A power tilting multi-rotor manned aerial vehicle with worm gear drive

Abstract

A powered tilting multirotor manned aircraft driven by worm gears is disclosed. This invention relates to the field of aircraft technology. The aircraft has a cockpit within its frame, and worm gear tilting drive mechanisms are mounted at each of the four corners of the frame. Tilting shafts connect the two front and two rear worm gear tilting drive mechanisms. The roots of the arms are foldably mounted on the outer ends of the tilting shafts using arm folding mechanisms. Motors are mounted on the upper and lower sides of the outer ends of the arms, and propellers are mounted on the output ends of the motors. This design allows for the decoupling of thrust vector from flight attitude. By driving the arms to tilt through the worm gear tilting drive mechanisms, the direction of the lift vector is changed, thereby obtaining the horizontal thrust component required for forward flight while maintaining a horizontal fuselage attitude.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, specifically to a powered tilting multirotor manned aircraft driven by a worm gear. Background Technology

[0002] With the rapid development of urban low-altitude transportation and the manned aircraft industry, eVTOL (extra-vertical takeoff and landing) aircraft have become a key technological direction for solving short-distance travel and alleviating ground traffic pressure. Among them, multi-rotor aircraft have gained widespread attention in manned scenarios due to their advantages such as flexible takeoff and landing, strong site adaptability, and convenient operation. Currently, most mainstream manned multi-rotor aircraft adopt a fixed arm layout, relying on rotor differential speed to achieve attitude control and forward propulsion. During forward flight, the entire fuselage needs to tilt forward to obtain horizontal thrust. Although this method can achieve basic flight functions, it has a series of problems: the large forward tilt of the fuselage increases the frontal area, significantly increases aerodynamic drag, and limits energy consumption and range; at the same time, after the rotor thrust vector tilts, the effective vertical lift decreases significantly, and the motors need to maintain high speed for a long time to compensate for lift, resulting in uneven load, high heat generation, and shortened service life; in addition, the continuous change of fuselage attitude during forward flight can easily cause passengers to experience weightlessness and tilting discomfort, which is difficult to meet the comfort requirements of manned commuting.

[0003] To address the issues of low forward flight efficiency and poor comfort in traditional fixed multirotor aircraft, current technologies, such as compound-wing eVTOLs with only wings, employ tilting mechanisms to adjust thrust direction. However, no tilting arms or tilting rotors have yet been developed for multirotor manned eVTOLs, which still rely entirely on the overall fuselage pitch for forward flight. Truss structures, due to their high strength, light weight, and good torsional resistance, are the preferred structural form for achieving lightweight and high safety in manned aircraft. However, current technologies lack independent tilting rotor solutions adapted to truss structures, failing to balance the lightweight advantages of truss structures with the efficient forward flight capabilities of tilting rotors, thus hindering the performance improvement and practical application of truss-type manned eVTOL aircraft. Therefore, given the current situation of low forward flight efficiency, poor passenger comfort, and the lack of independent tilting solutions adapted to truss structures in existing manned multirotor aircraft, there is an urgent need for a simple, reliable, and flexible truss-type independent tilting rotor manned eVTOL aircraft to meet the application needs of urban low-altitude passenger commuting and other scenarios. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings and deficiencies of existing technologies by providing a powered tilting multirotor manned aircraft driven by a worm gear, which can decouple thrust vector from flight attitude. The lift vector direction is changed by driving the arm to tilt through the worm gear tilting drive mechanism, thereby obtaining the horizontal thrust component required for forward flight, while the fuselage maintains a horizontal attitude.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: it includes a frame, a cockpit, an arm, a motor, and a propeller; the cockpit is provided inside the frame, and worm gear tilting drive mechanisms are respectively installed at the four corners of the frame, with tilting shafts connecting the two front worm gear tilting drive mechanisms and the two rear worm gear tilting drive mechanisms; the root of the arm is foldably mounted on the outer end of the tilting shaft using an arm folding component; motors are installed on the upper and lower sides of the outer end of the arm, and propellers are installed on the output ends of the motors.

[0006] Furthermore, the frame is a rigid tubular truss.

