Rotor tilt mechanism and unmanned aerial vehicle

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and discloses a rotor tilting mechanism, which includes a connecting shaft, a connecting seat, a first driving device, a power device, a rotor, and a transmission assembly. Based on this, the unmanned aerial vehicle can switch between a multi-rotor mode and a fixed-wing mode by rotating the connecting seat, and the two modes can share a set of rotors and motors, which simplifies the structure of the whole machine, reduces the weight of the whole machine, and thus prolongs the flight time; in addition, the transmission assembly is linked with the connecting seat, which can drive the blades to rotate and change their blade angles, thereby changing the angle of attack of the blades, so that the unmanned aerial vehicle is maintained in a better angle of attack range in both the fixed-wing mode and the multi-rotor mode, thereby obtaining a better lift coefficient, further reducing power consumption, and optimizing energy consumption. In addition, the present invention also discloses a type of unmanned aerial vehicle, which includes a wing and the above-mentioned rotor tilting mechanism.

Description

Technical Field

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

[0002] A drone is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device. Traditional drones mainly include multi-rotor and fixed-wing platforms. Multi-rotor drones are heavy, rotate smoothly, can hover, and have easy-to-standardize power systems. They are widely used in short-range civil fields, but their range is limited by the battery, so their endurance is short and their flight speed is low. Fixed-wing drones have higher flight speeds and longer endurance, but they have disadvantages such as being unable to hover, high cost, and low load levels.

[0003] In order to combine the advantages of multi-rotor and fixed-wing, drones in the prior art usually use multiple sets of rotors for multi-rotor mode and fixed-wing mode respectively arranged on the body of the drone, and control the opening and closing of each set of rotors through multiple sets of motors to switch between the multi-rotor mode and the fixed-wing mode. However, due to the multiple sets of rotors and motors, the existing drones have a relatively complex structure, which greatly increases the weight of the whole machine, resulting in a greatly shortened flight time and a reduced load level. Summary of the invention

[0004] The purpose of the present invention is to provide a rotor tilting mechanism with switchable fixed-wing mode and multi-rotor mode, variable pitch and low energy consumption.

[0005] In order to achieve the above object, the present invention provides a rotor tilting mechanism, which comprises:

[0006] A connecting shaft, used to connect the wings of the drone;

[0007] A connecting seat, rotatably sleeved on the connecting shaft;

[0008] A first driving device, disposed on the connecting seat, for driving the connecting seat to rotate around the axis of the connecting shaft;

[0009] A power device, which is arranged on the connecting seat and can rotate therewith, and the power device includes a hollow main shaft;

[0010] A rotor, arranged on the main shaft, the rotor comprising a plurality of blades with eccentric arms;

[0011] A transmission assembly is slidably disposed in the main shaft and movably connected to the eccentric arm. When the transmission assembly slides, it can drive the blade to rotate through the eccentric arm to change the angle of attack of the blade;

[0012] When the connecting seat rotates around the connecting shaft by a predetermined angle, the transmission assembly rotates along with the connecting seat and slides a predetermined distance along the axial direction of the main shaft.

[0013] In some embodiments of the present application, the transmission assembly includes a transmission rod passing through the main shaft, a first connecting member is provided at one end of the transmission rod close to the connecting shaft, a second connecting member movably connected to the first connecting member is provided on the connecting shaft, and the second connecting member is used to enable the transmission rod to slide along the axial direction of the main shaft when rotating with the connecting seat.

[0014] In some embodiments of the present application, the second connecting member includes a sleeve portion and an arc plate portion connected to the outer wall of the sleeve portion, the sleeve portion has a first through hole, the sleeve portion is fixedly sleeved on the connecting shaft through the first through hole, the arc plate portion has a first guide groove, and the distance between the first guide groove and the center line of the first through hole gradually decreases from one end of the first guide groove to the other end thereof, and the first connecting portion includes a guide rod connected to the transmission rod, the guide rod is inserted into the first guide groove, and is slidably connected to the first guide groove.

