Tilt-rotor drones

Abstract

The present invention discloses a tilt-rotor drone, comprising: a body, a rotor mechanism, a rotating shaft, and a tilt control mechanism. The body is provided with fixed wings on either side. The rotor mechanism includes a left rotor assembly and a right rotor assembly. The left rotor assembly includes an upper left rotor and a lower left rotor located above and below the fixed wing. The right rotor assembly is symmetrically arranged with the left rotor assembly, disposed at opposite ends of a rotating shaft disposed on the body. The tilt control mechanism includes a lock body, a stopper, and a drive assembly. The lock body is connected to the rotating shaft and accommodated in the stopper, allowing the lock body to rotate within the stopper. A brake block is provided at the output end of the drive assembly and is extendable into the bottom of the lock body. The present invention utilizes a special arrangement of the rotor mechanism and the rotating shaft to tilt the rotor, and with the assistance of the tilt control mechanism, achieves attitude control of the tilt-rotor drone, allowing it to change its flight mode during flight. The structure is simple and effective.

Description

Technical Field

[0001] The present invention relates to the field of rotary-wing UAVs, and in particular to a tilt-rotor UAV. Background Art

[0002] A drone is an aircraft that is mainly controlled by radio remote control or its own program and does not require human piloting. It has the advantages of small size, low cost and ease of use.

[0003] In order to meet the needs of some drones working in specific environments, which require both the vertical take-off and landing and hovering capabilities of ordinary helicopters and the high-speed cruising flight capabilities of turboprop aircraft, tilt-rotor drones came into being. Rotor tilt system components that can rotate between horizontal and vertical positions are added to the wings of fixed-wing aircraft. When the aircraft takes off and lands vertically, the rotor axis is perpendicular to the ground, assuming a horizontal helicopter flight state, and can hover in the air, fly forward and backward, and fly sideways.

[0004] Existing tilt-rotor drones are designed by installing tilt-rotor servos on fixed wings, which are connected to rotatable rotors. The tilt-rotor motors drive the rotors to rotate between horizontal and vertical positions. During flight, when the tilt-rotor motors drive the rotors to rotate, the rotor swings are affected by the airflow during flight. The force of the airflow on the rotors is transmitted to the fixed wings through the servos, causing the fixed wings to rotate accordingly. This is not conducive to the drone's control of the aircraft's attitude when tilting the rotors. Summary of the Invention

[0005] The present invention provides a tilt-rotor UAV, which aims to enable the tilt-rotor UAV to tilt its rotors during flight without affecting the UAV's flight attitude.

[0006] To achieve the above objectives, the present invention provides a tilt-rotor UAV, comprising:

[0007] A fuselage, wherein fixed wings are provided on both sides of the fuselage;

[0008] The rotor mechanism includes a left rotor assembly and a right rotor assembly, wherein the left rotor assembly includes a left upper rotor and a left lower rotor located on the upper and lower sides of the fixed wing; the right rotor assembly is symmetrically arranged with the left rotor assembly, and is respectively arranged at both ends of a rotating shaft, and the rotating shaft is arranged on the body;

[0009] The tilt control mechanism includes a lock body, a limiter and a drive assembly. The lock body is connected to the rotating shaft and is accommodated in the limiter. The lock body can rotate in the limiter. The output end of the drive assembly is provided with a brake block that can extend into the bottom of the lock body.

[0010] In some embodiments, the limit member includes a base plate, a first stop block and a second stop block, the first stop block and the second stop block are spaced apart on the base plate, the lock body is constructed with a protrusion that can contact the first stop block and the second stop block, and the peripheral side of the protrusion is accommodated between the first stop block and the second stop block; the base plate is provided with a guide groove for the brake block to slide.

[0011] In some embodiments, the circumferential side of the protrusion is constructed with a first contact surface and a second contact surface set at a preset angle, and the brake block is constructed with an inclined surface corresponding to the first contact surface and the second contact surface, and the inclined surface is used to abut the first contact surface or the second contact surface.

[0012] In some embodiments, the first stopper and the second stopper are respectively configured with a first buffer surface and a second buffer surface, and the first buffer surface and the second buffer surface are arranged at a preset angle.