[0007] Furthermore, the worm gear tilting drive mechanism includes a servo motor, which is mounted on the outer wall of the worm gear housing. The worm gear housing is sleeved on the tilting shaft and fixed to the side wall of the bearing seat assembly. The tilting shaft is rotatably mounted in the bearing within the bearing seat assembly, which is mounted at the four corners of the frame. The output end of the servo motor is connected to a worm gear, which is connected to the worm wheel drive. The worm wheel is mounted on the tilting shaft.

[0008] Furthermore, both the worm and the worm wheel are housed within a worm gear and worm wheel housing.

[0009] The working principle of this invention is as follows:

[0010] During the ground preparation phase, the worm gear tilt drive mechanism remains in the neutral position, the propeller is horizontal, and the propeller axis is vertically upward. During takeoff, the flight control system controls the eight motors at the outer end of the arm to synchronously increase their speed, and the propeller thrust overcomes gravity to achieve vertical ascent. During hovering, the propeller remains horizontal, and all thrust is used to provide lift, keeping the fuselage horizontal at all times. At this time, the worm gear tilt drive mechanism is in a self-locking state, the arm attitude is stable, there is no external force causing swaying, and the lift utilization efficiency is at its highest.

[0011] When the aircraft needs to cruise forward, the flight control system controls the servo motor to rotate forward according to the target speed and attitude, thereby driving the worm gear tilt drive mechanism to rotate forward, causing the arm to tilt forward, which in turn tilts the propeller forward. The propeller thrust is decomposed into a horizontal forward thrust and a vertical upward lift. The greater the propeller tilt angle, the greater the horizontal thrust component, and the aircraft accelerates forward. Under this condition, the fuselage remains horizontal throughout the flight, without the need for overall tilting, resulting in low aerodynamic drag, low energy consumption, and a comfortable ride.

[0012] When the invention requires deceleration braking or inverted flight, the flight control system controls the servo motor to flip, thereby driving the worm gear tilt drive mechanism to rotate in the opposite direction, causing the arm to tilt backward, causing the propeller to tilt backward, and the propeller thrust vector is decomposed into a horizontal backward braking component and a vertical upward lift component; the horizontal backward component can quickly counteract the forward flight inertia, realizing deceleration braking and inverted flight in a horizontal state.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention provides a powered tilting multirotor manned aircraft driven by a worm gear, which keeps the fuselage horizontal during forward flight, significantly reducing aerodynamic drag, reducing energy consumption, increasing range, and eliminating forward tilting discomfort, thus greatly improving passenger comfort; the worm gear drive ensures smooth transmission and precise tilting angle, and features a built-in mechanical self-locking mechanism that locks the arm attitude in the event of power failure or malfunction, improving flight stability and safety; the thrust vector is decoupled from the flight attitude, resulting in a more balanced motor load, reduced heat generation, and extended service life; the overall structure is simple, assembly and maintenance are convenient, it is compatible with a truss fuselage, and it balances lightweight design with high-efficiency flight performance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention.

[0015] Figure 2 This is a schematic diagram showing the connection between the worm gear tilting drive mechanism, the machine arm, the motor, and the propeller in this invention.

[0016] Figure 3 yes Figure 2 Enlarged view of section A.

[0017] Figure 4 This is a schematic diagram of the propeller's horizontal state during vertical take-off and landing or hovering conditions, according to the present invention.

[0018] Figure 5 This is a schematic diagram of the propeller tilting forward under forward flight conditions according to the present invention.