[0015] In some embodiments of the present application, the connecting seat has an ear plate portion, the ear plate portion has a second through hole and a second guide groove, the connecting seat is rotatably mounted on the connecting shaft through the second through hole, the second guide groove extends radially along the second through hole, the guide rod passes through the first guide groove and penetrates into the second guide groove, and the guide rod is slidably connected to the second guide groove.

[0016] In some embodiments of the present application, the arc plate portion and the ear plate portion are each provided with two, the two arc plate portions are respectively located at the two ends of the sleeve portion, and the two arc plate portions are located between the two ear plate portions and abut against the ear plate portions.

[0017] In some embodiments of the present application, the first connecting member includes a roller that is rollingly connected to the transmission rod, and the second connecting member is a cam fixedly connected to the connecting shaft, and the roller can rollably abut against the outer peripheral wall of the cam.

[0018] In some embodiments of the present application, the first connecting member includes a slider mounted on the transmission rod, and the second connecting member includes a transmission wheel that can rotate with the connecting seat and a crank connecting the slider and the transmission wheel, and the crank drives the transmission rod to slide through the slider when the transmission wheel rotates.

[0019] In some embodiments of the present application, the transmission assembly also includes a transmission arm, which is arranged at one end of the transmission rod away from the connecting shaft. The transmission arms are equal in number and correspond one to one to the eccentric arms, and the two are movably connected. The transmission arm is used to drive the eccentric arm to rotate.

[0020] One end of the main shaft away from the connecting shaft has a notch extending along its axial direction, the number of the notches is equal to and corresponds to the transmission arms, the transmission arms are slidably arranged in the notches, the first end of the transmission arm is connected to the transmission rod, and the second end thereof passes through the notch and is connected to the eccentric arm.

[0021] In some embodiments of the present application, a first tooth portion is fixedly connected to the connecting shaft, the connecting seat is provided with a second tooth portion meshing with the first tooth portion, and the first driving device is connected to the first tooth portion.

[0022] In order to achieve the above-mentioned object, the present invention further provides a UAV, which includes a wing and the above-mentioned rotor tilting mechanism, and the connecting shaft is fixedly connected to the wing.

[0023] The present invention provides a rotor tilting mechanism, which has the following beneficial effects compared with the prior art:

[0024] First, the UAV can switch between multi-rotor mode and fixed-wing mode by rotating the connecting seat. The two modes can share a set of rotors and motors, which greatly reduces the required number of rotors and motors, simplifies the overall structure, reduces the weight of the whole machine, thereby extending the flight time and improving the load level; secondly, since the optimal angle of attack range in the fixed-wing mode and the multi-rotor mode is not the same, simply switching between the two modes without changing the angle of attack of the blades will make the UAV unable to obtain a higher lift coefficient in the two modes, but will lead to an increase in the power consumption of the UAV and a shortened flight time. Based on the above considerations, the transmission assembly is linked with the connecting seat, that is, the transmission assembly slides a predetermined distance along the axial direction of the main shaft during the rotation of the connecting seat, driving the blades to rotate and change their blade angles , thereby changing the angle of attack of the blade, so that the UAV is kept in a better angle of attack range in both fixed-wing mode and multi-rotor mode, thereby obtaining a better lift coefficient, further reducing power consumption, optimizing energy consumption, and the transmission component and the connecting seat form a linkage so that the first drive device can simultaneously realize the switching of the UAV mode and the change of the blade angle. The two are carried out synchronously so that the change of the angle of attack and the change of the blade rotation plane maintain a corresponding relationship, so that the angle of attack is still kept in a better range during the switching process, so that the switching of the UAV mode is smoother and does not affect the flight condition; in addition, compared with the method of using a drive device to change the angle of attack of the blade, the method of using the transmission component and the connecting seat to link can simplify the structure of the UAV, reduce the weight of the whole machine, and make the wing structure more compact. If an additional drive device is used to change the angle of attack of the blade, due to the large changes in the working environment of the UAV, when the drive device fails, the blade angle cannot be changed accordingly during the rotation of the connecting seat, which easily causes the blade to exceed the critical angle of attack and thus cause the wing to stall. The method of using the transmission component and the connecting seat to link can greatly improve the reliability and stability of the UAV mode switching.

