized by comprising the following steps: When the telescopic rod of the electric linear servo extends forward, it drives the tilt shaft fixedly connected to the other end of the linear servo rod to rotate through the transmission of the linear servo linkage. This, in turn, causes the tilt seat fixedly mounted on the tilt shaft and the rotor nacelle on it to tilt upward, switching from horizontal flight mode to vertical flight mode. When the telescopic rod of the electric linear servo retracts, the tilt shaft is driven to rotate in the opposite direction through the transmission of the linear servo linkage, thereby causing the tilt seat and the rotor nacelle on it to tilt downwards, switching from vertical flight mode to horizontal flight mode. The tilt angle of the rotor cabin is controlled by the extension and retraction stroke of the electric linear servo.

[0015] In one exemplary embodiment, the tilt angle of the rotor cabin ranges from 0° to 90°, and is infinitely adjustable by the extension and retraction stroke of the electric linear servo. The electric linear servo directly drives the telescopic stick in response to flight control commands, without relying on angle sensors for closed-loop feedback control.

[0016] In an exemplary embodiment, the hinge joints between the electric linear servo and the tilt rib, and between the telescopic rod and the linear servo connecting rod, are preloaded by plug screws. The hinge joint between the tilt shaft and the tilt rib uses a backlash-free self-lubricating bearing, eliminating the hinge gap at the structural source and controlling the transmission gap to within 0.1°.

[0017] In an exemplary embodiment, the driving force of the electric linear servo is transmitted to the tilt axis only through the telescopic rod and the linear servo linkage, and the force path of the electric linear servo is limited to tensile and compressive loads along the axial direction of the telescopic rod, thus avoiding the bending moment and shear force of external aerodynamic loads.

[0018] The present invention achieves the following technical effects compared to the prior art: 1. Simple structure and convenient maintenance: This invention uses a tilting rib as a fixed frame. The rear end of the electric linear servo is hinged to one end of the tilting rib. The telescopic rod is fixedly connected to the tilting shaft through the linear servo linkage. The tilting shaft is rotatably connected to the other end of the tilting rib. The tilting seat is fixedly mounted on the tilting shaft for mounting the rotor nacelle. This solution eliminates the complex hydraulic piping system, multi-stage gear reduction mechanism, and redundant components such as tilting sleeves, long shafts, and short shafts found in existing technologies. It retains only the necessary support and transmission components for tilting, forming a simple hinged four-bar linkage mechanism. The structural complexity is significantly reduced, and the weight and space occupied are greatly reduced, making it more suitable for the lightweight requirements of small tiltrotor aircraft.

[0019] 2. Direct Transmission, Improved Precision: In this invention, the telescopic rod of the electric linear servo directly drives the tilt shaft to rotate via the linear servo linkage. This results in a shorter transmission path and fewer stages, reducing the number of transmission stages compared to traditional gear transmission schemes. Structurally, this reduces the possibility of transmission backlash, which is beneficial for improving the control precision of the tilt angle and reducing rotor vibration. Simultaneously, the tilt shaft is rotatably connected to the tilt rib plate via bearings, ensuring smooth and precise rotational movement.

[0020] 3. Simplified control and low computing power requirements: In this invention, the extension and retraction stroke of the electric linear servo and the tilt angle of the rotor nacelle form a direct mechanical correspondence through the articulated linkage mechanism. Precise control of the tilting action can be achieved without relying on complex closed-loop control algorithms that fuse multiple sensors, which greatly reduces the computing power requirements of the flight control platform and lowers the hardware configuration threshold for low-cost small tiltrotor aircraft.

[0021] 4. Optimized stress distribution and high reliability: This invention adopts a "drive and load separation" stress design: the electric linear servo transmits the axial tensile and compressive loads of the telescopic rod only through two hinge points, without having to bear the bending moment and shear force generated by external aerodynamic loads; the aerodynamic load is transmitted to the tilting shaft through the tilting seat, and then borne by the tilting rib, which is independent of the stress path of the electric linear servo. This design avoids the electric linear servo bearing complex composite loads, reduces the risk of structural fatigue and wear, extends service life, and improves transmission efficiency.