[0019] Figure 6 This is a schematic diagram of the propeller tilting backward under deceleration or inverted flight conditions according to the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] Frame 1, Cabin 2, Arm 3, Motor 4, Propeller 5, Arm Folding Part 6, Worm Gear Tilting Drive Mechanism 7, Servo Motor 7-1, Worm Gear Housing 7-2, Bearing Housing Assembly 7-3, Worm 7-4, Worm Gear 7-5, Tilting Shaft 8. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. The preferred embodiments described are only examples. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] like Figures 1-3As shown, this specific embodiment adopts the following technical solution: It includes a frame 1, a cockpit 2, an arm 3, a motor 4, and a propeller 5; the frame 1 is a rigid tubular truss, and the cockpit 2 is provided inside the frame 1. Worm gear tilting drive mechanisms 7 are respectively installed at the four corners of the frame 1, and tilting shafts 8 are connected between the two front worm gear tilting drive mechanisms 7 and the two rear worm gear tilting drive mechanisms 7; the root of the arm 3 is foldably installed on the outer end of the tilting shaft 8 using an arm folding piece 6; motors 4 are installed on the upper and lower sides of the outer end of the arm 3, and propellers 5 are installed on the output end of the motors 4; the worm gear tilting drive mechanism 7 includes a servo motor 7. -1, the servo motor 7-1 is mounted on the outer wall of the worm gear housing 7-2, the worm gear housing 7-2 is sleeved on the tilting shaft 8 and fixed to the side wall of the bearing seat assembly 7-3, the tilting shaft 8 is rotatably mounted in the bearing in the bearing seat assembly 7-3, the bearing seat assembly 7-3 is mounted at the four corners of the frame 1; the output end of the servo motor 7-1 is connected to the worm 7-4, the worm 7-4 is connected to the worm wheel 7-5, the worm wheel 7-5 is mounted on the tilting shaft 8; the worm 7-4 and the worm wheel 7-5 are both set inside the worm gear housing 7-2; the two servo motors 7-1 on the same tilting shaft 8 are synchronously controlled to achieve synchronous operation.

[0024] When the present invention is in vertical take-off and landing and hovering conditions, see [reference]. Figure 4 During the ground preparation phase of the aircraft, the worm gear tilt drive mechanism 7 remains in the neutral position, the propeller 5 is in a horizontal state, and the axis of the propeller 5 is vertically upward. During takeoff, the flight control system controls the eight motors 4 at the outer end of the arm 3 to synchronously increase their speed, and the thrust of the propeller 5 overcomes gravity to achieve vertical takeoff. During hovering, the propeller 5 remains horizontal, and all the thrust is used to provide lift, and the fuselage remains horizontal. At this time, the worm gear tilt drive mechanism 7 is in a self-locking state, the arm attitude is stable, there is no external force shaking, and the lift utilization efficiency is the highest.

[0025] When the present invention is in forward cruise mode, see Figure 5 When forward cruising is required, the flight control system controls the servo motor 7-1 to rotate forward according to the target speed and attitude, thereby driving the worm gear tilt drive mechanism 7 to rotate forward, causing the arm 3 to tilt forward, causing the propeller 5 to tilt forward. The thrust of the propeller 5 is decomposed into a horizontal forward thrust and a vertical upward lift. The greater the forward tilt angle of the propeller 5, the greater the horizontal thrust component, and the aircraft accelerates forward. Under this condition, the fuselage is horizontal throughout the entire flight, without the need for overall forward tilting, resulting in low aerodynamic drag, low energy consumption, and comfortable ride.

[0026] When the present invention is in a deceleration / braking / inverted flight condition, see [reference]. Figure 6When deceleration or inverted flight is required, the flight control system controls the servo motor 7-1 to flip, thereby driving the worm gear tilt drive mechanism 7 to rotate in the opposite direction, causing the arm 3 to deflect backward, causing the propeller 5 to tilt backward. The thrust vector of the propeller 5 is decomposed into a horizontal backward braking component and a vertical upward lift component. The horizontal backward component can quickly counteract the forward flight inertia, realizing deceleration and inverted flight in a horizontal state.

[0027] The flight control system collects data from sensors such as attitude, speed, and position, and outputs control signals to the worm gear drive motor and the power motor to achieve tilt control and power distribution under different operating conditions.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. When flying forward, the fuselage remains level, aerodynamic drag is greatly reduced, energy consumption is reduced, range is increased, and there is no discomfort from forward tilting, greatly improving passenger comfort;

[0030] 2. It adopts worm gear drive, which provides smooth transmission and precise tilt angle. It has a built-in mechanical self-locking mechanism that locks the arm attitude in case of power failure or malfunction, thus improving flight stability and safety.

