Rotor tilt mechanism and drone

Abstract

The present disclosure relates to a rotor tilt mechanism and an unmanned aerial vehicle, wherein the rotor tilt mechanism comprises: a connecting rod (100); a mounting seat (200) for mounting a rotor assembly, which can be connected to the two ends of the connecting rod (100) in a tiltable manner along the extension direction of the connecting rod (100); and a driving device (300) for driving the connecting rod (100) to move along the extension direction of the connecting rod (100) to drive the rotor assembly to tilt along the extension direction of the connecting rod (100). Through the above technical solution, when the unmanned aerial vehicle tilts, the driving device drives the connecting rod to move along its own extension direction, and the axial movement of the connecting rod drives the mounting seats arranged at both ends thereof to tilt toward the extension direction of the connecting rod, and the rotor assembly is fixed on the mounting seat, so that it can tilt synchronously with the mounting seat. In this process, the tilting of the two rotor assemblies is controlled by one driving device, which saves costs and can improve the synchronization of the two rotor assemblies.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned aerial vehicles, and in particular to a rotor tilt mechanism and an unmanned aerial vehicle. Background Art

[0002] UAV aircraft generally include fixed-wing aircraft and multi-rotor aircraft. For multi-rotor aircraft, the rotor can not only provide the UAV with vertical lift for vertical take-off and landing and hovering in the air, but also can be tilted when the UAV is flying in the horizontal plane to provide the UAV with lift to maintain a certain height and power for horizontal movement. In the prior art, in some cases, the rotor needs to be tilted, and usually a tilt servo is set at each rotor to control the tilt of each rotor through a separate servo, which requires precise control of the synchronization of multiple servos, and the cost of using multiple servos is high. Summary of the invention

[0003] One purpose of an embodiment of the present disclosure is to provide a rotor tilt mechanism that can control the tilt of two rotors through one drive device, thereby saving costs and improving the synchronization of the two rotors.

[0004] Another object of an embodiment of the present disclosure is to provide a drone, which is equipped with the rotor tilt mechanism provided by the present disclosure.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present disclosure provides a rotor tilt mechanism, including: a connecting rod; a mounting seat for mounting a rotor assembly, which can be connected to both ends of the connecting rod so as to be tiltable along the extension direction of the connecting rod; and a driving device for driving the connecting rod to move along the extension direction of the connecting rod to drive the rotor assembly to tilt along the extension direction of the connecting rod.

[0006] Optionally, the driving device includes a driving part and a transmission part, the transmission part includes a linear motion member, the movement direction of the linear motion member is the same as the extension direction of the connecting rod, and the connecting rod is fixed on the linear motion member.

[0007] Optionally, the linear motion member is a rack, the transmission unit further includes a gear matched with the rack, the driving unit includes a steering gear, and the output shaft of the steering gear is fixedly connected to the gear.

[0008] Optionally, the gear has an inner gear ring, the output shaft of the steering gear is formed as a gear shaft, and the inner gear ring is meshed with the gear shaft for transmission.

[0009] Optionally, the tilting mechanism further comprises a gear box for accommodating the rack and the gear, the gear box is provided with a servo seat, and the servo is mounted on the servo seat.

[0010] Optionally, an arm is sleeved on the outside of the connecting rod, one end of the arm is fixed to the fuselage, and the other end is provided with a support seat, and the mounting seat is hinged to the connecting rod through a first tilt axis and hinged to the support seat through a second tilt axis.

[0011] Optionally, the mounting base includes a top plate and side plates extending vertically downward from both ends of the top plate, the rotor assembly is installed above the top plate, and two oppositely arranged first ear plates are formed at the bottom of the top plate. The end of the connecting rod extends between the two first ear plates and is hinged to the first ear plate through the first tilt axis.

[0012] Optionally, one end of the support seat is formed as a pipe clamp for fixedly connecting to the support arm, and the other end has two oppositely arranged second ear plates, the extension direction of the second ear plates is the same as the extension direction of the connecting rod, and the second ear plates are hinged to the side plates through the second tilt axis.

[0013] Optionally, a return spring is provided on at least one of the second tilting axes.