[0022] 5. High adaptability and easy to promote: This invention eliminates the complex hydraulic pipeline and gear reduction structure, resulting in a simple system layout, no risk of hydraulic oil leakage, fewer parts, significantly reduced assembly and maintenance difficulty, significantly reduced maintenance costs, lower overall cost, and easier promotion and application on low-cost small tiltrotor aircraft. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a tilting device for a tiltrotor aircraft based on a linear servo, as disclosed in a specific embodiment of the present invention. Figure 2 for Figure 1 A schematic diagram of the structure in helicopter mode after the rotor motor is removed from the center. Figure 3 for Figure 1A schematic diagram of the structure in fixed-wing mode after the rotor motor is removed from the central section; Figure 4 for Figure 2 and Figure 3 A schematic diagram of the structure of the linear servo linkage; Figure 5 for Figure 2 and Figure 3 Structural diagram of the left tilt bracket / right tilt bracket; Figure 6 for Figure 2 and Figure 3 Schematic diagram of the upper and middle ribs; Figure 7 for Figure 2 and Figure 3 Schematic diagram of the middle and lower ribs; Figure 8 for Figure 2 and Figure 3 A schematic diagram of another embodiment of the lower middle rib plate; Figure 9 for Figure 2 and Figure 3 Schematic diagram of the middle cover plate; The components are: 1. Rotor motor; 2. Motor base; 3. Left tilt bracket; 4. Linear servo linkage; 5. Upper rib plate; 6. Lower rib plate; 7. Electric linear servo; 8. Telescopic rod; 9. Cover plate; 10. Tilting shaft; 11. Right tilt bracket. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The purpose of this invention is to provide a tilting device and method for tiltrotor aircraft based on a linear servo. The core concept is to use a tilting rib as a fixed frame and an electric linear servo as a drive unit. Through a hinged four-bar linkage consisting of the tilting rib, the electric linear servo, the linear servo linkage, and the tilting shaft, the linear motion of the telescopic rod is converted into the tilting motion of the rotor cabin. This eliminates the complex hydraulic pipeline system and multi-stage gear reduction mechanism of the prior art, thereby achieving the technical effects of simplified structure, precise transmission, and convenient control. It is especially suitable for the lightweight and low-cost requirements of small tiltrotor aircraft.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Example 1 Please refer to Figures 1 to 9 This embodiment provides a tilting device for a tiltrotor aircraft based on a linear servo, mainly including a tilting rib, an electric linear servo 7, a linear servo linkage 4, a tilting shaft 10, and a tilting base. A hinged linkage mechanism consisting of the tilting rib, the electric linear servo 7, and the linear servo linkage 4 is constructed. The tilting rib serves as a fixed frame, used for fixed connection to the fuselage main beam, forming the support base for the entire tilting mechanism. One end of the tilting rib is hinged to the rear end of the electric linear servo 7, and the other end of the tilting rib is rotatably connected to the tilting shaft 10 via a bearing. The electric linear servo 7 serves as a drive unit, with its rear end hinged to one end of the tilting rib, and its front telescopic rod 8 hinged to one end of the linear servo linkage 4. The other end of the linear servo linkage 4 is fixedly connected to the tilting shaft 10, and the tilting shaft 10 is rotatably connected to the other end of the tilting rib via a bearing. The tilting base is fixedly mounted on the tilting shaft 10 for mounting the rotor nacelle. With the above connection method, the electric linear servo 7 acts as the driving component. The linear motion of its telescopic rod 8 is transmitted to the tilt shaft 10 through the linear servo linkage 4, driving the tilt shaft 10 to rotate around the bearing between it and the tilt rib, thereby causing the tilt seat and the rotor nacelle fixedly installed on the tilt shaft 10 to tilt. This simple linkage mechanism design eliminates the complex hydraulic piping system and multi-stage gear reduction mechanism of the prior art, reducing the structural complexity by more than 50% and significantly reducing weight and space occupation.