[0031] 3. Decoupling of thrust vector from flight attitude results in more balanced motor load, reduced heat generation, and extended service life;

[0032] 4. The overall structure is simple, assembly and maintenance are convenient, it is compatible with truss fuselage, and it balances lightweight and high-efficiency flight performance.

[0033] For those skilled in the art, modifications can be made to the technical solutions described in the foregoing embodiments, and equivalent substitutions can be made to some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A powered tilting multi-rotor manned aircraft driven by a worm gear, comprising a frame (1), a cockpit (2), arms (3), motors (4), and propellers (5); the cockpit (2) is located within the frame (1), characterized in that: The frame (1) is equipped with worm gear tilting drive mechanism (7) at each of its four corners. The two worm gear tilting drive mechanisms (7) on the front side and the two worm gear tilting drive mechanisms (7) on the rear side are connected by a tilting shaft (8). The root of the arm (3) is folded and installed on the outer end of the tilting shaft (8) using the arm folding piece (6). Motors (4) are installed on the upper and lower sides of the outer end of the arm (3). A propeller (5) is installed on the output end of the motor (4).

2. The powered tilting multirotor manned aircraft driven by a worm gear as described in claim 1, characterized in that: The frame (1) is a rigid tubular truss.

3. A powered tilting multirotor manned aircraft driven by a worm gear as described in claim 2, characterized in that: The worm gear tilting drive mechanism (7) includes a servo motor (7-1), which is mounted on the outer wall of the worm gear housing (7-2). The worm gear housing (7-2) is sleeved on the tilting shaft (8) and fixed on the side wall of the bearing seat assembly (7-3). The tilting shaft (8) is rotatably mounted in the bearing in the bearing seat assembly (7-3). The bearing seat assembly (7-3) is mounted at the four corners of the frame (1). The output end of the servo motor (7-1) is connected to a worm (7-4), which is connected to the worm wheel (7-5) for transmission. The worm wheel (7-5) is mounted on the tilting shaft (8).

4. A powered tilting multirotor manned aircraft driven by a worm gear as described in claim 3, characterized in that: The worm (7-4) and worm wheel (7-5) are both housed within the worm gear and worm wheel housing (7-2).

5. A powered tilting multirotor manned aircraft driven by a worm gear as described in claim 4, characterized in that: When the invention is in the ground preparation stage, the worm gear tilt drive mechanism (7) is kept in the neutral position, the propeller (5) is in a horizontal state, and the axis of the propeller (5) is vertically upward; when taking off, the flight control system controls the eight motors (4) at the outer end of the arm (3) to synchronously increase the speed, and the propeller (5) pulls against gravity to achieve vertical take-off; when hovering, the propeller (5) is kept horizontal, and all the pull is used to provide lift, and the fuselage is always horizontal; at this time, the worm gear tilt drive mechanism (7) is in a self-locking state, the arm attitude is stable, there is no external force shaking, and the lift utilization efficiency is the highest; When the present invention requires forward cruising, the flight control system controls the servo motor (7-1) to rotate forward according to the target speed and attitude, thereby driving the worm gear tilt drive mechanism (7) to rotate forward, causing the arm (3) to deflect forward, causing the propeller (5) to tilt forward. The thrust of the propeller (5) is decomposed into a horizontal forward thrust and a vertical upward lift. The greater the forward tilt angle of the propeller (5), the greater the horizontal thrust component, and the aircraft accelerates forward. Under this condition, the fuselage is horizontal throughout the entire flight, without the need for overall forward tilting, resulting in low aerodynamic drag, low energy consumption, and comfortable ride. When the present invention requires deceleration braking or inverted flight, the flight control system controls the servo motor (7-1) to flip, thereby driving the worm gear tilt drive mechanism (7) to rotate in the opposite direction, causing the arm (3) to deflect backward, causing the propeller (5) to tilt backward, and the propeller (5) thrust vector is decomposed into a horizontal backward braking component and a vertical upward lift component; the horizontal backward component can quickly offset the forward flight inertia, realizing deceleration braking and inverted flight in a horizontal state.

Images