[0025] The present invention also provides a drone, which includes a wing and the above-mentioned rotor tilt mechanism, and the connecting shaft is fixedly connected to the wing. Due to the use of the above-mentioned rotor tilt mechanism, the structure of the drone is simple and compact, and the angle of attack of the blades can be changed synchronously when switching between the fixed-wing mode and the multi-rotor mode, so that the drone has low energy consumption and long endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall structure of the rotor tilt mechanism according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the overall structure of a drone according to an embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the split structure of the rotor tilt mechanism (without the rotor) according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of the overall structure of the second connecting member according to an embodiment of the present invention;

[0030] Figure 5 It is a schematic diagram of the overall structure of the connecting socket according to an embodiment of the present invention;

[0031] Figure 6 is a partial structural schematic diagram of a rotor tilt mechanism according to a second embodiment of the present invention;

[0032] Figure 7 It is a schematic diagram of the partial structure of the rotor tilt mechanism according to the third embodiment of the present invention.

[0033] In the figure: 1, connecting shaft; 11, second connecting member; 111, sleeve portion; 111a, first through hole; 112, arc plate portion; 112a, first guide groove; 113, cam; 114, transmission wheel; 115, crank; 12, first tooth portion; 2, connecting seat; 21, ear plate portion; 211, second through hole; 212, second guide groove; 22, second tooth portion; 3, first driving device; 4, power device; 41, main shaft; 411, notch; 5, rotor; 51, blade; 511, eccentric arm; 6, transmission assembly; 61, transmission rod; 62, first connecting member; 621, guide rod; 622, roller; 623, slider; 63, transmission arm; 7, wing. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] It should be understood that, in the description of the present application, the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0036] It should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] It should be understood that when the UAV is in multi-rotor mode, the main shaft 41 that drives the rotor 5 to rotate to provide power is at a certain angle to the horizontal direction, generally 90°. At this time, a smaller pitch is required, that is, a smaller blade angle, so that the engine can operate at maximum speed and maximum power, so that the propeller can generate maximum lift, which is suitable for use scenarios such as take-off or slow forward speed; when the UAV is in fixed-wing mode, the main shaft 41 that drives the rotor 5 to rotate to provide power is parallel to the horizontal direction. At this time, a larger pitch, that is, a larger blade angle, is required to meet the UAV's higher forward speed requirements.

[0038] like Figure 1 and Figure 3As shown, an embodiment of the present invention provides a rotor tilt mechanism, which includes a connecting shaft 1, a connecting seat 2, a first driving device 3, a power device 4, a rotor 5 and a transmission assembly 6. The connecting shaft 1 is used to connect the wing 7 of the UAV. The connecting seat 2 is rotatably sleeved on the connecting shaft 1. The first driving device 3 is arranged on the connecting seat 2 and is used to drive the connecting seat 2 to rotate around the axis of the connecting shaft 1. The first driving device 3 can be a steering gear or other device that can drive the connecting seat to rotate. The power device 4 is used to drive the rotor 5 to rotate and provide power for flight. It is arranged on the connecting seat 2 and can rotate therewith. The device 4 includes a hollow main shaft 41 and a motor. The main shaft 41 is perpendicular to the connecting shaft 1. The motor drives the main shaft 41 to rotate, thereby driving the rotor 5 to rotate. The rotor 5 is arranged on the main shaft 41. The rotor 5 includes a plurality of blades 51 with eccentric arms 511. The transmission component 6 can be slidably penetrated into the main shaft 41 and movably connected with the eccentric arms 511. When sliding, the transmission component 6 can drive the blades 51 to rotate through the eccentric arms 511 to change the angle of attack of the blades 51; wherein, when the connecting seat 2 rotates around the connecting shaft 1 by a predetermined angle, the transmission component 6 rotates with the connecting seat 2 and slides a predetermined distance along the axial direction of the main shaft 41. Specifically, when the connecting seat 2 rotates around the connecting shaft 1 by a predetermined angle so that the main shaft 41 forms a predetermined angle with the horizontal direction, the UAV switches from the fixed-wing mode to the multi-rotor mode, and the transmission assembly 6 rotates with the connecting seat 2, thereby driving the eccentric arm 511 to rotate through sliding, thereby driving the blade 51 to rotate and reducing the blade angle; when the connecting seat 2 rotates around the connecting shaft 1 so that the main shaft 41 is parallel to the horizontal direction, the UAV switches from the multi-rotor mode to the fixed-wing mode, and the transmission assembly 6 rotates with the connecting seat 2 and slides in the opposite direction, thereby driving the eccentric arm 511 to rotate in the opposite direction, thereby driving the blade 51 to rotate in the opposite direction and increasing the blade angle.