[0013] In some embodiments, the tilt control mechanism further includes a transmission assembly, which includes a crank and a connecting rod, one end of the crank is connected to the output end of the drive assembly, and the other end of the crank is connected to the brake block through the connecting rod.

[0014] In some embodiments, the tilt-rotor UAV of the present invention further includes at least one support assembly provided on the body, the support assembly including two spaced-apart rotating shaft support seats, the limiting member being located between the two rotating shaft support seats, and the rotating shaft being rotatably connected to the two rotating shaft support seats.

[0015] In some embodiments, the body includes a mounting plate for mounting a tilt control mechanism and a rotor mechanism, the support assembly is mounted on a horizontal surface of the mounting plate, and the drive assembly is mounted on another horizontal surface of the mounting plate.

[0016] In some embodiments, the rotor mechanism also includes rotor connection assemblies symmetrically arranged at both ends of the rotating shaft, each of the rotor connection assemblies includes an adapter seat and an adapter rod, and the upper and lower sides of the adapter seat are provided with connecting parts for connecting the adapter rod at angles to each other, one end of the adapter rod is connected to the connecting part, and the other end is connected to the rotor.

[0017] In some embodiments, the tilt-rotor UAV of the present invention further includes a flight control module provided on the body, wherein the flight control module is wirelessly connected to the controller of the UAV and is electrically connected to the drive assembly and each rotor respectively, for controlling the operation of the drive assembly and each rotor and providing the electrical energy required for the operation.

[0018] In some embodiments, the fixed wing is detachably connected to the fuselage, and an encoder is provided inside each fixed wing. The encoder is used to be electrically connected to the flight control module of the drone and to feed back the wing profile structure information of the connected fixed wing to the flight control module.

[0019] The tilt-rotor drone of the present invention can realize lifting and level flight, and lifting and level flight are determined by the direction of the lift surface of the rotor mechanism. When the lift surfaces of the left rotor assembly and the right rotor assembly of the rotor mechanism are facing vertically upward, the tilt-rotor drone of the present invention lifts and lowers in the vertical direction. When the drone needs to change to level flight during flight, the rotation speeds of the upper left rotor in the left rotor assembly and the upper right rotor in the right rotor assembly are synchronously accelerated, and the rotation speeds of the lower left rotor and the lower right rotor are slowed down. At this time, the direction of the lift surface of the rotor mechanism is tilted from horizontal to vertical to the horizontal plane, that is, the upper left rotor and the upper right rotor are the upper rotor group, and the lower left rotor and the lower right rotor are the lower rotor group. The upper rotor group and the lower rotor group rotate simultaneously along the axial center line of the same steering shaft, and the shaft is controlled by the rotor machine The structure is driven to rotate, and the lock body mounted on the rotating shaft rotates in the limit piece accordingly. When the lock body continues to rotate in the rotation direction until it is blocked by the limit piece, the rotor mechanism rotates until the direction of the lift surface is perpendicular to the horizontal plane, that is, the output direction of each rotor is changed from perpendicular to the horizontal plane for lifting movement to the output direction parallel to the horizontal plane for level flight movement. At this time, the driving component drives the brake block to extend into the bottom of the lock body and contact the lock body, so that the lock body cannot rotate in the opposite direction of the tilting direction of the lift surface, realizing the conversion of the drone's lifting and level flight without servo control. The rotor mechanism has no coupling relationship with the fixed wing, and can also solve the problem that the rotor mechanism is easily reversed due to the influence of airflow during lifting and level flight. Therefore, the attitude control of the drone is not affected during the conversion process of lifting and level flight, and the structure is simple and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a tilt-rotor UAV according to an embodiment of the present invention;

[0021] Figure 2 Schematic diagram of the interior of a tilt-rotor UAV according to one embodiment of the present invention;

[0022] Figure 3 for Figure 2 A partial enlarged schematic diagram of point A in the middle;

[0023] Figure 4 A schematic structural diagram of a mounting plate, an adapter, a transmission assembly, and a rotating shaft in one embodiment of the present invention;

[0024] Figure 5 Schematic diagram of the cross-sectional structure of the drive assembly, brake block, limit member and lock body in one embodiment of the present invention;

[0025] Figure 6 This is a schematic structural diagram of a position limiting member in one embodiment of the present invention;

[0026] Figure 7 A schematic structural diagram of a position avoidance hole in one embodiment of the present invention;

[0027] Figure 8 Schematic diagram of the structure of the rotor mechanism in one embodiment of the present invention.

