Design method for aircraft and tilting device

Abstract

The present invention discloses a design method for an aircraft and a tilting device. The aircraft includes a tilting device and a propeller mechanism. The tilting device includes a base, a transmission mechanism detachably connected to the base, and a tilting motor provided on the base. The tilting motor is drivingly connected to the transmission mechanism. The propeller mechanism is connected to the transmission mechanism. The propeller mechanism has a rotation axis, and the transmission mechanism has a tilting axis for the rotation axis to tilt relative to a first plane of the aircraft. The first plane is defined by the front-back direction and the left-right direction of the aircraft. The rotation axis has a first tilting range. During the process of the rotation axis tilting within the first tilting range, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque received by the tilting device, so as to reduce the change amplitude of the output torque of the tilting motor. The vector direction of the torque is the axial direction of the tilting axis. The technical solution of the present invention aims to make the change amplitude of the output torque of the tilting motor relatively small.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a design method for an aircraft and a tilting device. Background Art

[0002] In the prior art, an aircraft includes a tilting device and a propeller mechanism drivingly connected to the tilting device. The tilting device is used to tilt the propeller mechanism so as to provide power for the flight of the aircraft. For example, during the vertical take-off and landing process of the aircraft, the rotation axis of the propeller mechanism extends in the up-and-down direction to provide power for the take-off and landing of the aircraft. During the level flight process of the aircraft, the tilting device tilts the propeller mechanism so that the rotation axis of the propeller mechanism extends in the horizontal direction to provide power for the level flight of the aircraft.

[0003] During the tilting process of the rotation axis, the torque received by the tilting device will change, and the output torque of the tilting motor of the tilting device will increase following the increase of the torque. Thus, the change range of the output torque of the tilting motor will be relatively large, resulting in a relatively low service life of the tilting motor. For this reason, the present invention provides an aircraft aiming to make the change range of the output torque of the tilting motor relatively small, thereby making the service life of the tilting motor relatively high. Summary of the Invention

[0004] The main object of the present invention is to provide an aircraft aiming to make the change range of the output torque of the tilting motor relatively small, thereby making the service life of the tilting motor relatively high.

[0005] To achieve the above object, the aircraft proposed by the present invention includes:

[0006] A tilting device, including a base, a transmission mechanism detachably connected to the base, and a tilting motor disposed on the base, the tilting motor being drivingly connected to the transmission mechanism; and

[0007] A propeller mechanism connected to the transmission mechanism, the propeller mechanism having a rotation axis, and the transmission mechanism having a tilting axis for the rotation axis to tilt relative to a first plane of the aircraft, wherein the first plane is defined by the front-back direction and the left-right direction of the aircraft;

[0008] The rotation axis has a first tilting interval. During the tilting process of the rotation axis within the first tilting interval, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque received by the tilting device, so as to reduce the change range of the output torque of the tilting motor, wherein the vector direction of the torque is the axial direction of the tilting axis.

[0009] Optionally, the torque comes from the gravity, pulling force, overturning moment, and gyroscopic moment of the propeller mechanism.

[0010] Optionally, the torque comes from the torque exerted by the airflow in the external environment during the flight of the aircraft on the tilting device.

[0011] Optionally, the torque comes from the gravity of the transmission mechanism.

[0012] Optionally, when the torque received by the tilting device reaches the maximum value, the rotation axis is located in the first tilting interval.

[0013] Optionally, the angle range for the rotation axis to tilt in the first tilting interval is 30° - 50°.

[0014] Optionally, during the process of the rotation axis tilting in the first tilting interval, the reduction ratio of the transmission mechanism ranges from 1 to 4.

[0015] Optionally, during the process of the rotation axis tilting in the first tilting direction, the rotation axis can successively pass through the horizontal flight tilting position, the first tilting position, the second tilting position, and the vertical flight tilting position. The rotation axis has a second tilting interval from the horizontal flight tilting position to the first tilting position, a first tilting interval from the first tilting position to the second tilting position, and a third tilting interval from the second tilting position to the vertical flight tilting position. During the process of the rotation axis tilting in the second tilting interval in the first tilting direction, the reduction ratio of the transmission mechanism gradually decreases. During the process of the rotation axis tilting in the third tilting interval in the first tilting direction, the reduction ratio of the transmission mechanism gradually increases.

[0016] Optionally, during the process of the rotation axis tilting in the second tilting interval, the maximum value of the reduction ratio of the transmission mechanism ranges from 5 to 20.

[0017] Optionally, during the process of the rotation axis tilting in the third tilting interval, the maximum value of the reduction ratio of the transmission mechanism ranges from 6 to 20.

[0018] Optionally, the angle range for the rotation axis to tilt in the third tilting interval is 10° - 20°.

[0019] Optionally, during the process of the rotation axis tilting in the first tilting interval in the first tilting direction, the reduction ratio of the transmission mechanism gradually increases. During the process of the rotation axis tilting in the first tilting interval, the maximum value of the deceleration of the transmission mechanism is A. During the process of the rotation axis tilting in the second tilting interval, the maximum value of the reduction ratio of the transmission mechanism is B, and B is greater than A.

[0020] Optionally, during the process of the rotation axis tilting from the horizontal flight tilting position to the second tilting position, the moment received by the tilting device gradually increases. The rotation axis can sequentially pass through the horizontal flight tilting position, the third tilting position, and the first tilting position. The first tilting interval includes a fourth tilting interval from the horizontal flight tilting position to the third tilting position and a fifth tilting interval from the third tilting position to the first tilting position. During the process of the rotation axis tilting in the fourth tilting interval along the first tilting direction, the change amount of the reduction ratio of the transmission mechanism per unit tilting angle is C. During the process of the rotation axis tilting in the fifth tilting interval along the first tilting direction, the change amount of the reduction ratio of the transmission mechanism per unit tilting angle is D, and C > D.