[0039] Based on the above structure, firstly, the UAV can switch between the multi-rotor mode and the fixed-wing mode by rotating the connecting seat 2. The two modes can share a set of rotors 5 and motors, which greatly reduces the required number of rotors 5 and motors, simplifies the overall structure, reduces the weight of the entire machine, thereby extending the flight time and improving the load level; secondly, since the optimal angle of attack ranges in the fixed-wing mode and the multi-rotor mode are not the same, merely switching between the two modes without changing the angle of attack of the blades 51 will make it impossible for the UAV to obtain a higher lift coefficient in the two modes, but will instead lead to an increase in the power consumption of the UAV and a shortening of the flight time. Based on the above considerations, the transmission component 6 is linked to the connecting seat 2, that is, the transmission component 6 slides a predetermined distance along the axial direction of the main shaft 41 during the rotation of the connecting seat 2, driving the blades 51 to rotate and change their blade angles. The angle of blade 51 is adjusted, thereby changing the angle of attack of blade 51, so that the UAV is maintained in a preferred angle of attack range in both fixed-wing mode and multi-rotor mode, thereby obtaining a better lift coefficient, further reducing power consumption, optimizing energy consumption, and the transmission component 6 is linked with the connecting seat 2 so that the first drive device 3 can simultaneously realize the switching of the UAV mode and the change of the angle of blade 51. The simultaneous operation of the two can keep the change of the angle of attack and the change of the rotation plane of blade 51 in a corresponding relationship, so that the angle of attack is still maintained within a preferred range during the switching process, so that the switching of the UAV mode is smoother and does not affect the flight condition; in addition, compared with the method of using a driving device to change the angle of attack of blade 51, the method of using the transmission component 6 and the connecting seat 2 to link can simplify the structure of the UAV, reduce the weight of the whole machine, and make the structure of the wing 7 more compact. If an additional driving device is used to change the angle of attack of blade 51, due to the large changes in the working environment of the UAV, when the driving device fails, the angle of blade 51 cannot be changed accordingly during the rotation of the connecting seat 2, which may easily cause blade 51 to exceed the critical angle of attack and cause wing 7 to stall. The linkage between transmission assembly 6 and connecting seat 2 can greatly improve the reliability and stability of the UAV mode switching.

[0040] Alternatively, if Figure 1 and Figure 3 As shown, in this embodiment, the transmission assembly 6 includes a transmission rod 61 that penetrates the main shaft 41. In order to realize the mechanical linkage between the transmission assembly 6 and the connecting seat 2, a first connecting member 62 is provided at one end of the transmission rod 61 close to the connecting shaft 1. A second connecting member 11 movably connected to the first connecting member 62 is provided on the connecting shaft 1. The second connecting member 11 is used to make the transmission rod 61 slide along the axial direction of the main shaft 41 when rotating with the connecting seat 2. Based on this, when the connecting seat 2 rotates by a predetermined angle, the transmission rod 61 slides along the axial direction of the main shaft 41 by a predetermined distance through the linkage of the first connecting member 62 and the second connecting member 11, so that the mode switching and the change of the angle of the blade 51 can be realized at the same time.