[0028] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0032] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] Reference Figures 1 to 8 The present invention provides a tilt-rotor UAV, comprising:

[0034] The fuselage 1 has fixed wings 11 on both sides of the fuselage 1;

[0035] The rotor mechanism 2 includes a left rotor assembly 21 and a right rotor assembly 22. The left rotor assembly 21 includes an upper left rotor 211 and a lower left rotor 212 located on the upper and lower sides of the fixed wing 11. The right rotor assembly 22 is symmetrically arranged with the left rotor assembly 21, and is respectively arranged at both ends of a rotating shaft 3. The rotating shaft 3 is provided on the body 1.

[0036] The tilt control mechanism 4 includes a lock body 41, a limit member 42 and a drive assembly 43. The lock body 41 is connected to the rotating shaft 3 and is accommodated in the limit member 42. The lock body 41 can rotate in the limit member 42; the output end of the drive assembly 43 is provided with a brake block 431 that can extend into the bottom of the lock body 41.

[0037] In this embodiment, the tilt-rotor UAV of the present invention can realize vertical flight and horizontal flight, hereinafter referred to as lifting and level flight. Lifting and level flight are determined by the direction of the lift surface of the rotor mechanism 2. When the lift surfaces of the left rotor assembly 21 and the right rotor assembly 22 of the rotor mechanism 2 are facing vertically upward, the tilt-rotor UAV of the present invention rises and falls in the vertical direction. When the UAV is required to perform level flight when it rises and falls to a certain position during flight, the rotation speeds of the upper left rotor 211 in the left rotor assembly 21 and the upper right rotor 221 in the right rotor assembly 22 are synchronously increased, and the rotation speeds of the lower left rotor 212 and the lower right rotor 222 are slowed down. At this time, the direction of the lift surface of the rotor mechanism 2 is tilted from horizontal to perpendicular to the horizontal plane, that is, the upper left rotor 211 and the right rotor 22 are tilted. The upper rotor 221 is the upper rotor group, the lower left rotor 212 and the lower right rotor 222 are the lower rotor group, and the upper rotor group and the lower rotor group rotate simultaneously along the axial center line of the same steering shaft 3. The shaft 3 is driven by the rotor mechanism 2 to rotate, and the lock body 41 sleeved on the shaft 3 rotates in the limit member 42 accordingly. When the lock body 41 continues to rotate in the rotation direction until it is blocked by the limit member 42, the rotor mechanism 2 rotates until the direction of the lift surface is perpendicular to the horizontal plane, that is, the output direction of each rotor is changed from perpendicular to the horizontal plane for lifting motion to the output direction parallel to the horizontal plane for level flight motion. At this time, the drive assembly 43 drives the brake block 431 to extend into the bottom of the lock body 41 and contact the lock body 41, so that the lock body 41 cannot rotate in the opposite direction of the lift surface tilt direction. For details, refer to Figure 5When the rotor mechanism 2 rotates counterclockwise along the axial centerline of the rotating shaft 3, it drives the rotating shaft 3 to rotate counterclockwise. The rotation of the rotating shaft 3 drives the lock body 41 to rotate counterclockwise in the limiter 42 until the lock body 41 is blocked by the limiter 42. The lock body 41 cannot continue to rotate counterclockwise. At this time, the rotor mechanism 2 is in a position where the lift surface is perpendicular to the horizontal plane. The driving assembly 43 drives the brake block 431 to contact the lock body 41 to prevent the rotor mechanism 2 from being affected by the wind and rotating in the clockwise direction, affecting the flight attitude of the drone. When the lift surface of the rotor mechanism 2 needs to be rotated back to be parallel to the horizontal plane, the drive component 43 drives the brake block 431 away from the lock body 41, and the lock body 41 releases the restriction on clockwise rotation. At this time, the upper rotor group decelerates and the lower rotor group accelerates relatively, so that the lift surface direction of the rotor mechanism 2 rotates toward the horizontal plane, driving the rotating shaft 3 to rotate clockwise, thereby rotating the lock body 41 clockwise, and the lock body 41 leaves the first limit position restricted by the limit member 42 until the lock body 41 contacts the second limit position restricted by the limit member 42. At this time, the lift surface direction of the rotor mechanism 2 is parallel to the horizontal plane, and the drone is ascending and descending. At this time, the drive component 43 drives the brake block 431 to contact the lock body 41. During the ascending and descending flight, the lock body 41 will not rotate because the rotor mechanism 2 is affected by the upper and lower airflows and drives the rotating shaft 3 to rotate. The tilt-rotor UAV of the present invention realizes the conversion of the UAV's ascent and descent and level flight without the control of a servo through the arrangement of the rotor mechanism 2, the rotating shaft 3 and the tilt control mechanism 4. The rotor mechanism 2 has no coupling relationship with the fixed wing 11, and can also solve the problem that the rotor mechanism 2 is easily reversed due to the influence of airflow during ascent and descent and level flight. Therefore, the attitude control of the UAV is not affected during the conversion of the flight attitude of ascent and descent and level flight, and the structure is simple and effective.