[0021] Optionally, the angle by which the rotation axis can tilt in the fourth tilting interval is less than the angle by which the rotation axis can tilt in the fifth tilting interval.

[0022] Optionally, the range of the angle by which the rotation axis can tilt in the fourth tilting interval is 0° - 5°, and the range of the angle by which the rotation axis can tilt in the fifth tilting interval is 5° - 40°.

[0023] Optionally, the transmission mechanism includes a link mechanism provided on the base. The link mechanism has the tilting axis, and the tilting motor controls the rotation axis to tilt relative to the first plane around the tilting axis through the link mechanism.

[0024] Optionally, during the process of the rotation axis tilting in the first tilting interval, the change trend of the reduction ratio of the link mechanism is consistent with the change trend of the moment received by the tilting device, where the vector direction of the moment is the axial direction of the tilting axis.

[0025] Optionally, the link mechanism includes a propeller motor mount rotatably connected to the base, a link connecting the propeller motor mount, and a rocker connecting the link. The tilting motor is drivingly connected to the rocker. The propeller mechanism includes a propeller motor having the rotation axis, and the propeller motor is provided on the propeller motor mount. The motor mount has the tilting axis.

[0026] Optionally, the tilting device further includes an adapter seat provided on the base, and the base is rotatably connected to the propeller motor mount through the adapter seat.

[0027] Optionally, during the tilting of the rotation axis in the first tilting direction, the rotation axis may sequentially pass through the horizontal flight tilting position and the vertical flight tilting position. The propeller motor mount has a first abutting portion, and the adapter has a second abutting portion opposite to the first abutting portion in the first tilting direction. When the rotation axis tilts to the vertical flight tilting position, the first abutting portion abuts against the second abutting portion.

[0028] Optionally, during the tilting of the rotation axis in the second tilting direction, the rotation axis may sequentially pass through the vertical flight tilting position and the horizontal flight tilting position. The connecting rod has a third abutting portion, and the rocker has a fourth abutting portion opposite to the third abutting portion in the second tilting direction. When the rotation axis tilts to the horizontal flight tilting position, the third abutting portion abuts against the fourth abutting portion.

[0029] Optionally, the propeller motor mount includes a mount body for mounting the propeller motor and a plurality of support lugs connecting the mount body. The support lugs are rotatably connected to the base, and the support lugs have the tilting axis.

[0030] Optionally, the tilting device further includes an angle sensor for monitoring the tilting angle of the propeller motor mount.

[0031] Optionally, the tilting device further includes a worm gear drivenly connected to the tilting motor, a worm wheel engaged with the worm gear, and a first rotating shaft connecting the worm wheel and the rocker. The first rotating shaft is rotatably connected to the base.

[0032] Optionally, the tilting device further includes two rotating shaft support seats provided on the base. One end of the first rotating shaft is rotatably connected to one of the rotating shaft support seats, and the other end of the first rotating shaft is rotatably connected to the other rotating shaft support seat.

[0033] Optionally, the tilting device further includes two worm support seats provided on the base. One end of the worm is rotatably connected to one of the worm support seats, and the other end of the worm is rotatably connected to the other worm support seat.

[0034] Optionally, the tilting motor is connected to the worm through a speed reducer.

[0035] Optionally, the tilting motor is drivingly connected to the worm through a coupling.

[0036] Optionally, the worm is used to self-lock with the worm wheel so that the worm wheel cannot drive the worm.

[0037] Optionally, the worm and the worm wheel are self-locked through a brake pad.

[0038] Optionally, the first rotating shaft is parallel to the base, and the worm is disposed between the worm gear and the base.

[0039] Optionally, the first rotating shaft is parallel to the base, and the length direction of the worm is the direction from the base towards the worm gear.

[0040] The present invention further provides a design method for a tilting device. The design method for the tilting device is used to design the tilting device of the aircraft as claimed in the claims. The design method for the tilting device includes the following steps:

[0041] Obtain the torque change curve of the tilting device during the tilting of the rotation axis.

[0042] According to the preset correspondence between the torque and the reduction ratio and the torque change curve, obtain the reduction ratio change curve of the transmission mechanism; in the preset correspondence between the torque and the reduction ratio, in the first tilting interval, the change trend of the torque change curve is consistent with the change trend of the reduction ratio change curve.

[0043] Design the transmission mechanism according to the reduction ratio change curve.

[0044] In the technical solution of the present invention, the aircraft includes a tilting device and a propeller mechanism. The tilting device includes a base, a transmission mechanism detachably connected to the base, and a tilting motor provided on the base. The tilting motor is drivingly connected to the transmission mechanism. The propeller mechanism is connected to the transmission mechanism. In this way, the tilting motor can drive the propeller mechanism by driving the transmission mechanism. In addition, the transmission mechanism is detachably connected to the base, which facilitates the removal of the transmission mechanism for repair or overall replacement when it is damaged. The propeller mechanism has a rotation axis. It can be understood that this rotation axis is the rotation axis of the propeller motor of the propeller mechanism. The transmission mechanism has a tilting axis for the rotation axis to tilt relative to the first plane of the aircraft. In this way, under the drive of the tilting motor, the rotation axis can tilt relative to the first plane around the tilting axis. Among them, the first plane is limited by the front-back direction and the left-right direction of the aircraft. The rotation axis has a first tilting range. Specifically, the first tilting range is an area swept by the rotation axis during the tilting process. During the process of the rotation axis tilting within the first tilting range, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque received by the tilting device, so as to reduce the change amplitude of the output torque of the tilting motor. Among them, the vector direction of the torque is the axial direction of the tilting axis. That is, during the process of the rotation axis tilting within the first tilting range, when the torque received by the tilting device increases, the reduction ratio of the transmission mechanism also increases; when the torque received by the tilting device decreases, the reduction ratio of the transmission mechanism also decreases. In this way, the change amplitude of the output torque of the tilting motor can be made smaller, so that the service life of the tilting motor is higher. In addition, the torque with a smaller change amplitude is also easier to avoid the natural frequency of the aircraft, thereby reducing the occurrence of system resonance. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0046] Figure 1 It is a schematic structural diagram of an embodiment of the tilting device of the present invention, wherein the rotation axis of the tilting device is located at the vertical flight tilting position;