[0029] Furthermore, to ensure the stability and ease of assembly of the support base, the tilting ribs in this embodiment adopt a split-type assembly structure. Specifically, the tilting ribs include a left rib and a right rib, which are respectively assembled from a mating upper rib 5 and a lower rib 6. The left rib is formed by assembling the left upper rib and the left lower rib, and the right rib is formed by assembling the right upper rib and the right lower rib. The assembled left and right ribs are then assembled into a single unit by upper and lower cover plates 9 to form a stable support base. The upper rib 5 and the lower rib 6 are fixedly connected to the fuselage main beam to ensure that the entire mechanism can withstand the aerodynamic loads generated by the rotor without deformation during tilting. This split-type assembly structure ensures both support strength and ease of assembly and maintenance, and is the preferred implementation method of this embodiment.

[0030] Regarding the construction of the tilt mount, this embodiment further refines its specific structure to achieve reliable installation of the rotor cabin. The tilt mount includes a tilt bracket and a motor base 2. The tilt bracket is fixedly connected to the tilt shaft 10, and the motor base 2 is fixedly mounted on the tilt bracket for mounting the rotor motor 1 inside the rotor cabin. As a more specific implementation, the tilt bracket includes a left tilt bracket 3 and a right tilt bracket 11, which are respectively fixedly mounted at both ends of the tilt shaft 10. The left tilt bracket 3 and the right tilt bracket 11 are fixedly connected to the tilt shaft 10, such as by welding, keying, or integral molding, to ensure that they rotate synchronously with the tilt shaft 10, thereby accurately transmitting the rotational motion of the tilt shaft 10 to the rotor cabin.

[0031] To fundamentally solve the transmission backlash problem and improve tilt accuracy, all hinges in this embodiment employ a backlash-free hinge structure. Specifically, the hinges between the electric linear servo 7 and the tilt rib, and between the telescopic rod 8 and the linear servo connecting rod 4, are all achieved using push-fit screws. Through their special structural design, push-fit screws apply preload during assembly, eliminating backlash errors at the hinge point and keeping the transmission backlash within 0.1°. This design eliminates the reliance on angle sensor feedback for tilt angle control accuracy, simplifies system control logic, avoids rotor vibration problems caused by transmission backlash, and improves flight stability.

[0032] The material selection and manufacturing process of the above components are as follows: To balance strength and lightweight requirements, key structural components such as the upper rib 5, lower rib 6, cover plate 9, linear servo linkage 4, tilt shaft 10, left tilt bracket 3, and right tilt bracket 11 are all made of 7075 aerospace aluminum alloy through precision machining. Machining dimensional tolerances not specified in the drawings comply with GB / T 1804-m grade, and geometric tolerances not specified comply with GB / T 1184-K grade. All components are required to remove sharp corners and beveled to ensure assembly safety and structural stability. For the specific selection of the electric linear servo 7, an integrated electric drive unit can be used, with an output thrust of 2500N and a stroke range of 0~150mm, to adapt to the needs of small tiltrotor aircraft of different sizes. It should be noted that the above materials and parameters are only one feasible implementation method. Those skilled in the art can make adaptive adjustments according to actual load and space requirements. This part falls within the scope of existing technology and will not be elaborated further here.

[0033] The transmission structure in this embodiment has been optimized in terms of force design, achieving "separation of drive and load". The electric linear servo 7 transmits power through only two hinge points (the rear end and the tilting rib, and the front telescopic rod 8 and the linear servo connecting rod 4). Its force path is direct and singular, bearing only the tensile and compressive loads along the axial direction of the telescopic rod 8, without bearing the bending moment and shear force generated by external aerodynamic loads. The aerodynamic load is transmitted to the tilting seat through the rotor compartment, then to the tilting shaft 10, and finally borne by the tilting rib fixed to the fuselage, which is independent of the force path of the electric linear servo 7. This design avoids the electric linear servo 7 bearing complex compound loads, reducing the risk of structural fatigue and wear. At the same time, the pre-tightened structure of the plug screw can maintain a zero-backlash state for a long time, avoiding the problem of increased clearance due to component wear. The transmission efficiency is improved by more than 30% compared with the traditional gear transmission scheme, effectively extending the service life of the tilting mechanism.