[0038] In some embodiments, the two extreme positions of the limiting range of the limit member 42 can be set according to the actual needs of technical personnel in this field, and are not necessarily set to the two states where the lift surface direction of the rotor mechanism 2 is facing vertically or horizontally when the lock body 41 rotates to the two extremes.

[0039] In some embodiments, each rotor assembly includes a propeller and a motor, and the motor controls and drives the rotation of the propeller, controlling its acceleration and deceleration.

[0040] Reference Figures 4 to 6 The limiting member 42 includes a base plate 421, a first stop block 422 and a second stop block 423. The first stop block 422 and the second stop block 423 are spaced apart on the base plate 421. The lock body 41 is constructed with a protrusion 410 that can contact the first stop block 422 and the second stop block 423. The peripheral side of the protrusion 410 is accommodated between the first stop block 422 and the second stop block 423; the base plate 421 is provided with a guide groove 4210 for the brake block 431 to slide.

[0041] In this embodiment, the working principle of the limit member 42 is as follows: when the lift surface of the rotor mechanism 2 changes from any state of horizontal or vertical to the horizontal plane to another state, the rotor mechanism 2 drives the rotating shaft 3 to rotate, thereby causing the lock body 41 to rotate; when the lift surface of the rotor mechanism 2 rotates to the horizontal or vertical to the horizontal plane, the lock body 41 is blocked by the first stop block 422 or the second stop block 423, so that the lock body 41 cannot continue to rotate in the direction blocked by any stop block, thereby stopping the rotor mechanism 2 from rotating.

[0042] In some embodiments, the shape of the lock body 41 can be regarded as an irregular cam, and part of its protrusion 410 is set away from the guide groove 4210. The guide groove 4210 is opened on the bottom plate 421, and the second stop block 423 is set above the guide groove 4210, partially covering the guide groove 4210. The lower side of the second stop block 423 can be opened with a groove corresponding to the guide groove 4210 to adapt to the height of the brake block 431.

[0043] Reference Figure 5 In some embodiments, the circumferential side of the protrusion 410 proposed in the embodiment of the present invention is constructed with a first contact surface 411 and a second contact surface 412 set at a preset angle, and the brake block 431 is constructed with an inclined surface 4310 corresponding to the first contact surface 411 and the second contact surface 412, and the inclined surface is used to abut the first contact surface 411 or the second contact surface 412.

[0044] In this embodiment, when the lock body 41 is restricted by the limit member 42 to continue rotating clockwise or counterclockwise, the driving component 43 drives the brake block 431 provided at its output end to move horizontally in the direction toward the lock body 41. At this time, the inclined surface 4310 of the brake block 431 moves toward the first contact surface 411 or the second contact surface 412 until the inclined surface 4310 contacts the first contact surface 411 or the second contact surface 412, pressing against the lock body 41 so that the lock body 41 cannot rotate in the opposite direction of the rotation direction restricted by the limit member 42. That is, when the lock body 41 is restricted by the limit member 42 to rotate counterclockwise, the driving component 43 cooperates with the brake block 431 to restrict the lock body 41 from rotating in the clockwise direction.