[0014] According to a second aspect of an embodiment of the present disclosure, there is provided an unmanned aerial vehicle, comprising a fuselage and a rotor tilt mechanism, wherein the rotor tilt mechanism is the rotor tilt mechanism described above.

[0015] Through the above technical solution, when the UAV tilts, the driving device drives the connecting rod to move along its own extension direction, and the axial movement of the connecting rod drives the mounting seats arranged at both ends thereof to tilt toward the extension direction of the connecting rod, and the rotor assembly is fixed on the mounting seat, so that it can tilt synchronously with the mounting seat. In this process, the tilting of the two rotor assemblies is controlled by one driving device, which saves costs and can improve the synchronization of the two rotor assemblies.

[0016] Other features and advantages of the embodiments of the present disclosure will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present disclosure but do not constitute a limitation on the embodiments of the present disclosure. In the accompanying drawings:

[0018] Figure 1 is a structural schematic diagram of a rotor tilt mechanism provided by an exemplary embodiment of the present disclosure;

[0019] Figure 2 yes Figure 1 A schematic diagram of the structure of the drive device in the rotor tilt mechanism is shown;

[0020] Figure 3 yes Figure 1 The schematic diagram of the assembly of the mounting seat, the supporting seat and the connecting rod in the rotor tilt mechanism is shown;

[0021] Figure 4 yes Figure 1 A schematic structural diagram of a support seat in a rotor tilt mechanism is shown.

[0022] Description of Reference Numerals

[0023] 100-connecting rod, 200-mounting seat, 210-top plate, 220-side plate, 230-first ear plate, 300-driving device, 310-driving unit, 311-servo, 312-servo seat, 320-transmission unit, 321-linear motion part, 322-gear, 323-gear box, 410-motor, 420-blade, 500-support arm, 600-support seat, 610-pipe clamp, 620-second ear plate, 700-return spring, 810-first tilt axis, 820-second tilt axis. DETAILED DESCRIPTION

[0024] The specific implementation of the embodiment of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present disclosure, and is not used to limit the embodiment of the present disclosure.

[0025] In the embodiments of the present disclosure, unless otherwise stated, the directional words used, such as "upper" and "lower", refer to the upper and lower parts of the drone in level flight, and "inner" and "outer" usually refer to the contours of the corresponding parts themselves. In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure are to distinguish one element from another and do not have order or importance. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0026] Reference Figure 1 The embodiment of the present disclosure provides a rotor tilt mechanism, comprising a connecting rod 100, a mounting seat 200 and a driving device 300. The mounting seat 200 can be connected to both ends of the connecting rod 100 in a tiltable manner along the extension direction of the connecting rod 100, so as to be used for installing the rotor assembly. Figure 1As shown, the rotor assembly may include a blade 420 and a motor 410 for driving the blade 420 to rotate. The motor 410 is fixedly mounted on the mounting seat 200, so that the blade 420 and the motor 410 can be tilted synchronously with the mounting seat 200. The mounting seat 200 can be tilted along the extension direction of the connecting rod 100, which means that the first connection end of the mounting seat 200 can rotate around a point fixed to the fuselage of the drone, and the second connection end is connected to the connecting rod 100. When the connecting rod 100 moves axially, the second connection end can be driven to rotate around the first connection end. The driving device 300 is used to drive the connecting rod 100 to move along the extension direction of the connecting rod 100, so as to drive the rotor assembly to tilt along the extension direction of the connecting rod 100. The driving device 300 can be arranged inside the fuselage of the drone. In this way, when the drone tilts, the driving device 300 drives the connecting rod 100 to move along its own extension direction, and the connecting rod 100 moves axially to drive the mounting seats 200 arranged at both ends thereof to tilt toward the extension direction of the connecting rod 100. The rotor assembly is fixed on the mounting seat 200, so that it can tilt synchronously with the mounting seat 200. In this process, the tilting of the two rotor assemblies is controlled by one driving device 300, which saves costs and can improve the synchronization of the two rotor assemblies.