[0041] Alternatively, if Figure 3 and Figure 4 As shown, in this embodiment, the second connecting member 11 includes a sleeve portion 111 and an arc plate portion 112 connected to the outer wall of the sleeve portion 111, the sleeve portion 111 has a first through hole 111a, the sleeve portion 111 is fixedly sleeved on the connecting shaft 1 through the first through hole 111a, the arc plate portion 112 has a first guide groove 112a, preferably, the first guide groove 112a is arc-shaped; the distance between the first guide groove 112a and the center line of the first through hole 111a gradually decreases from one end of the first guide groove 112a to the other end thereof, and the first connecting portion includes a guide rod 621 connected to the transmission rod 61, the guide rod 621 is inserted into the first guide groove 112a, and is slidably connected to the first guide groove 112a. In this way, when the connecting seat 2 rotates, the guide rod 621 slides along the groove wall in the first guide groove 112a, and gradually approaches or moves away from the first through hole 111a, so that the distance between the transmission rod 61 and the connecting shaft 1 is correspondingly reduced or increased, that is, the transmission rod 61 slides along its axial direction in the main shaft 41, thereby driving the blade 51 to rotate and changing the angle of attack of the blade 51. The cooperation between the guide rod 621 and the first guide groove 112a can realize the mechanical linkage between the transmission assembly 6 and the connecting seat 2, specifically, the mechanical linkage between the transmission rod 61 and the connecting seat 2. In addition, the arc shape of the first guide groove 112a can make the change of the angle of the blade 51 smoother and more fluent. Since the optimal angle of attack range of different rotor 5 airfoils is different, the required pitch angle can be determined according to the airfoil, and the positional relationship between the first guide groove 112a and the first through hole 111a can be determined accordingly. By selecting the corresponding second connecting member 11 according to the airfoil, the requirements of different airfoils for the pitch angle can be met. Compared with the method of using a driving device to change the pitch angle, it is more convenient and quick, and has higher reliability and stability.

[0042] Alternatively, if Figures 3 to 5 As shown, in this embodiment, when the guide rod 621 slides in the first guide groove 112a, the groove wall of the first guide groove 112a will generate an oblique force on the guide rod 621. In order to prevent the transmission rod 61 from radially deviating, the connection seat 2 has an ear plate portion 21, and the ear plate portion 21 has a second through hole 211 and a second guide groove 212. The connection seat 2 is rotatably sleeved on the connection shaft 1 through the second through hole 211. The second guide groove 212 extends along the radial direction of the second through hole 211. The guide rod 621 passes through the first guide groove 112a and penetrates into the second guide groove 212. The guide rod 621 is slidably connected with the second guide groove 212. Based on this, when the connection seat 2 rotates, the guide rod 621 slides in the first guide groove 112a and the second guide groove 212 at the same time. The second guide groove 212 plays the role of auxiliary guidance, ensuring that the transmission rod 61 slides relative to the main shaft 41 along the axial direction of the main shaft 41, preventing the transmission rod 61 from radially deviating, and improving the stability of the transmission assembly 6.

[0043] Alternatively, if Figures 3 to 5 As shown, in this embodiment, the arc plate portion 112 and the ear plate portion 21 are both provided with two, and the two arc plate portions 112 are respectively located at the two ends of the shaft sleeve portion 111, and the two arc plate portions 112 are respectively located between the two ear plate portions 21, and abut against the ear plate portions 21. Specifically, the two ends of the guide rod 621 respectively pass through the corresponding first guide groove 112a and penetrate into the corresponding second guide groove 212. In this way, the sliding of the guide rod 621 can be made more stable and reliable, thereby improving the reliability of the linkage between the transmission assembly 6 and the connecting seat 2. Secondly, the second connecting member 11 is located between the ear plate portions 21 of the connecting seat 2, so that the second connecting member 11 and the connecting seat 2 are arranged compactly and save space. In addition, the shaft sleeve portion 111 is fixed on the connecting shaft 1, and the two arc plate portions 112 abut against the two ear plate portions 21, which can limit the displacement of the connecting seat 2 along the axial direction of the connecting shaft 1, thereby improving the stability of the connecting seat 2.

[0044] Alternatively, if Figure 4 As shown, in this embodiment, the inner wall of the shaft sleeve 111 has an anti-slip structure. Preferably, the anti-slip structure is a strip-shaped protrusion. Based on this, the connection between the shaft sleeve 111 and the connecting shaft 1 is more stable.