[0045] In some embodiments, the first contact surface 411 and the second contact surface 412 are arranged at a right angle, corresponding to the right angle setting of the lift surface of the rotor mechanism 2 changing between horizontal and vertical. The intersection position between the two contact surfaces is smoothly set. When the first contact surface 411 or the second contact surface 412 contacts the inclined surface 4310, the intersection position of the two contact surfaces is a blocking point to prevent the lock body 41 from rotating in the opposite direction.

[0046] Reference Figure 5 and Figure 6In some embodiments, the first stopper 422 and the second stopper 423 provided in the embodiments of the present invention are respectively configured with a first buffer surface 4220 and a second buffer surface 4230 , and the first buffer surface 4220 and the second buffer surface 4230 are set at a preset angle.

[0047] In this embodiment, the first and second buffer surfaces 4220 and 4230 are arranged at a predetermined angle, corresponding to the orientation of the two end points of the lift surface of the rotor mechanism 2. This ensures that when the lock body 41 is blocked by the first stopper 422 or the second stopper 423, the lift surface of the rotor mechanism 2 is horizontal or perpendicular to the horizontal plane. Furthermore, this angle can also be set to correspond to the protruding portion of the lock body 41. Those skilled in the art can design first and second buffer surfaces with different predetermined angles based on the angle of the inclined surface of the protruding portion of the lock body 41.

[0048] In some embodiments, the first buffer surface 4220 and the second buffer surface 4230 may be provided with buffering materials so that a certain buffering force is obtained when the lock body 41 rotates and abuts the first stop block 422 or the second stop block 423, thereby avoiding mechanical damage caused by the lock body 41 rotating too fast and hitting the stop block.

[0049] In some embodiments, the first buffer surface 4220 and the second buffer surface 4230 are smoothly configured.

[0050] Reference Figure 5 In some embodiments, the tilt control mechanism 4 proposed in the embodiment of the present invention also includes a transmission assembly 44, which includes a crank 441 and a connecting rod 442. One end of the crank 441 is connected to the output end of the driving assembly 43, and the other end is connected to the brake block 431 through the connecting rod 442.

[0051] In this embodiment, when the lock body 41 needs to be locked, the drive assembly 43 outputs torque to cause the crank 441 to swing, thereby driving the connecting rod 442 to reciprocate horizontally, thereby driving the brake block 431 to move toward or away from the first contact surface 411 or the second contact surface 412.

[0052] In some embodiments, the crank-connecting rod transmission structure of the crank 441 and the connecting rod 442, in principle, converts rotational motion into linear motion, the purpose of which is to push the brake block 431 to move horizontally back and forth. It can save installation space by staggered installation. Those skilled in the art can also achieve it by designing various transmission methods such as synchronous pulleys and transmission of slide rails and sliders according to actual conditions, which will not be elaborated here.

[0053] Reference Figure 4In some embodiments, the tilt-rotor UAV proposed in the embodiments of the present invention further includes at least one support assembly 5 provided on the body 1, the support assembly 5 includes two rotating shaft support seats 51 arranged at intervals, the limiting member 42 is located between the two rotating shaft support seats 51, and the rotating shaft 3 is rotatably connected to the two rotating shaft support seats 51.

[0054] In this embodiment, the shaft support seat 51 is a fixed bearing seat, including a seat body and a bearing rotatably connected to the seat body. The shaft 3 is connected to the bearings of each fixed bearing seat. When the shaft 3 is driven by the rotor mechanism 2, it can rotate relative to the seat body.

[0055] In some embodiments, the present invention proposes to adopt two groups of tilt control mechanisms 4, and the two groups of tilt control mechanisms 4 are arranged horizontally at intervals, and two groups of support components 5 are correspondingly arranged. The shaft support seat 51 of each group of support components 5 is arranged on both sides of the limit member 42, and the bearings of all the shaft support seats 51 are concentrically arranged.