[0047] Figure 2 For Figure 1 Another perspective structural diagram of the tilting device;

[0048] Figure 3 For Figure 1 Another perspective structural diagram of the tilting device;

[0049] Figure 4 ForFigure 1 Schematic structural diagram of the middle tilting device from another perspective;

[0050] Figure 5 is Figure 1 Schematic structural diagram of the middle tilting device, wherein the rotation axis of the tilting device is located at the horizontal flight tilting position;

[0051] Figure 6 is Figure 5 F - F sectional view of the middle tilting device;

[0052] Figure 7 Schematic structural diagram of another embodiment of the tilting device of the present invention;

[0053] Figure 8 Graph showing the relationship between the torque received by the tilting device and the reduction ratio of the transmission mechanism with respect to the tilting angle;

[0054] Figure 9 Design flow chart of the tilting device.

[0055] Explanation of the reference numerals in the drawings:

[0056]

[0057] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0059] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0060] In the present invention, unless otherwise clearly specified or limited, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can also be in abutment. It can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] In the prior art, an aircraft includes a tilting device and a propeller mechanism that is drivingly connected to the tilting device. The tilting device is used to tilt the propeller mechanism, thereby providing power for the aircraft to fly. For example, during the vertical takeoff and landing of the aircraft, the rotation axis of the propeller mechanism extends in the up and down direction, providing power for the aircraft to take off and land. During the level flight of the aircraft, the tilting device tilts the propeller mechanism so that the rotation axis of the propeller mechanism extends in the horizontal direction, providing power for the aircraft to fly level.

[0063] During the tilting of the rotation axis, the torque received by the tilting device will change, and the output torque of the tilting motor of the tilting device will increase following the increase in torque. Thus, the change range of the output torque of the tilting motor will be relatively large, which will result in a relatively low service life of the tilting motor. For this reason, the present invention proposes an aircraft, aiming to make the change range of the output torque of the tilting motor relatively small, thereby making the service life of the tilting motor relatively high.

[0064] Refer to Figures 1 to 8, in an embodiment of the present invention, the aircraft includes a tilting device 100 and a propeller mechanism. The tilting device 100 includes a base 200, a transmission mechanism provided on the base 200, and a tilting motor 800 provided on the base 200. The tilting motor 800 is drivingly connected to the transmission mechanism. The propeller mechanism is connected to the transmission mechanism. Thus, the tilting motor 800 can drive the propeller mechanism to tilt by driving the transmission mechanism. In addition, the transmission mechanism is detachably connected to the base 200, which facilitates the removal of the transmission mechanism for repair or overall replacement when it is damaged. The propeller mechanism has a rotation axis. It can be understood that this rotation axis is the rotation axis of the propeller motor 900 of the propeller mechanism. The transmission mechanism has a tilting axis for the rotation axis to tilt relative to the first plane of the aircraft. Thus, under the drive of the tilting motor 800, the rotation axis can tilt relative to the first plane around the tilting axis. Among them, the first plane is defined by the front-back direction and the left-right direction of the aircraft. The rotation axis has a first tilting interval. Specifically, the first tilting interval is a region swept by the rotation axis during the tilting process. During the tilting of the rotation axis within the first tilting interval, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque received by the tilting device 100, so as to reduce the change amplitude of the output torque of the tilting motor 800. Among them, the vector direction of the torque is the axial direction of the tilting axis. That is, during the tilting of the rotation axis within the first tilting interval, when the torque received by the tilting device 100 increases, the reduction ratio of the transmission mechanism also increases; when the torque received by the tilting device 100 decreases, the reduction ratio of the transmission mechanism also decreases. Thus, the change amplitude of the output torque of the tilting motor 800 can be made smaller, so that the service life of the tilting motor 800 is longer. In addition, the torque with a smaller change amplitude is also easier to avoid the natural frequency of the aircraft, thereby reducing the occurrence of system resonance.

[0065] It should be noted that reducing the change amplitude of the output torque of the tilting motor 800 means making the change amplitude of the output torque of the tilting motor 800 less than a preset change amplitude.

[0066] There are many sources of torque, but ultimately they can all be converted into the torque on the tilting device 100. Optionally, in an embodiment, the torque comes from the gravity, pull force, overturning moment, and gyroscopic moment of the propeller mechanism. The gravity, pull force, overturning moment, and gyroscopic moment of the propeller mechanism can be obtained from the flight envelope. Optionally, in an embodiment, the torque comes from the torque of the airflow in the external environment acting on the tilting device 100 when the aircraft is flying. The torque of the airflow acting on the tilting device 100 can be obtained from the flight envelope. Optionally, in an embodiment, the torque comes from the gravity of the transmission mechanism.

[0067] In the prior art, when the torque received by the tilting device 100 reaches the maximum value, the output torque of the tilting motor 800 also reaches the maximum value. In this way, a tilting motor 800 with a relatively large power is selected according to the maximum output torque, resulting in a relatively high production cost of the aircraft. To reduce the power required by the tilting motor 800 and the production cost of the aircraft, optionally, in an embodiment, when the torque received by the tilting device 100 reaches the maximum value, the rotation axis is located in the first tilting interval. In this way, within the first interval, when the torque received by the tilting device 100 reaches the maximum value, the reduction ratio of the transmission mechanism reaches the maximum value, so that the output torque of the tilting motor 800 is relatively small, and thus the power of the tilting motor 800 can be relatively small, thereby reducing the production cost of the aircraft.