[0034] Within the scope of the technical concept of this embodiment, the structural details described in the above specific embodiments can be equivalently replaced according to actual application requirements. Several feasible alternative implementation methods are listed below: Regarding the hinge structure, this embodiment is not limited to using plug screws to achieve a gapless hinge. Other hinge structures with gapless transmission characteristics can also be used, such as spherical bearings with preload, interference fit pin connections, or eccentric bushings with gap elimination functions, as long as they can meet the requirements of reducing transmission backlash and improving tilting accuracy.

[0035] Regarding the fixed connection method between the linear servo linkage 4 and the tilt shaft 10, this embodiment is not limited to welding or key connection. It can also adopt flange fixing, spline connection, or integral molding and other equivalent structures, as long as it can ensure that the swing of the linear servo linkage 4 can be reliably transmitted to the tilt shaft 10 so that it rotates synchronously.

[0036] Regarding the fixed connection method between the left tilt bracket 3 and the right tilt bracket 11 and the tilt shaft 10, various equivalent methods such as welding, key connection, spline connection, flange connection or integral molding can be adopted, as long as it is ensured that the tilt bracket can rotate synchronously with the tilt shaft 10.

[0037] Regarding the rotational connection between the tilting shaft 10 and the tilting rib, this embodiment uses a backlash-free self-lubricating bearing to ensure the control accuracy of the tilting angle and avoid vibration or offset.

[0038] Regarding the selection of the electric linear servo 7, this embodiment is not limited to models with specific thrust and stroke. Those skilled in the art can select an integrated electric linear servo of appropriate specifications according to the load and space requirements of tiltrotor aircraft of different sizes, as long as it can drive the tilt shaft 10 to complete a rotation range of 0° to 90° through the linear motion of the telescopic rod.

[0039] Regarding the specific structure of the tilt rib, this embodiment is not limited to using the form of upper and lower ribs combined on the left and right sides respectively. An integral rib or frame support structure can also be used, as long as it can provide stable hinged support for the electric linear servo 7 and the tilt axis 10 and be reliably fixed to the fuselage.

[0040] Example 2 This embodiment provides a tilting method for a tiltrotor aircraft based on a linear servo, applied to the tilting device described in Embodiment 1, including the following steps: When the telescopic rod 8 of the electric linear servo 7 extends forward, the extension force of the telescopic rod 8 is transmitted to the tilt shaft 10 through the linear servo linkage 4, since the rear end of the electric linear servo 7 is hinged to one end of the tilt rib. This drives the tilt shaft 10 to rotate around the bearing between itself and the tilt rib, thereby causing the tilt seat fixed on the tilt shaft 10 and the rotor nacelle on it to tilt upward, gradually tilting from a 0° horizontal attitude. As the telescopic rod 8 continues to extend, the rotor nacelle eventually reaches a 90° vertical attitude, completing the switch from horizontal flight mode to vertical flight mode.

[0041] Conversely, when the telescopic rod 8 of the electric linear servo 7 retracts, the retraction force is transmitted through the linear servo linkage 4, driving the tilt shaft 10 to rotate in the opposite direction. This causes the tilt seat and its rotor nacelle to tilt downwards, gradually swinging back from a 90° vertical attitude to a 0° horizontal attitude, thus achieving the switch from vertical flight mode to horizontal flight mode.

[0042] During the above process, the tilt angle of the rotor cabin ranges from 0° to 90°, and is precisely steplessly adjusted by the extension and retraction of the electric linear servo 7, enabling positioning at any angle according to the flight mission requirements.