[0045] Alternatively, if Figure 6 As shown, in the second embodiment, the first connecting member 62 includes a roller 622 that is rollingly connected to the transmission rod 61, and the second connecting member 11 is a cam 113 fixedly connected to the connecting shaft 1, and the roller 622 can rollably abut against the outer peripheral wall of the cam 113. Of course, the first connecting member 62 is not limited to being set as a roller 622, and it can also be an arc-shaped convex portion, as long as the first connecting member 62 can abut against the outer peripheral wall of the cam 113 and can undergo relative displacement. Based on this, when the connecting seat 2 rotates, the roller 622 rolls along the outer peripheral wall of the cam 113, and the reaction force generated by the cam 113 causes the transmission rod 61 to slide in the main shaft 41. Since the movement law of the roller 622 depends on the contour curve of the cam 113, by selecting a suitable cam 113, the transmission rod 61 can slide a predetermined distance in the main shaft 41.

[0046] Alternatively, if Figure 7 As shown, in the third embodiment, the first connecting member 62 includes a slider 623 sleeved on the transmission rod 61, and the second connecting member 11 includes a transmission wheel 114 that can rotate with the connecting seat 2 and a crank 115 connecting the slider 623 and the transmission wheel 114. When the transmission wheel 114 rotates, the crank 115 drives the transmission rod 61 to slide through the slider 623. In this way, when the connecting seat 2 rotates, the transmission wheel 114 rotates accordingly, and drives the slider 623 to move back and forth through the crank 115, thereby driving the transmission rod 61 to slide a predetermined distance in the main shaft 41 to achieve a change in the angle of attack.

[0047] It should be emphasized that the mechanical linkage between the transmission assembly 6 and the connecting seat 2 achieved by the first connecting member 62 and the second connecting member 11 is not limited to the above-mentioned setting form, and it can also be a connecting rod mechanism, a ball screw mechanism, an eccentric wheel mechanism and the like, or an electronic control and other setting forms, as long as the transmission assembly 6 can slide a predetermined distance along the axial direction of the main shaft 41 when the connecting seat 2 rotates.

[0048] Alternatively, if Figure 3 As shown, in this embodiment, the transmission assembly 6 also includes a transmission arm 63, which is arranged at one end of the transmission rod 61 away from the connecting shaft 1. The number of the transmission arms 63 and the eccentric arms 511 are equal and correspond to each other. The two are movably connected, and the transmission arm 63 is used to drive the eccentric arm 511 to rotate. Each transmission arm 63 can be integrally formed, or connected to the end of the transmission rod 61 away from the connecting shaft 1 through a support or the like. Based on this, when the transmission rod 61 slides in the main shaft 41, it can drive the transmission arm 63 to slide along the axial direction of the main shaft 41, thereby driving the eccentric arm 511 to rotate, and then causing the blade 51 to rotate to achieve a change in the angle of attack.

[0049] Alternatively, if Figure 1 and Figure 3 As shown, in this embodiment, the end of the main shaft 41 away from the connecting shaft 1 has a notch 411 extending along its axial direction, and the number of the notches 411 is equal to and one-to-one with the transmission arms 63. The transmission arms 63 are slidably arranged in the notches 411, and the first end of the transmission arm 63 is connected to the transmission rod 61, and the second end thereof passes through the notch 411 and is connected to the eccentric arm 511. In this way, the notch 411 plays a role of guiding and limiting, preventing the transmission arm 63 and the main shaft 41 from rotating relative to each other.

[0050] Alternatively, if Figure 1 and Figure 3 As shown, in this embodiment, the first tooth portion 12 is fixedly connected to the connecting shaft 1, and the connecting seat 2 is provided with a second tooth portion 22 meshing with the first tooth portion 12. Specifically, the second tooth portion 22 is located on the outer wall of one of the ear plate portions 21, and the ear plate portion 21 has a third through hole, and the output shaft of the first driving device 3 is connected to the second tooth portion 22 through the third through hole. Based on this, the first driving device 3 drives the second tooth portion 22 to rotate, thereby realizing the rotation of the connecting seat 2 around the axis of the connecting shaft 1.