[0068] Optionally, in an embodiment, the angle range for the rotation axis to tilt within the first tilting interval is 30° - 50°. In this way, the ratio of the angle for the rotation axis to tilt within the first tilting interval to the maximum angle that the rotation axis can tilt is relatively large. In this way, during the entire process of the rotation axis tilting, the change range of the torque output by the tilting motor 800 is relatively small, so that the service life of the tilting motor 800 is relatively high. However, this design is not limited thereto. In other embodiments, the angle range for the rotation axis to tilt within the first tilting interval is 0° - 90°.

[0069] Optionally, in an embodiment, during the process of the rotation axis tilting within the first tilting interval, the reduction ratio of the transmission mechanism ranges from 1 to 4. In this way, a relatively low reduction ratio is beneficial for the transmission mechanism to respond quickly, and thus is beneficial for the rotation axis to reach the required tilting position relatively quickly.

[0070] Optionally, in one embodiment, during the tilting of the rotation axis in the first tilting direction, the rotation axis may sequentially pass through the horizontal flight tilting position, the first tilting position, the second tilting position, and the vertical flight tilting position. When the rotation axis tilts to the horizontal flight tilting position, the propeller mechanism can provide power for the aircraft to fly horizontally. When the rotation axis tilts to the vertical flight tilting position, the propeller mechanism can provide power for the aircraft to ascend and descend. Without loss of generality, when the rotation axis is at the horizontal flight tilting position, the angle formed by the rotation axis and the first plane is 0°, and a 5° error is allowed in actual situations. When the rotation axis is at the vertical flight tilting position, the angle formed by the rotation axis and the first plane is 90°, and a 5° error is allowed in actual situations. The rotation axis has a second tilting interval from the horizontal flight tilting position to the first tilting position, a first tilting interval from the first tilting position to the second tilting position, and a third tilting interval from the second tilting position to the vertical flight tilting position. During the tilting of the rotation axis in the first tilting direction within the second tilting interval, the reduction ratio of the transmission mechanism gradually decreases. That is, during the tilting of the rotation axis in the direction from the vertical flight tilting position to the horizontal flight tilting position within the second tilting interval, the reduction ratio of the transmission mechanism gradually increases. Within the second tilting interval, the maximum value of the reduction ratio of the transmission mechanism is at the horizontal flight tilting position. It can be understood that the larger the reduction ratio, the smaller the angle of tilting of the rotation axis when the output shaft of the tilting motor 800 rotates the same number of turns. Thus, it is beneficial to more accurately control the rotation axis to reach the horizontal flight tilting position. During the tilting of the rotation axis in the first tilting direction within the third tilting interval, the reduction ratio of the transmission mechanism gradually increases. Thus, within the third tilting interval, the maximum value of the reduction ratio of the transmission mechanism is at the vertical flight tilting position. Thus, it is beneficial to more accurately control the rotation axis to reach the vertical flight tilting position.

[0071] Specifically, reference can be made to Figure 8 , with the value of the tilting angle as the x-axis, the value of the reduction ratio as the y1-axis, and the reduction ratio line as G. In this image, the image of the reduction ratio of the transmission mechanism in the second tilting interval is characterized in the 0-b interval, the image of the reduction ratio of the transmission mechanism in the first tilting interval is characterized in the b-c, and the image of the reduction ratio of the transmission mechanism in the third tilting interval is characterized in the c-d.

[0072] However, the present design is not limited to this. In other embodiments, the tilting angle available for the rotation axis in the first tilting interval is the maximum tilting angle that the rotation axis can tilt. Thus, during the entire tilting process of the rotation axis, the change range of the torque output by the tilting motor 800 is small, thereby enabling a relatively long service life of the tilting motor 800.

[0073] Optionally, in one embodiment, during the tilting of the rotation axis within the second tilting interval, the range of the maximum value of the reduction ratio of the transmission mechanism is 5-20. Thus, the relatively large reduction ratio is beneficial to more accurately control the rotation axis to reach the horizontal flight tilting position.

[0074] Optionally, in one embodiment, during the process that the rotation axis tilts within the third tilt interval, the range of the maximum value of the reduction ratio of the transmission mechanism is 6-20. In this way, a larger reduction ratio is beneficial to more precisely control the rotation axis to reach the vertical flight tilt position.

[0075] Optionally, in one embodiment, the range of the angle by which the rotation axis can tilt within the third tilt interval is 10°-20°. In this way, the ratio of the angle by which the rotation axis can tilt within the third tilt interval to the maximum angle by which the rotation axis can tilt is relatively small, so as to leave more intervals for the first tilt interval, so that the ratio of the angle by which the rotation axis can tilt within the first tilt interval to the maximum angle by which the rotation axis can tilt is relatively large. In this way, during the process of tilting the rotation axis, it is beneficial for the change range of the torque output by the tilt motor 800 to be relatively small, thereby enabling the tilt motor 800 to have a longer service life.

[0076] Optionally, in one embodiment, during the process that the rotation axis tilts within the first tilt interval along the first tilt direction, the reduction ratio of the transmission mechanism gradually increases. During the process that the rotation axis tilts within the first tilt interval, the maximum value of the deceleration of the transmission mechanism is A. During the process that the rotation axis tilts within the second tilt interval, the maximum value of the reduction ratio of the transmission mechanism is B, and B is greater than A. Also, since the reduction ratio of the transmission mechanism gradually increases during the process that the rotation axis tilts within the third tilt interval along the first tilt direction. Here, it is defined that during the tilting process of the rotation axis within the third tilt interval, the maximum value of the reduction ratio of the transmission mechanism is E. It can be obtained that E is greater than A. In this way, when the rotation axis approaches the horizontal flight tilt position and the vertical flight tilt position, the transmission mechanism has a larger reduction ratio, while when the rotation axis tilts within the first tilt interval, the transmission mechanism has a smaller reduction ratio, so that the tilting device 100 can control the rotation axis more precisely at the horizontal flight tilt position and the vertical flight tilt position, and the tilting device 100 can also make the rotation axis pass through the first tilt interval relatively quickly, so that the rotation axis can reach the horizontal flight tilt position and the vertical flight tilt position relatively quickly.