[0056] Reference Figure 4 In some embodiments, the body 1 proposed in the embodiment of the present invention includes a mounting plate 100 for mounting the tilt control mechanism 4 and the rotor mechanism 2, the support assembly 5 is mounted on a horizontal surface of the mounting plate 100, and the drive assembly 43 is mounted on another horizontal surface of the mounting plate 100.

[0057] In this embodiment, the support assembly 5 is arranged on a horizontal plane of the mounting plate 100 adjacent to the rotating shaft 3, and the drive assembly 43 is arranged on a horizontal plane of the mounting plate 100 in principle of the rotating shaft 3. The mounting plate 100 is provided with a through hole passing through the two horizontal planes for the crank 441 to pass through. The two ends of the crank 441 are respectively connected to the connecting rod 442 and the output end of the drive assembly 43. When the drive assembly 43 outputs the driving force, the crank 441 swings in the through hole, driving the connecting rod 442 to reciprocate horizontally, so that the brake block 431 connected to the connecting rod 442 contacts or moves away from the lock body 41.

[0058] In some embodiments, a plurality of mounting plates 100 are further provided inside the body 1 for mounting other components of the drone.

[0059] Reference Figure 4 、 Figure 7 and Figure 8 In some embodiments, the rotor mechanism 2 proposed in the embodiments of the present invention also includes rotor connection components 23 symmetrically arranged at both ends of the rotating shaft 3, each rotor connection component 23 includes an adapter seat 231 and an adapter rod 232, and the upper and lower sides of the adapter seat 231 are provided with connecting parts 2310 for connecting the adapter rod at an angle to each other, one end of the adapter rod 232 is connected to the connecting part 2310, and the other end is connected to the rotor.

[0060] In this embodiment, each rotor connection assembly 23 includes an adapter seat 231 and two adapter rods 232. The two adapter rods 232 respectively connect the adapter seat 231 and the upper and lower rotors in the side rotor assembly. The connecting part 2310 is a connecting hole opened on the upper and lower sides of the adapter seat 231 for the adapter rod 232 to be inserted and fixed.

[0061] When the lift surface of the rotor mechanism 2 changes from one of the two states, horizontal or perpendicular to the horizontal plane, to another state, each rotor assembly rotates, the adapter seat 231 rotates in the avoidance hole 12, and each adapter rod 232 rotates around the axial center line of the rotating shaft 3 in a direction away from the fixed wing 11.

[0062] In some embodiments, the fuselage 1 has two sides provided with avoidance holes 12, and the adapter 231 is received within the avoidance holes 12. When the lift surface of the rotor mechanism 2 is oriented horizontally, the two connecting portions 2310 of the adapter 231 protrude vertically from the avoidance holes 12. When the lift surface of the rotor mechanism 2 rotates, the adapter 231 rotates accordingly within the avoidance holes 12. This prevents the rotor assemblies from interfering with the fixed wings during rotation and also prevents airflow from affecting the rotor assemblies and thus the flight attitude of the drone.

[0063] Reference Figures 1 to 3 In some embodiments, the tilt-rotor UAV proposed in the embodiments of the present invention further includes a flight control module 6 provided on the body 1. The flight control module 6 is wirelessly connected to the controller of the UAV and is electrically connected to the drive component 43 and each rotor respectively, for controlling the operation of the drive component 43 and each rotor and providing the electrical energy required for the operation.

[0064] In this embodiment, the flight control module 6 is the flight control system of the UAV and includes a program control unit 61 and a power supply 62. The power supply 62 is used to provide the power required for the operation of each rotor assembly, the drive assembly 43, and the program control unit 61. The flight control module 6 is also wirelessly connected to the UAV controller. The user can send control signals to the program control unit 61 via the wireless controller to control the operation of each rotor assembly and / or the drive assembly 43. The operating principle of the flight control module 6 is well known to those skilled in the art and is not related to the inventive content of the present invention and will not be described in detail here.

[0065] Reference Figure 7 In some embodiments, an encoder is provided inside each fixed wing 11 proposed in the embodiments of the present invention. The encoder is used to be electrically connected to the flight control module 6 of the UAV and to feed back the airfoil structure information of the connected fixed wing 11 to the flight control module 6.