[0051] The working process of the rotor tilt mechanism provided by the present invention is as follows: when the UAV needs to switch from the fixed-wing mode to the multi-rotor mode, the first driving device 3 drives the connecting seat 2 to rotate around the connecting shaft 1, so that the main shaft 41 forms a predetermined angle with the horizontal direction. In this process, the transmission rod 61 rotates with the main shaft 41 and the connecting seat 2, and the guide rod 621 slides in the first guide groove 112a and the second guide groove 212, thereby pushing the transmission rod 61 to slide a predetermined distance along the axial direction of the main shaft 41, and the transmission arm 63 drives the eccentric arm 511 to rotate, thereby driving the blade 51 to rotate, so that the blade The blade angle decreases; when the UAV needs to switch from the multi-rotor mode to the fixed-wing mode, the first drive device 3 drives the connecting seat 2 to rotate in the opposite direction around the connecting shaft 1, so that the main shaft 41 is parallel to the horizontal direction. During this process, the transmission rod 61 rotates in the opposite direction with the main shaft 41 and the connecting seat 2, and the guide rod 621 slides in the first guide groove 112a and the second guide groove 212, thereby pushing the transmission rod 61 to slide in the opposite direction along the axial direction of the main shaft 41 for a predetermined distance, and the transmission arm 63 drives the eccentric arm 511 to rotate in the opposite direction, thereby driving the blade 51 to rotate in the opposite direction to increase the blade angle.

[0052] The embodiment of the present invention also provides a drone, such as Figure 2 As shown, it includes a wing 7 and the above-mentioned rotor tilt mechanism, and the connecting shaft 1 is fixedly connected to the wing 7. Due to the adoption of the above-mentioned rotor tilt mechanism, the structure of the UAV is simple and compact, and the angle of attack of the blade 51 can be changed synchronously when switching between the fixed-wing mode and the multi-rotor mode, so that the UAV has lower energy consumption and longer flight time.

[0053] In summary, the embodiment of the present invention provides a rotor tilt mechanism, which is mainly composed of a connecting shaft 1, a connecting seat 2, a first driving device 3, a power device 4, a rotor 5 and a transmission assembly 6. The connecting shaft 1 is used to connect the wing 7 of the drone. The connecting seat 2 is rotatably sleeved on the connecting shaft 1. The first driving device 3 is arranged on the connecting seat 2 and is used to drive the connecting seat 2 to rotate around the axis of the connecting shaft 1. The first driving device 3 can be a steering gear. The power device 4 is used to drive the rotor 5 to rotate and provide power for flight. It is arranged on the connecting seat 2 and can rotate therewith. The power device 4 includes a hollow main The main shaft 41 and the motor, the main shaft 41 is perpendicular to the connecting shaft 1, the motor drives the main shaft 41 to rotate so as to drive the rotor 5 to rotate, the rotor 5 is arranged on the main shaft 41, the rotor 5 includes a plurality of blades 51 with eccentric arms 511, the transmission assembly 6 is slidably arranged in the main shaft 41 and is movably connected with the eccentric arms 511, and the transmission assembly 6 can drive the blades 51 to rotate through the eccentric arms 511 when sliding, so as to change the angle of attack of the blades 51; wherein, when the connecting seat 2 rotates around the connecting shaft 1 by a predetermined angle, the transmission assembly 6 rotates with the connecting seat 2 and slides a predetermined distance along the axial direction of the main shaft 41. Compared with the prior art, the rotor tilt mechanism has the advantages of switchable fixed-wing mode and multi-rotor mode, variable pitch, and low energy consumption.

[0054] The embodiment of the present invention further provides a UAV, which includes a wing 7 and the above-mentioned rotor tilting mechanism, and the connecting shaft 1 is fixedly connected to the wing 7. Compared with the prior art, the UAV has the advantages of lower energy consumption, longer endurance time, compact structure, etc.

[0055] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A rotor tilt mechanism, characterized in that: include: A connecting shaft (1) for connecting the wings (7) of the drone; A connecting seat (2) is rotatably sleeved on the connecting shaft (1); A first driving device (3) is arranged on the connecting seat (2) and is used to drive the connecting seat (2) to rotate around the axis of the connecting shaft (1); A power device (4) is arranged on the connecting seat (2) and can rotate therewith, and the power device (4) comprises a hollow main shaft (41); A rotor (5) is arranged on the main shaft (41), and the rotor (5) comprises a plurality of blades (51) having eccentric arms (511); A transmission assembly (6) is slidably disposed in the main shaft (41) and is movably connected to the eccentric arm (511). When the transmission assembly (6) slides, it can drive the blade (51) to rotate through the eccentric arm (511) to change the angle of attack of the blade (51); When the connecting seat (2) rotates around the connecting shaft (1) at a predetermined angle, the transmission assembly (6) rotates along with the connecting seat (2) and slides a predetermined distance along the axial direction of the main shaft (41).