[0077] It is worth mentioning that, optionally, in one embodiment, during the process that the rotation axis tilts from the horizontal flight tilt position to the second tilt position, the torque received by the tilting device 100 gradually increases. It can be understood that during the process that the rotation axis tilts within the second tilt interval, the change trend of the reduction ratio of the transmission mechanism is different from the change trend of the torque received by the tilting device 100. This is to enable the tilting device 100 to more precisely control the rotation axis when approaching the horizontal flight tilt position. Of course, in other embodiments, in order to make the change range of the torque output by the tilt motor 800 relatively small during the process of tilting the rotation axis, the change trend of the reduction ratio of the transmission mechanism can be made consistent with the change trend of the torque received by the tilting device 100 during the process that the rotation axis tilts within the second tilt interval. For details, reference can be made to Figure 8, with the value of the tilting angle as the x-axis and the value of the torque received by the tilting mechanism as the y2-axis, and the line of this torque being M.

[0078] In addition, optionally, in one embodiment, during the process of the rotation axis tilting from the second tilting position to the vertical flight tilting position, the torque received by the tilting device 100 gradually decreases. It can be understood that during the process of the rotation axis tilting in the third tilting interval, the change trend of the reduction ratio of the transmission mechanism is different from the change trend of the torque received by the tilting device 100. This is to enable the tilting device 100 to achieve more precise control when the rotation axis is approaching the horizontal flight tilting position. Of course, in other embodiments, in order to make the change amplitude of the torque output by the tilting motor 800 smaller during the tilting process of the rotation axis, it can be made that during the process of the rotation axis tilting in the third tilting interval, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque received by the tilting device 100.

[0079] Optionally, in one embodiment, during the process of the rotation axis tilting from the horizontal flight tilting position to the second tilting position, the torque received by the tilting device 100 gradually increases. The rotation axis can sequentially pass through the horizontal flight tilting position, the third tilting position, and the first tilting position. The first tilting interval includes a fourth tilting interval from the horizontal flight tilting position to the third tilting position and a fifth tilting interval from the third tilting position to the first tilting position. During the process of the rotation axis tilting in the fourth tilting interval along the first tilting direction, the change amount of the reduction ratio of the transmission mechanism per unit tilting angle is C. During the process of the rotation axis tilting in the fifth tilting interval along the first tilting direction, the change amount of the reduction ratio of the transmission mechanism per unit tilting angle is D, and C > D. Refer to Figure 8 , with the value of the tilting angle as the x-axis, the value of the reduction ratio as the y1-axis, and the line of the reduction ratio being G. In this image, the image of the reduction ratio of the transmission mechanism in the fourth tilting interval is characterized in the 0 - a interval, and the image of the reduction ratio of the transmission mechanism in the fifth tilting interval is characterized in the a - b interval. It can be seen that in the fourth tilting interval, the line of the reduction ratio is steeper, while in the fifth tilting interval, the line of the reduction ratio is gentler. In this way, during the process of the rotation axis tilting from the horizontal flight tilting position to the vertical flight tilting position, the reduction ratio can quickly drop to a relatively low value, so that when the rotating device receives a relatively low torque value, the reduction ratio of the transmission mechanism can be relatively low, thereby making the average change amplitude of the torque output by the tilting motor 800 smaller during the tilting process of the rotation axis. In addition, in this image, the line of the reduction ratio in the fifth tilting interval is relatively gentle, which is beneficial for providing a transition for the fourth tilting interval and the first tilting interval and reducing the difficulty of designing the transmission mechanism.

[0080] Optionally, in one embodiment, the angle by which the rotation axis can tilt in the fourth tilt interval is less than the angle by which the rotation axis can tilt in the fifth tilt interval. In this way, it is beneficial to further increase the value of C and further decrease the value of D. Thus, during the process of tilting the rotation axis from the horizontal flight tilting position to the vertical flight tilting position, the reduction ratio can drop to a relatively low value more quickly, so that when the rotating device is subjected to a relatively low torque, the reduction ratio of the transmission mechanism can be relatively low, thereby making the change range of the torque output by the tilting motor 800 smaller during the tilting process of the rotation axis. In addition, in this image, the line of the reduction ratio in the fifth tilt interval is smoother, which is beneficial for providing a transition between the fourth tilt interval and the first tilt interval and reducing the difficulty of designing the transmission mechanism.

[0081] Optionally, in one embodiment, the range of the angle by which the rotation axis can tilt in the fourth tilt interval is 0° - 5°, and the range of the angle by which the rotation axis can tilt in the fifth tilt interval is 5° - 40°. In this way, the size of the fourth tilt interval can be made to differ significantly from the size of the fifth tilt interval.

[0082] Optionally, in one embodiment, the transmission mechanism includes a link 330 mechanism provided on the base 200. The link 330 mechanism has a tilting axis, and the tilting motor 800 controls the rotation axis to tilt relative to the first plane through the link 330 mechanism, and the reduction ratio is the reduction ratio of the link 330 mechanism. However, this design is not limited to this. In other embodiments, the transmission mechanism includes a gear mechanism provided on the base 200. The gear mechanism has a tilting axis, and the tilting motor 800 controls the rotation axis to tilt relative to the first plane through the gear mechanism.