[0027] It should be noted that the "tilting" mentioned in the embodiment of the present disclosure refers to the tilting and rotating of the mounting seat 200 around a certain point fixed to the fuselage relative to its initial vertical state. That is, when the drone is flying normally, the mounting seat 200 is in a vertical state (i.e., the axis of the blade 420), and the blade 420 arranged above it is correspondingly in a horizontal state, so as to provide the drone with the lift required for vertical take-off and landing, hovering in the air, etc. When the drone needs to fly longitudinally or transversely in a horizontal plane at a certain height in the air, the mounting seat 200 drives the blade 420 to tilt, so as to provide the drone with lift to maintain a certain height and power to fly longitudinally or transversely in the horizontal plane, avoid the tilt of the fuselage, and reduce the flight resistance of the drone. Among them, the longitudinal direction refers to the front and rear direction of the fuselage, and the transverse direction refers to the left and right direction of the fuselage. Therefore, the embodiment of the present disclosure does not specifically limit the arrangement direction of the connecting rod 100. For example, the connecting rod 100 can be arranged along the front and rear direction of the fuselage, or along the left and right direction of the fuselage, or can be arranged at a certain angle to the front and rear left and right directions, so as to provide the drone with power in the required movement direction according to actual needs. For example, when the connecting rod 100 is arranged in the front-to-back direction, the driving device 300 can control the front and rear rotor assemblies to tilt forward and backward synchronously; when the connecting rod 100 is arranged in the left-right direction, the driving device 300 can control the left and right rotor assemblies to tilt laterally synchronously. In the embodiment of the present disclosure, the arrangement direction of the connecting rod 100 is the extension direction of the connecting rod 100, that is, the axial direction of the connecting rod 100. In order to further describe other beneficial effects of the rotor tilt mechanism, the following is a detailed description of the arrangement of the connecting rod 100 in the left-right direction of the fuselage.

[0028] Specifically, refer to Figure 1 and Figure 2 The driving device 300 may include a driving part 310 and a transmission part 320. The driving part 310 is used to provide power output for the movement of the connecting rod 100. The transmission part 320 is located between the driving part 310 and the connecting rod 100 to transmit the power output to the connecting rod 100. The transmission part 320 may include a linear motion part 321. The movement direction of the linear motion part 321 is the same as the extension direction of the connecting rod 100. The connecting rod 100 is fixed on the linear motion part 321, so that the linear motion of the linear motion part 321 along the extension direction of the connecting rod 100 drives the connecting rod 100 to move axially synchronously. Among them, the connecting rod 100 can be designed as a split structure and connected to the opposite sides of the linear motion part 321 along the movement direction. When the linear motion part 321 moves toward one side, it can simultaneously drive the split structures on both sides thereof to move, thereby causing the blades 420 on both sides to tilt in the same direction, realizing the bidirectional linear output of the linear motion part 321 triggered by a driving device 300, saving costs and reducing the load of the drone. Of course, the connecting rod 100 may also be an integral structure and be fastened to the linear motion member 321 via a fastener.

[0029] According to one embodiment, Figure 2 As shown, the linear motion part 321 can be a rack, the transmission part 320 can also include a gear 322 that cooperates with the rack, and the driving part 310 includes a steering gear 311, and the output shaft of the steering gear 311 is fixedly connected to the gear 322, so that the rotation output of the steering gear 311 is converted into a linear output through the gear rack mechanism. In this way, when the rotor assembly is arranged on the left and right sides of the fuselage, the connecting rod 100 can be integrally formed with the rack, that is, the connecting rod 100 and the rack can be formed into a whole, for example, formed into a long rod, the middle part of the rod body is processed into a rack, and the two ends are light rods, so as to facilitate manufacturing and fully ensure the connection strength between the connecting rod 100 and the rack. Of course, the driving part 310 is not limited to one embodiment of the steering gear 311, and other power sources that can have a rotation output are also applicable to the present disclosure. The linear motion part 321 is also not limited to the embodiment of the rack. For example, the component that drives the axial movement of the connecting rod 100 can also be a motion mechanism such as a lead screw nut, a guide rail slider, etc., and the corresponding power source can be adapted and set.

[0030] Further, refer to Figure 2 , the gear 322 may have an inner gear ring, and the output shaft of the steering gear 311 may be formed as a gear shaft accordingly, and the inner gear ring and the gear shaft mesh and transmit so that the outer teeth of the gear 322 rotate coaxially with the inner gear ring, and the outer teeth drive the rack to move along the extending direction of the connecting rod 100, so as to stably transmit the rotation output of the steering gear 311 to the gear 322. In other embodiments, the output shaft of the steering gear 311 may also be an ordinary polished rod shaft, which is connected to the center hole of the gear 322 by a key for power transmission.