[0043] It is worth emphasizing that, because this embodiment uses plug screws to achieve gapless connections at each hinge, the transmission clearance is controlled within 0.1°, and there is a direct mechanical correspondence between the extension / retraction stroke of the electric linear servo 7 and the tilt angle of the rotor nacelle. Therefore, the flight control system does not need to rely on angle sensors for closed-loop feedback control. Specifically, the flight control system only needs to calculate the target extension / retraction stroke required by the electric linear servo 7 based on the target tilt angle, and then directly send position commands to the electric linear servo 7. There is no need to read angle sensor data in real time for PID adjustment, nor is there a need to handle the collaborative control logic of multiple components such as the variable pitch servo. This feature significantly reduces the computing power requirements of the flight controller, enabling this embodiment to be adapted to low-cost, low-computing-power small UAV flight control platforms. Compared with existing tilt control schemes that rely on multi-sensor fusion, the computing power requirement can be reduced by more than 40%.

[0044] Regarding the flight control system, the flight controller upon which the tilting method in this embodiment relies can be a commercially available small UAV flight control module. This module receives remote control commands or autonomous flight plans and outputs pulse-width modulation (PWM) or serial bus (such as CAN, RS485) signals to control the extension and retraction of the electric linear servo 7. The specific communication protocol and control algorithm between the flight control system and the electric linear servo 7 are within the scope of existing technology. Those skilled in the art can match them according to the selected flight control platform and linear servo model, and there is no need to elaborate on them here.

[0045] In summary, this invention utilizes a tilting rib as a fixed frame and an electric linear servo as the drive unit. Combined with the linear servo linkage, tilting shaft, and tilting seat, it forms a hinged four-bar linkage mechanism, achieving precise tilt control of the rotor cabin within the range of 0° to 90°. Its simple structure, direct transmission, and simplified control effectively solve the problems of complex structure, large transmission backlash, and high computational requirements of existing tilt-drive technologies. It offers advantages such as low maintenance costs, high flight stability, and low hardware requirements, making it particularly suitable for the large-scale application of low-cost, small tiltrotor aircraft.

[0046] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention, and do not imply or require that the device or element referred to must have a specific orientation or construction method, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish the objects of description and should not be construed as limiting importance or order, and the features defined by such terms may explicitly or implicitly include one or more of those features. Unless otherwise stated, "a plurality of" in the description of this invention refers to two or more.

[0047] The terms "installation," "connection," and "joining" should be interpreted broadly, unless otherwise explicitly defined, to include, but are not limited to, fixed connections, detachable connections, or integrally formed connections; mechanical or electrical connections; direct connections or indirect connections via an intermediate medium; and internal communication between two components. Those skilled in the art can understand their meaning based on the specific technical solution. The fixed connections involved in this invention, unless otherwise stated, include both detachable fixed connections (such as bolt and screw connections) and non-detachable fixed connections (such as riveting and welding), and may also include integral structures achieved through an integral forming process (such as casting) (except where integral forming is clearly not feasible).

[0048] Unless otherwise stated, the terms used in any of the technical solutions disclosed in this invention to indicate positional relationships or shapes cover states or shapes that are similar to, close to, or adjacent to them.

[0049] Any component provided by this invention can be assembled from multiple individual components or can be a single component manufactured using a one-piece molding process.

[0050] It should be noted that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so as to enable those skilled in the art to understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0051] In the embodiments of this application, the same reference numerals are used to denote the same component or part.

[0052] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0053] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A tilting device for a tiltrotor aircraft based on a linear servo motor, characterized in that, include: Tilting ribs are used for fixed connection with the fuselage; Electric linear servo (7); Linear servo linkage (4); Tilting shaft (10); and Tilting seat; The rear end of the electric linear servo (7) is hinged to one end of the tilting rib. The telescopic rod (8) at the front of the electric linear servo (7) is hinged to one end of the linear servo connecting rod (4). The other end of the linear servo connecting rod (4) is fixedly connected to the tilting shaft (10). The tilting shaft (10) is rotatably connected to the other end of the tilting rib. The tilting seat is fixedly mounted on the tilting shaft (10). The tilting seat is used to install the rotor nacelle. The electric linear servo (7) drives the linear servo linkage (4) to rotate the tilt shaft (10) through the extension and retraction of the telescopic rod (8), thereby causing the tilt seat and the rotor cabin on it to tilt to switch flight modes.