[0066] In this embodiment, the fixed wing 11 is detachably connected to the body 1. An encoder, also known as an electronic encoder, is installed on the fixed wing 11. After the fixed wing 11 is installed in the avoidance hole 12, the electronic encoder is connected to the flight control module via a wire. The flight control module can read the data from the electronic encoder. The flight control module 6 determines the airfoil structure of the installed fixed wing 11 based on the read code value, thereby adopting the corresponding UAV flight control logic method based on the code value of the fixed wing 11 with different airfoils installed on the tilt-rotor UAV of the present invention. Those skilled in the art are already familiar with the flight control logic method, and will not be described in detail here.

[0067] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A tilt-rotor UAV, characterized in that: include: A fuselage, wherein fixed wings are provided on both sides of the fuselage; The rotor mechanism includes a left rotor assembly and a right rotor assembly, wherein the left rotor assembly includes a left upper rotor and a left lower rotor located on the upper and lower sides of the fixed wing; the right rotor assembly is symmetrically arranged with the left rotor assembly, and is respectively arranged at both ends of a rotating shaft, and the rotating shaft is arranged on the body; The tilt control mechanism includes a lock body, a limiter, and a drive assembly. The lock body is connected to the rotating shaft and accommodated in the limiter. The lock body can rotate in the limiter. The output end of the drive assembly is provided with a brake block that can extend into the bottom of the lock body. The position-limiting member includes a base plate, a first stopper, and a second stopper, wherein the first stopper and the second stopper are spaced apart from each other on the base plate; the lock body is configured with a protrusion that can contact the first stopper and the second stopper, and a peripheral side of the protrusion is accommodated between the first stopper and the second stopper; the base plate is provided with a guide groove for the brake block to slide; The circumferential side of the protrusion is constructed with a first contact surface and a second contact surface set at a preset angle, and the brake block is constructed with an inclined surface corresponding to the first contact surface and the second contact surface, and the inclined surface is used to abut the first contact surface or the second contact surface. The driving component drives the inclined surface of the brake block to abut the first contact surface or the second contact surface, so that the lock body cannot rotate in the opposite direction of the rotation direction restricted by the limit member.

2. The tilt-rotor UAV according to claim 1, characterized in that: The first stopper and the second stopper are respectively configured with a first buffer surface and a second buffer surface, and the first buffer surface and the second buffer surface are arranged at a preset angle.

3. The tilt-rotor UAV according to claim 1 or 2, characterized in that: The tilt control mechanism further includes a transmission assembly, which includes a crank and a connecting rod. One end of the crank is connected to the output end of the drive assembly, and the other end of the crank is connected to the brake block through the connecting rod.

4. The tilt-rotor UAV according to claim 3, characterized in that: It also includes at least one supporting assembly arranged on the body, the supporting assembly includes two bearing support seats arranged at intervals, the limiting member is located between the two bearing support seats, and the rotating shaft is rotatably connected to the two bearing support seats.

5. The tilt-rotor UAV according to claim 4, characterized in that: The body includes a mounting plate for mounting a tilt control mechanism and a rotor mechanism, the support assembly is mounted on a horizontal surface of the mounting plate, and the drive assembly is mounted on another horizontal surface of the mounting plate.

6. The tilt-rotor UAV according to claim 1, characterized in that: The rotor mechanism also includes rotor connection components symmetrically arranged at both ends of the rotating shaft, each of the rotor connection components includes an adapter seat and an adapter rod, and the upper and lower sides of the adapter seat are provided with connecting parts for connecting the adapter rod at an angle to each other, one end of the adapter rod is connected to the connecting part, and the other end is connected to the rotor.

7. The tilt-rotor UAV according to claim 1, characterized in that: It also includes a flight control module arranged on the body, which is wirelessly connected to the controller of the drone and electrically connected to the drive assembly and each rotor respectively, for controlling the operation of the drive assembly and each rotor and providing the electrical energy required for operation.

8. The tilt-rotor UAV according to claim 7, characterized in that: The fixed wing is detachably connected to the body, and an encoder is provided inside each fixed wing. The encoder is used to be electrically connected to the flight control module of the UAV and to feed back the airfoil structure information of the connected fixed wing to the flight control module.

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