[0031] In addition, if Figure 2 As shown, the tilt mechanism may further include a gear box 323 that accommodates the rack and gear 322 to protect the rack and gear to prevent foreign matter from entering and affecting the transmission and service life. A servo seat 312 may be provided on the gear box 323, and the servo 311 is installed on the servo seat 312 to fix the servo 311.

[0032] According to the embodiment of the present disclosure, referring to Figure 1 and Figure 3 Considering the load of the UAV and the arrangement orientation of each component on the fuselage, the connecting rod 100 can be specifically a slender rod that passes through the fuselage horizontally, and the two rotor assemblies at both ends are symmetrically arranged about the longitudinal center axis of the fuselage to avoid the center of gravity of the whole machine from shifting. A certain distance is set between the fuselage and each rotor assembly to ensure the flight power of the UAV. In order to prevent the connecting rod 100 from being damaged by the impact of foreign objects during the flight of the UAV, the outside of the connecting rod 100 can be sleeved with a support arm 500, and one end of the support arm 500 is fixed to the fuselage, for example, referring to Figure 2 , which can be fixedly connected to the above-mentioned gear box 323 inside the fuselage. Specifically, the support arm 500 can be designed as a hollow sleeve structure, and a mounting hole is opened on the outer wall of the end portion along the circumferential direction. The two ends of the gear box 323 can also be designed as a cylindrical structure, and the inner diameter of the cylindrical structure is slightly larger than the diameter of the connecting rod 100 to allow the connecting rod 100 to pass through and support and radially limit it, and the outer diameter is smaller than the inner diameter of the support arm 500 so that it can extend into the support arm 500 and be fixedly connected to the support arm 500 through the mounting hole. In addition, the wires of the motor 410 in the rotor assembly can also extend from the inside of the support arm 500 to the fuselage to connect the circuit, thereby improving space utilization while ensuring the simplicity and aesthetics of the appearance of the drone. Figure 3 As shown, the other end of the support arm 500 may be provided with a support seat 600, the support seat 600 is fixedly connected to the fuselage, and the mounting seat 200 is hinged to the connecting rod 100 through the first tilt axis 810, and is hinged to the supporting seat 600 through the second tilt axis 820. The first tilt axis 810 and the second tilt axis 820 are parallel to each other and perpendicular to the extension direction of the connecting rod 100. When the connecting rod 100 moves axially, the mounting seat 200 can be driven by the first tilt axis 810 to tilt the mounting seat 200 relative to the supporting seat 600 around the second tilt axis 820.

[0033] Further, refer to Figure 3According to some embodiments, the mounting seat 200 may include a top plate 210 and side plates 220 extending vertically downward from both ends of the top plate 210. The motor 410 of the rotor assembly is mounted above the top plate 210. Two first ear plates 230 are formed on the bottom of the top plate 210. The first ear plates 230 and the side plates 220 are parallel to each other. The end of the connecting rod 100 extends between the two first ear plates 230 and is hinged to the first ear plates 230 through the first tilt axis 810. The first tilt axis 810 passes through the end of the connecting rod 100 in the radial direction. The first ear plates 230 arranged opposite to each other can limit the radial displacement of the connecting rod 100 on the one hand, and can also reserve space for the axial movement of the connecting rod 100 on the other hand. When the mounting seat 200 is in a vertical state, the connecting rod 100 and the first ear plate 230 are perpendicular to each other, and the angle between them is 90°; when the mounting seat 200 is tilted, the connecting rod 100 pulls the first tilt axis 810 to move axially, causing the first ear plate 230 to rotate around the first tilt axis 810, and the angle between the connecting rod 100 and the first ear plate 230 is greater than or less than 90°.