[0083] Optionally, in one embodiment, during the process of the rotation axis tilting in the first tilt interval, the change trend of the reduction ratio of the link 330 mechanism is consistent with the change trend of the torque received by the tilting device 100, where the vector direction of the torque is the axial direction of the tilting axis. In this way, the transmission mechanism can be designed by designing the link 330 mechanism.

[0084] Optionally, in one embodiment, the link 330 mechanism includes a propeller motor mount 310 rotatably connected to the base 200, a link 330 connecting the propeller motor mount 310, and a rocker 340 connecting the link 330. The tilting motor 800 is drivingly connected to the rocker 340. The propeller mechanism includes a propeller motor 900 having a rotation axis, and the propeller motor 900 is provided on the propeller motor mount 310, and the propeller motor mount 310 has a tilting axis. In this way, the tilting motor 800 can drive the rocker 340 to rotate, the rocker 340 drives the link 330 to move, the link 330 drives the propeller motor mount 310 to move, and further drives the propeller motor 900 provided on the propeller motor mount 310 to tilt.

[0085] Optionally, in one embodiment, the tilting device 100 further includes an adapter base 400 disposed on the base 200. The base 200 is rotatably connected to the propeller motor mount 310 through the adapter base 400. In this way, the processing difficulty of the base 200 can be reduced. Of course, in other embodiments, the propeller motor mount 310 can also be directly rotatably connected to the base 200 to reduce the assembly steps of the tilting device 100.

[0086] Optionally, in one embodiment, during the tilting process of the rotation axis along the first tilting direction, the rotation axis can sequentially pass through the horizontal flight tilting position and the vertical flight tilting position. The propeller motor mount 310 has a first abutting portion, and the adapter base 400 has a second abutting portion 410 opposite to the first abutting portion in the first tilting direction. When the rotation axis tilts to the vertical flight tilting position, the first abutting portion abuts against the second abutting portion 410. In this way, it can be avoided that when the tilting motor 800 gets out of control, the rotation axis continues to tilt along the first tilting direction and exceeds the vertical flight tilting position, thereby reducing the occurrence of accidents of the aircraft.

[0087] Optionally, in one embodiment, during the tilting process of the rotation axis along the second tilting direction, the rotation axis can sequentially pass through the vertical flight tilting position and the horizontal flight tilting position. The connecting rod 330 has a third abutting portion, and the rocker 340 has a fourth abutting portion opposite to the third abutting portion in the second tilting direction. When the rotation axis tilts to the horizontal flight tilting position, the third abutting portion abuts against the fourth abutting portion. In this way, it can be avoided that when the tilting motor 800 gets out of control, the rotation axis continues to tilt along the second tilting direction and exceeds the horizontal flight tilting position, thereby reducing the occurrence of accidents of the aircraft.

[0088] Optionally, in one embodiment, the propeller motor mount 310 includes a mount body 311 for installing the propeller motor 900 and a plurality of supporting lugs 312 connecting the mount body 311. The supporting lugs 312 are rotatably connected to the base 200, and the supporting lugs 312 have a tilting axis. The plurality of supporting lugs 312 provide more connection structures for connecting the mount body 311 to the base 200, so that the mount body 311 can be relatively stable during the rotation process.

[0089] Optionally, in one embodiment, the tilting device 100 further includes an angle sensor 700 for monitoring the tilting angle of the propeller motor mount 310. In this way, the tilting angle of the rotation axis can be monitored by monitoring the tilting angle of the motor mount, so as to monitor the angle change of the rotation axis in real time. The angle sensor 700 can also be connected to the flight control computer to provide data support for the control of the tilting device 100 by the aircraft and subsequent mechanism optimization. Further, in one embodiment, the tilting device 100 further includes a sensor support base 710 provided on the base 200. The angle sensor 700 is provided on the sensor support base 710, and the angle sensor 700 is connected to the propeller motor mount 310 through an adapter. However, the present design is not limited to this. In other embodiments, the angle sensor 700 can also be configured as a non-contact angle sensor 700.

[0090] Optionally, in one embodiment, the tilting device 100 further includes a worm 520 drivingly connected to the tilting motor 800, a worm gear 510 engaged with the worm 520, and a first rotating shaft 600 connecting the worm gear 510 and the rocker 340. The first rotating shaft 600 is rotatably connected to the base 200. In this way, the tilting motor 800 can reduce the force transmitted when the propeller mechanism tilts through the worm and worm gear 520, avoid excessive force on the output shaft of the tilting motor 800, and thus extend the service life of the tilting motor 800.

[0091] Optionally, in one embodiment, the tilting device 100 further includes two rotating shaft support bases 610 provided on the base 200. One end of the first rotating shaft 600 is rotatably connected to one rotating shaft support base 610, and the other end of the first rotating shaft 600 is rotatably connected to the other rotating shaft support base 610. In this way, the two rotating shaft support bases 610 provide support for the first rotating shaft 600, making the rotation of the rotating shaft relatively stable. In addition, the force on the output shaft of the tilting motor 800 is also reduced, thereby extending the service life of the tilting motor 800.

[0092] Optionally, in another embodiment, the tilting device 100 further includes a tilting motor mount 810 for mounting the tilting motor 800 and a worm 520 mount for mounting the worm 520. The tilting motor mount 810 and the worm 520 mount connect the two rotating shaft support bases 610 to improve the support stiffness of the rotating shaft support bases 610.

[0093] Optionally, in one embodiment, the tilting device 100 further includes two worm support bases 530 provided on the base 200. One end of the worm 520 is rotatably connected to one worm support base 530, and the other end of the worm 520 is rotatably connected to the other worm support base 530. In this way, the two worm support bases 530 provide support for the worm 520, making the rotation of the worm 520 relatively stable. In addition, the force on the output shaft of the tilting motor 800 is also reduced, thereby extending the service life of the tilting motor 800.