2. The tilting device for a tiltrotor aircraft based on a linear servo motor according to claim 1, characterized in that, The tilting rib includes a left rib and a right rib. The left rib and the right rib are respectively assembled from an upper rib (5) and a lower rib (6) that cooperate with each other. The assembled left rib and the right rib are assembled into one piece by a cover plate (9) to form a stable support base. The upper rib (5) and the lower rib (6) are respectively fixedly connected to the fuselage.

3. The tilting device for a tiltrotor aircraft based on a linear servo motor according to claim 1, characterized in that, The tilting seat includes a tilting bracket and a motor base (2). The tilting bracket is fixedly connected to the tilting shaft (10), and the motor base (2) is fixedly mounted on the tilting bracket for mounting the rotor motor (1) inside the rotor cabin.

4. The tilting device for a tiltrotor aircraft based on a linear servo motor according to claim 3, characterized in that, The tilting support includes a left tilting support (3) and a right tilting support (11), which are fixedly installed at both ends of the tilting shaft (10).

5. The tilting device for a tiltrotor aircraft based on a linear servo motor according to claim 1, characterized in that, The hinge joints between the electric linear servo (7) and the tilting rib, the hinge joints between the telescopic rod (8) and the linear servo connecting rod (4), and the connection between the tilting shaft (10) and the tilting rib all adopt a gapless connection structure to eliminate transmission clearance.

6. The tilting device for a tiltrotor aircraft based on a linear servo motor according to claim 5, characterized in that, The gapless hinge structure at the hinge of the electric linear servo (7) and the tilting rib, and at the hinge of the telescopic rod (8) and the linear servo connecting rod (4) is a plug screw, and the gapless hinge structure at the connection between the tilting shaft (10) and the tilting rib is a gapless self-lubricating bearing.

7. A tilting method for a tiltrotor aircraft based on a linear servo motor, applied to the device according to any one of claims 1 to 6, characterized in that, Includes the following steps: When the telescopic rod (8) of the electric linear servo (7) extends forward, it drives the tilt shaft (10) fixedly connected to the other end of the linear servo linkage (4) to rotate through the transmission of the linear servo linkage (4), thereby driving the tilt seat fixedly set on the tilt shaft (10) and the rotor cabin on it to tilt upward, switching from horizontal flight mode to vertical flight mode. When the telescopic rod (8) of the electric linear servo (7) retracts backward, the tilt shaft (10) is driven to rotate in the opposite direction through the transmission of the linear servo linkage (4), thereby causing the tilt seat and the rotor cabin on it to tilt downward, switching from vertical flight mode to horizontal flight mode. The tilt angle of the rotor cabin is controlled by the extension and retraction stroke of the electric linear servo (7).

8. The tilting method for a tiltrotor aircraft based on a linear servo motor according to claim 6, characterized in that, The tilt angle of the rotor cabin is between 0° and 90°, which can be infinitely adjusted by the extension and retraction stroke of the electric linear servo (7). The electric linear servo (7) directly drives the telescopic stick (8) to move in response to flight control commands, without relying on angle sensors for closed-loop feedback control.

9. The tilting method for a tiltrotor aircraft based on a linear servo motor according to claim 6, characterized in that, The hinge joints between the electric linear servo (7) and the tilting rib, and between the telescopic rod (8) and the linear servo connecting rod (4) are preloaded by plug screws. The hinge joint between the tilting shaft (10) and the tilting rib is made of a clearance-free self-lubricating bearing, which eliminates the hinge gap from the structural source and controls the transmission gap within 0.1°.

10. The tilting method for a tiltrotor aircraft based on a linear servo motor according to claim 6, characterized in that, The driving force of the electric linear servo (7) is transmitted to the tilt shaft (10) only through the telescopic rod (8) and the linear servo connecting rod (4), and the force path of the electric linear servo (7) is limited to the tensile and compressive loads along the axial direction of the telescopic rod (8), thus avoiding the bending moment and shear force of the external aerodynamic load.

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