[0034] Furthermore, if Figure 1 and Figure 3 As shown, one end of the support seat 600 can be formed into a pipe clamp 610 for fixed connection with the support arm 500. The inner diameter of the pipe clamp 610 is larger than the outer diameter of the support arm 500 so as to clamp the outer wall of the support arm 500. The other end of the pipe clamp 610 has two second ear plates 620 arranged opposite to each other. The extension direction of the second ear plates 620 is the same as the extension direction of the connecting rod 100 and is located between the two side plates 220. The two second ear plates 620 are respectively hinged to the two side plates 220 through two second tilting shafts 820. For ease of manufacturing and assembly, refer to Figure 4 , the support seat 600 can be designed as a first split and a second split along the axial direction, one of which can be integrally formed with the second ear plate 620, and the first split and the second split can finally be fastened and connected by fasteners. In this way, when the first ear plate 230 rotates, the side plate 220 can be synchronously rotated relative to the second ear plate 620 around the second tilt axis 820, thereby realizing the tilting of the mounting seat 200. The hinged connection between the second ear plate 620 and the side plate 220 can also limit the free rotation of the first ear plate 230 around the first tilt axis 810 when the connecting rod 100 is in the initial position, that is, when there is no axial displacement. In this embodiment, the side plate 220 is formed as the first connecting end of the above-mentioned mounting seat 200, and the first ear plate 230 is formed as the second connecting end of the above-mentioned mounting seat 200. It should be noted that in the embodiment of the present disclosure, the flight attitude of the drone is completely controlled by the blades 420, and the tilting angle of the mounting seat 200 is controlled within a certain range, which can ensure the power and stability of the drone, so that the drone has sufficient lift to stay in the air. In order to prevent the blade 420 from colliding with the support arm 500 or the support seat 600 when tilting toward the direction close to the fuselage, the mounting seat 200 is in the following position: Figure 3In the initial vertical state shown in , the height of the top plate 210 can be appropriately higher than the highest point of the outer wall of the pipe clamp 610 of the support seat 600. The tilting direction of the mounting seat 200 when the connecting rod 100 moves along the left and right direction of the fuselage is described in detail below.

[0035] The servo 311 drives the rack to move to the left, the connecting rod 100 on the left side of the rack moves to the left, and the mounting seat 200 on the left side tilts to the right accordingly, the connecting rod 100 on the right side of the rack moves to the left, and the mounting seat 200 on the right side tilts to the right accordingly, so that the blades 420 on the left and right sides of the fuselage tilt to the right at the same time; the servo 311 drives the rack to move to the right, the connecting rod 100 on the left side of the rack moves to the right, and the mounting seat 200 on the left side tilts to the left accordingly, the connecting rod 100 on the right side of the rack moves to the right, and the mounting seat 200 on the right side tilts to the left accordingly, so that the blades 420 on the left and right sides of the fuselage tilt to the left at the same time.

[0036] In addition, refer to Figure 3 and Figure 4 , at least one of the second tilting shafts 820 may be provided with a return spring 700. Thus, when the servo 311 works normally, the tilting and angle positioning of the mounting seat 200 are achieved through the operation or locking of the servo 311; when the servo 311 fails, the restoring force of the return spring 700 can drive the connecting rod 100 to move axially so that the mounting seat 200 in the tilting state returns to the initial vertical state, so that the tilting mechanism remains self-stabilized, preventing the UAV from losing balance and crashing, and ensuring flight safety.

[0037] Specifically, when the mounting seat 200 needs to be tilted, the servo 311 rotates and drives the connecting rod 100 to move axially to achieve the tilting of the mounting seat 200; when the mounting seat 200 does not tilt or the tilting angle is fixed, the servo 311 is in a locked state to lock the state of the mounting seat 200. At this time, the rack and pinion mechanism remains in a certain meshing state, and the first ear plate 230 and the side plate 220 are both in a non-rotating state. When the servo 311 fails, its azimuth lock on the mounting base 200 is released, and the movement of the rack and pinion mechanism is not restricted by the servo 311. Under the action of the return spring 700, the side plate 220 rotates around the second tilt axis 820 toward the initial vertical state of the mounting base 200, and at the same time drives the first ear plate 230 to rotate around the first tilt axis 810. The first tilt axis 810 drives the connecting rod 100 to move axially, and the connecting rod 100 drives the rack connected thereto to move synchronously in a straight line, and finally the mounting base 200 is rotated to a vertical state, so that the fuselage of the UAV is maintained at a certain height in the air with a certain lift level, thereby preventing the fuselage from crashing due to unbalanced force.