[0094] Optionally, in one embodiment, the tilting motor 800 is connected to the worm 520 through a speed reducer. In this way, the forces on the worm gear 510 and the worm 520 can be reduced, and the safety margin of the worm gear 510 and the worm 520 can be improved.

[0095] Optionally, in one embodiment, the tilting motor 800 is drivingly connected to the worm 520 through a coupling 820. In this way, the impact caused by the torque fluctuation is isolated by the coupling 820, protecting the tilting drive motor.

[0096] Optionally, in one embodiment, the worm 520 is used to self-lock with the worm gear 510 so that the worm gear 510 cannot drive the worm 520. In this way, it is realized that at any tilting position of the rotation axis, the worm gear 510 cannot drive the worm 520, reducing the force transmitted from the propeller mechanism to the tilting motor 800 during the tilting process of the rotation axis, thereby extending the service life of the tilting motor 800. However, this design is not limited thereto. In one embodiment, the worm 520 and the worm gear 510 are self-locked through a brake pad.

[0097] There are many ways to arrange the position of the worm 520. Optionally, in one embodiment, the first rotating shaft 600 is parallel to the base 200, and the worm 520 is arranged between the worm gear 510 and the base 200. Optionally, in another embodiment, the first rotating shaft 600 is parallel to the base 200, and the length direction of the worm 520 is the direction from the base 200 towards the worm gear 510. In this way, there is no requirement for the installation sequence of the worm gear 510 and the worm 520, facilitating the maintenance of the turbine and the worm 520.

[0098] Referring to Figure 9 , the present invention also provides a design method for a tilting device. The design method for the tilting device is used to design the tilting device of the aircraft as claimed in the claims. The design method for the tilting device includes the following steps:

[0099] S100: Obtain the torque change curve of the tilting device during the tilting process of the rotation axis.

[0100] This torque change curve can be obtained from the flight envelope. The torque can but is not limited to come from the gravity, pulling force, overturning moment, gyroscopic moment of the propeller mechanism, the torque of the external environment airflow acting on the tilting device during the flight of the aircraft, and the gravity of the transmission mechanism.

[0101] S200: Obtain the reduction ratio change curve of the transmission mechanism according to the preset corresponding relationship between the torque and the reduction ratio and the torque change curve; in the preset corresponding relationship between the torque and the reduction ratio, in the first tilting interval, the change trend of the torque change curve is consistent with the change trend of the reduction ratio change curve. The preset corresponding relationship between the torque and the reduction ratio can be a formula derived from theoretical deduction. It can also be obtained by fitting experimental data. For example, when limiting the change range of the output torque of the tilting motor, select appropriate reduction ratios at different tilting angles, and then obtain the preset corresponding relationship between the torque and the reduction ratio by fitting.

[0102] S300: Design the transmission mechanism according to the reduction ratio change curve. For example, when the transmission mechanism includes a linkage mechanism, the length ratio of each link of the linkage mechanism can be designed according to the reduction ratio change curve.

[0103] In this way, when the tilting device is applied with the designed transmission mechanism, a tilting motor with a smaller change range of the output torque can be selected.

[0104] The above are only optional embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An aircraft, characterized in that, Comprising: A tilting device, including a base, a transmission mechanism detachably connected to the base, and a tilting motor disposed on the base, the tilting motor being drivingly connected to the transmission mechanism; and A propeller mechanism connected to the transmission mechanism, the propeller mechanism having a rotation axis, and the transmission mechanism having a tilting axis for the rotation axis to tilt relative to a first plane of the aircraft, wherein the first plane is defined by the front-rear direction and the left-right direction of the aircraft; The rotation axis has a first tilting interval, and during the process of the rotation axis tilting within the first tilting interval, the changing trend of the reduction ratio of the transmission mechanism is consistent with the changing trend of the torque received by the tilting device, so as to reduce the changing amplitude of the output torque of the tilting motor, wherein the vector direction of the torque is the axial direction of the tilting axis.

2. The aircraft according to claim 1, characterized in that, The torque comes from the gravity, pulling force, overturning moment, and gyroscopic moment of the propeller mechanism; And / or, the torque comes from the torque of the airflow in the external environment acting on the tilting device when the aircraft is flying; And / or, the torque comes from the gravity of the transmission mechanism.

3. The aircraft according to claim 1, characterized in that, When the torque received by the tilting device reaches the maximum value, the rotation axis is located within the first tilting interval.

4. The aircraft according to claim 1, characterized in that, The angle range that the first tilting interval allows the rotation axis to tilt is 30° - 50°; And / or, during the process of the rotation axis tilting within the first tilting interval, the reduction ratio range of the transmission mechanism is 1 - 4.

5. The aircraft according to claim 1, characterized in that, During the process of the rotation axis tilting in the first tilting direction, the rotation axis can sequentially pass through the horizontal flight tilting position, the first tilting position, the second tilting position, and the vertical flight tilting position. The rotation axis has a second tilting interval from the horizontal flight tilting position to the first tilting position, the first tilting interval from the first tilting position to the second tilting position, and a third tilting interval from the second tilting position to the vertical flight tilting position. During the process of the rotation axis tilting in the first tilting direction within the second tilting interval, the reduction ratio of the transmission mechanism gradually decreases. During the process of the rotation axis tilting in the first tilting direction within the third tilting interval, the reduction ratio of the transmission mechanism gradually increases.