2. The rotor tilt mechanism according to claim 1, characterized in that: The transmission assembly (6) comprises a transmission rod (61) inserted into the main shaft (41); a first connecting member (62) is provided at one end of the transmission rod (61) close to the connecting shaft (1); a second connecting member (11) movably connected to the first connecting member (62) is provided on the connecting shaft (1); the second connecting member (11) is used to enable the transmission rod (61) to slide along the axial direction of the main shaft (41) when rotating with the connecting seat (2).

3. The rotor tilt mechanism according to claim 2, characterized in that: The second connecting member (11) comprises a shaft sleeve portion (111) and an arc plate portion (112) connected to the outer wall of the shaft sleeve portion (111), the shaft sleeve portion (111) having a first through hole (111a), the shaft sleeve portion (111) being fixedly sleeved on the connecting shaft (1) through the first through hole (111a), the arc plate portion (112) having a first guide groove (112a), the distance between the first guide groove (112a) and the center line of the first through hole (111a) gradually decreasing from one end of the first guide groove (112a) to the other end thereof, the first connecting member (62) comprising a guide rod (621) connected to the transmission rod (61), the guide rod (621) being inserted into the first guide groove (112a) and being slidably connected to the first guide groove (112a).

4. The rotor tilt mechanism according to claim 3, characterized in that: The connecting seat (2) has an ear plate portion (21), and the ear plate portion (21) has a second through hole (211) and a second guide groove (212). The connecting seat (2) is rotatably sleeved on the connecting shaft (1) through the second through hole (211), and the second guide groove (212) extends along the radial direction of the second through hole (211). The guide rod (621) passes through the first guide groove (112a) and penetrates into the second guide groove (212), and the guide rod (621) is slidably connected to the second guide groove (212).

5. The rotor tilt mechanism according to claim 4, characterized in that: The arc plate portion (112) and the ear plate portion (21) are each provided in two pieces, the two arc plate portions (112) are respectively located at two ends of the shaft sleeve portion (111), and the two arc plate portions (112) are located between the two ear plate portions (21) and are in contact with the ear plate portions (21).

6. The rotor tilt mechanism according to claim 2, characterized in that: The first connecting member (62) comprises a roller (622) which is rollingly connected to the transmission rod (61); the second connecting member (11) is a cam (113) which is fixedly connected to the connecting shaft (1); and the roller (622) is rollingly in contact with the outer peripheral wall of the cam (113).

7. The rotor tilt mechanism according to claim 2, characterized in that: The first connecting member (62) comprises a slider (623) sleeved on the transmission rod (61); the second connecting member (11) comprises a transmission wheel (114) that can rotate with the connecting seat (2) and a crank (115) connecting the slider (623) and the transmission wheel (114); when the transmission wheel (114) rotates, the crank (115) drives the transmission rod (61) to slide via the slider (623).

8. The rotor tilt mechanism according to claim 2, characterized in that: The transmission assembly (6) further comprises a transmission arm (63), wherein the transmission arm (63) is arranged at one end of the transmission rod (61) away from the connecting shaft (1), the number of the transmission arms (63) and the eccentric arms (511) are equal and correspond one to one, and the two are movably connected, and the transmission arm (63) is used to drive the eccentric arms (511) to rotate.

9. The rotor tilt mechanism according to any one of claims 1 to 8, characterized in that: The connecting shaft (1) is fixedly connected to a first tooth portion (12), the connecting seat (2) is provided with a second tooth portion (22) meshing with the first tooth portion (12), and the first driving device (3) is connected to the first tooth portion (12).

10. A drone, characterized in that: It comprises a wing (7) and a rotor tilting mechanism as claimed in any one of claims 1 to 9, wherein the connecting shaft (1) is fixedly connected to the wing (7).

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