[0038] The embodiment of the present disclosure also provides a drone, comprising a fuselage and a rotor tilt mechanism, wherein the rotor tilt mechanism is the above-mentioned rotor tilt mechanism. The drone has all the beneficial effects of the above-mentioned rotor tilt mechanism, which will not be described in detail here.

[0039] Furthermore, the rotor tilt mechanism can also be arranged in multiple numbers at intervals along the longitudinal direction of the fuselage. For example, two rotor tilt mechanisms can be arranged along the longitudinal direction of the fuselage to form a common four-rotor UAV, thereby improving the stability of the UAV fuselage structure.

[0040] The preferred implementation modes of the embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the embodiments of the present disclosure are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present disclosure, various simple modifications can be made to the technical scheme of the embodiments of the present disclosure, and these simple modifications all belong to the protection scope of the embodiments of the present disclosure.

[0041] It should also be noted that the various specific technical features described in the above specific implementation methods can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present disclosure will not further describe various possible combinations.

[0042] In addition, the various implementations of the embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present disclosure, they should also be regarded as the contents disclosed by the embodiments of the present disclosure.

Claims

1. A rotor tilt mechanism, characterized in that: include: A connecting rod (100); a mounting seat (200) for mounting a rotor assembly and connected to two ends of the connecting rod (100) in a tiltable manner along the extension direction of the connecting rod (100); and a driving device (300) for driving the connecting rod (100) to move along the extension direction of the connecting rod (100), driving the mounting seats (200) arranged at two ends of the connecting rod (100) to tilt toward the extension direction of the connecting rod (100), so as to drive the rotor assembly to tilt along the extension direction of the connecting rod (100); The connecting rod (100) is provided with an arm (500) on the outside, one end of the arm (500) is fixed to the fuselage, and the other end is provided with a support seat (600), and the mounting seat (200) is hinged to the connecting rod (100) through a first tilt axis (810) and is hinged to the support seat (600) through a second tilt axis (820).

2. The rotor tilt mechanism according to claim 1, characterized in that: The driving device (300) comprises a driving part (310) and a transmission part (320), wherein the transmission part (320) comprises a linear motion part (321), wherein the movement direction of the linear motion part (321) is the same as the extension direction of the connecting rod (100), and the connecting rod (100) is fixed on the linear motion part (321).

3. The rotor tilt mechanism according to claim 2, characterized in that: The linear motion member (321) is a rack, the transmission part (320) further comprises a gear (322) matched with the rack, the driving part (310) comprises a steering gear (311), and the output shaft of the steering gear (311) is fixedly connected to the gear (322).

4. The rotor tilt mechanism according to claim 3, characterized in that: The gear (322) has an inner gear ring, the output shaft of the steering engine (311) is formed as a gear shaft, and the inner gear ring is meshed with the gear shaft for transmission.

5. The rotor tilt mechanism according to claim 3, characterized in that: The tilt mechanism further comprises a gear box (323) for accommodating the rack and the gear (322); a servo engine seat (312) is arranged on the gear box (323); and the servo engine (311) is mounted on the servo engine seat (312).

6. The rotor tilt mechanism according to claim 1, characterized in that: The mounting seat (200) includes a top plate (210) and side plates (220) extending vertically downward from both ends of the top plate (210); the rotor assembly is installed above the top plate (210); two first ear plates (230) arranged opposite to each other are formed at the bottom of the top plate (210); an end of the connecting rod (100) extends between the two first ear plates (230) and is hinged to the first ear plate (230) via the first tilt axis (810).

7. The rotor tilt mechanism according to claim 6, characterized in that: One end of the support seat (600) is formed as a pipe clamp (610) for fixed connection with the support arm (500), and the other end has two second ear plates (620) arranged opposite to each other, and the extension direction of the second ear plates (620) is the same as the extension direction of the connecting rod (100), and the second ear plates (620) are hinged to the side plates (220) through the second tilting axis (820).

8. The rotor tilt mechanism according to claim 7, characterized in that: At least one of the second tilting shafts (820) is provided with a return spring (700).

9. An unmanned aerial vehicle, comprising a fuselage and a rotor tilt mechanism, characterized in that: The rotor tilt mechanism is the rotor tilt mechanism according to any one of claims 1-8.

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