6. The aircraft according to claim 5, characterized in that, During the process of the rotation axis tilting within the second tilting interval, the maximum value range of the reduction ratio of the transmission mechanism is 5 - 20; And / or, during the process of the rotation axis tilting within the third tilting interval, the maximum value range of the reduction ratio of the transmission mechanism is 6 - 20; And / or, the angle range that the third tilting interval allows the rotation axis to tilt is 10° - 20°; And / or, during the process of the rotation axis tilting in the first tilting direction within the first tilting interval, the reduction ratio of the transmission mechanism gradually increases. During the process of the rotation axis tilting within the first tilting interval, the maximum value of the deceleration of the transmission mechanism is A. During the process of the rotation axis tilting within the second tilting interval, the maximum value of the reduction ratio of the transmission mechanism is B, and B is greater than A.

7. The aircraft according to claim 5, characterized in that, During the process of the rotation axis tilting from the horizontal flight tilting position to the second tilting position, the moment received by the tilting device gradually increases. The rotation axis can sequentially pass through the horizontal flight tilting position, the third tilting position, and the first tilting position. The first tilting interval includes a fourth tilting interval from the horizontal flight tilting position to the third tilting position and a fifth tilting interval from the third tilting position to the first tilting position. During the process of the rotation axis tilting in the fourth tilting interval in the first tilting direction, the change amount of the reduction ratio of the transmission mechanism per unit tilting angle is C. During the process of the rotation axis tilting in the fifth tilting interval in the first tilting direction, the change amount of the reduction ratio of the transmission mechanism per unit tilting angle is D, and C > D.

8. The aircraft according to claim 7, wherein, The angle that the rotation axis can tilt in the fourth tilting interval is less than the angle that the rotation axis can tilt in the fifth tilting interval.

9. The aircraft according to claim 8, characterized in that, The range of the angle that the rotation axis can tilt in the fourth tilting interval is 0° - 5°, and the range of the angle that the rotation axis can tilt in the fifth tilting interval is 5° - 40°.

10. The aircraft according to claim 1, characterized in that, The transmission mechanism includes a link mechanism provided on the base. The link mechanism has the tilting axis. The tilting motor controls the rotation axis to tilt relative to the first plane around the tilting axis through the link mechanism.

11. The aircraft according to claim 10, characterized in that, During the process of the rotation axis tilting in the first tilting interval, the change trend of the reduction ratio of the link mechanism is consistent with the change trend of the moment received by the tilting device, where the vector direction of the moment is the axial direction of the tilting axis.

12. The aircraft according to claim 10, characterized in that, The link mechanism includes a propeller motor mount rotatably connected to the base, a link connecting the propeller motor mount, and a rocker connecting the link. The tilting motor is drivingly connected to the rocker. The propeller mechanism includes a propeller motor having the rotation axis. The propeller motor is provided on the propeller motor mount, and the propeller motor mount has the tilting axis.

13. The aircraft according to claim 12, characterized in that, The tilting device further includes an adapter seat provided on the base. The base is rotatably connected to the propeller motor mount through the adapter seat.

14. The aircraft according to claim 13, wherein, During the process of the rotation axis tilting in the first tilting direction, the rotation axis can sequentially pass through the horizontal flight tilting position and the vertical flight tilting position. The propeller motor mount has a first abutting portion, and the adapter seat has a second abutting portion opposite to the first abutting portion in the first tilting direction. When the rotation axis tilts to the vertical flight tilting position, the first abutting portion abuts against the second abutting portion.

15. The aircraft according to claim 12, wherein During the process of the rotation axis tilting in the second tilting direction, the rotation axis can sequentially pass through the vertical flight tilting position and the horizontal flight tilting position. The link has a third abutting portion, and the rocker has a fourth abutting portion opposite to the third abutting portion in the second tilting direction. When the rotation axis tilts to the horizontal flight tilting position, the third abutting portion abuts against the fourth abutting portion; And / or, the propeller motor mount includes a mount body for mounting the propeller motor and a plurality of support lugs connecting the mount body. The support lugs are rotatably connected to the base, and the support lugs have the tilting axis. And / or, the tilting device further includes an angle sensor for monitoring the tilting angle of the propeller motor mount.

16. The aircraft according to claim 12, characterized in that, The tilting device further includes a worm gear drivenly connected to the tilting motor, a worm wheel engaged with the worm gear, and a first rotating shaft connecting the worm wheel and the rocker. The first rotating shaft is rotatably connected to the base.

17. The aircraft according to claim 16, wherein, The tilting device further includes two rotating shaft support seats provided on the base. One end of the first rotating shaft is rotatably connected to one of the rotating shaft support seats, and the other end of the first rotating shaft is rotatably connected to the other rotating shaft support seat. And / or, the tilting device further includes two worm support seats provided on the base. One end of the worm is rotatably connected to one of the worm support seats, and the other end of the worm is rotatably connected to the other worm support seat. And / or, the tilting motor is connected to the worm through a reducer. And / or, the tilting motor is drivingly connected to the worm through a coupling.

18. The aircraft according to claim 16, wherein, The worm is used to self-lock with the worm wheel so that the worm wheel cannot drive the worm.

19. The aircraft according to claim 18, wherein, The worm and the worm wheel achieve self-locking through a brake pad.

20. The aircraft according to claim 16, characterized in that, The first rotating shaft is parallel to the base, and the worm is provided between the worm wheel and the base. Or, the first rotating shaft is parallel to the base, and the length direction of the worm is the direction from the base towards the worm wheel.

21. A design method for a tilting device, which is used to design the tilting device of an aircraft as described in any one of claims 1 to 20, characterized in that, The design method of the tilting device includes the following steps: Obtain the torque change curve of the tilting device during the tilting process around the rotation axis. According to the preset corresponding relationship between torque and reduction ratio and the torque change curve, obtain the reduction ratio change curve of the transmission mechanism; in the preset corresponding relationship between torque and reduction ratio, in the first tilting interval, the change trend of the torque change curve is consistent with the change trend of the reduction ratio change curve. Design the transmission mechanism according to the reduction ratio change curve.

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