An unmanned aerial vehicle automatic tilter device

Abstract

The application discloses an unmanned aerial vehicle automatic tilting device, which comprises a tilting body, the tilting body comprises a tilting disc assembly, a ball head connecting rod assembly and a twist-proof arm assembly, the tilting disc assembly is arranged on a main shaft, two ball head connecting rod assemblies and two twist-proof arm assemblies are arranged on the tilting disc assembly, and the two ball head connecting rod assemblies and the twist-proof arm assemblies are symmetrically arranged at the center, the ball head connecting rod assembly is connected with a paddle clamp of a hub part, and the twist-proof arm assembly is connected with a base of the hub part. The unmanned aerial vehicle automatic tilting device is provided, the twist-proof arm assembly is connected with the base of the hub part, so that the paddle clamp is controlled after the rudder drives the tilting disc assembly and passes through the ball head connecting rod assembly and the twist-proof arm assembly, and the purpose of adjusting the attitude of the fuselage is achieved, wherein the twist-proof arm assembly can increase the stability of control; meanwhile, the above structure is compact, control is clear, and the idle stroke is small.

Description

Technical Field

[0001] This invention relates to the field of small coaxial unmanned aerial vehicle (UAV) technology, and more specifically, to an automatic tilting device for UAVs. Background Technology

[0002] The biggest advantages of small drones are their lightweight and low cost, leading to a wide range of applications, including military, agriculture, aerial photography, consumer entertainment, rescue, exploration, security, and logistics. Consumer entertainment drones hold a significant market share, while military drones, with their advanced technology, command relatively higher prices. With continuous technological innovation, small drones are becoming smaller, lighter, and more intelligent, equipped with more advanced sensors and cameras, resulting in more powerful and versatile functions.

[0003] Chinese invention patent application number 202222170818.0 discloses a linkage structure for a coaxial UAV swashplate, including a main shaft and a pitch-changing assembly. The pitch-changing assembly includes a swashplate and several sets of servos. The swashplate includes a rotating ring, a fixed ring, and a deep groove ball bearing. The fixed ring is sleeved on the main shaft, and the rotating ring is rotatably connected to the fixed ring through the deep groove ball bearing. The outer ring of the rotating ring is provided with a collective pitch component connected to the rotor. Each set of servos has a pitch-changing component connected to the fixed ring at its output end. The servos drive the pitch-changing component to move so that the fixed ring tilts or moves up and down along the main shaft. The advantage of this invention is that it can drive the pitch angle of two rotors to change simultaneously or increase one while decreasing the other, that is, to achieve variable collective pitch and periodic pitch of the rotors.

[0004] However, the linkage structure of the coaxial UAV tilter in the aforementioned technology lacks anti-torsion function while transmitting servo control, making it impossible to achieve more stable control and reduce idle travel. Therefore, it is necessary to propose an automatic tilter device for UAVs to at least partially solve the problems existing in the prior art. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, the present invention provides an automatic tilting device for unmanned aerial vehicles, comprising: a tilting body, the tilting body including a tilting disk assembly, a ball joint linkage assembly, and an anti-torsion arm assembly, the tilting disk assembly being disposed on a main shaft, the tilting disk assembly being provided with two ball joint linkage assemblies and two anti-torsion arm assemblies, and the two ball joint linkage assemblies and the anti-torsion arm assemblies being centrally symmetrically arranged, the ball joint linkage assembly being connected to the propeller clamp of the propeller hub, and the anti-torsion arm assembly being connected to the base of the propeller hub.

[0007] According to an embodiment of the present invention, the automatic tilting device for unmanned aerial vehicles includes a ball joint assembly comprising two first ball joints and a lead screw. The two first ball joints are respectively disposed at both ends of the lead screw. One of the first ball joints is connected to the tilting plate assembly, and the other first ball joint is connected to the propeller clamp.

[0008] According to an embodiment of the present invention, the anti-torsion arm assembly includes an upper anti-torsion mechanism and a lower anti-torsion mechanism. The upper anti-torsion mechanism includes an anti-torsion arm, which is H-shaped and is provided with a plurality of anti-torsion bearings. An anti-torsion pin is disposed between two opposing anti-torsion bearings. The lower anti-torsion mechanism is connected to the anti-torsion pin at the bottom.

[0009] According to an embodiment of the present invention, the automatic tilting device for unmanned aerial vehicles includes an anti-torsion linkage seat and a second ball joint buckle. The anti-torsion linkage seat is disposed on the second ball joint buckle. The anti-torsion linkage seat is located at the bottom of the anti-torsion arm and corresponds to the two anti-torsion bearings. The anti-torsion pin at the bottom passes through the anti-torsion linkage seat, and a top screw is provided on the anti-torsion linkage seat.

[0010] According to an embodiment of the present invention, the automatic tilting device for a drone includes a tilting disk assembly comprising a tilting disk stationary ring, a stationary ring bearing, and a tilting disk moving ring. The stationary ring bearing is disposed within the tilting disk stationary ring, and the tilting disk moving ring is disposed within the stationary ring bearing. The tilting disk moving ring is sleeved on the main shaft, and the ball joint connecting rod assembly and the anti-torsion arm assembly are respectively connected to the tilting disk moving ring.

[0011] According to an embodiment of the present invention, an automatic tilting device for unmanned aerial vehicles (UAVs) has a tilting disc ball inside the tilting disc moving ring, and an inner bearing is disposed inside the tilting disc ball via a spring ring. The spring ring is located above the inner bearing, and the inner bearing is sleeved on the main shaft.

[0012] According to an embodiment of the present invention, the automatic tilting device for unmanned aerial vehicles is provided with two first ball seats and two second ball seats on the outer wall of the tilting disc moving ring. The two first ball seats and the two second ball seats are centrally symmetrically arranged. A first short ball head is provided on one side of the first ball seat and is connected to the ball head connecting rod assembly. A second short ball head is provided at the outer end of the second ball seat and is connected to the anti-torsion arm assembly.

[0013] According to an embodiment of the present invention, an automatic tilting device for unmanned aerial vehicles is provided on the main shaft. The dustproof module is located at the bottom of the tilting disk assembly. The dustproof module includes an inner baffle, an outer bearing disk, an inner linkage dustproof part, an inner baffle disposed on the top of the outer bearing disk, and located inside the bottom of the tilting disk stationary ring to abut against the stationary ring bearing. The inner linkage dustproof part is disposed inside the outer bearing disk, and the outer baffle is disposed at the bottom of the outer bearing disk. The outer bearing disk is provided with a braking mechanism corresponding to the inner linkage dustproof part.

[0014] According to an embodiment of the present invention, the bottom of the outer support plate is provided with a plurality of inner linkage grooves corresponding to the inner linkage dustproof part. The inner linkage dustproof part includes an inner linkage plate and a plurality of inner linkage clamps. The inner linkage plate is movably disposed below the inner linkage clamps. The plurality of inner linkage clamps are slidably disposed in the inner linkage grooves at the bottom of the outer support plate. One side of the inner linkage clamp is provided with a dustproof protrusion, and the other side is provided with a dustproof inner groove corresponding to the adjacent dustproof protrusion. The inner end of the inner linkage clamp is provided with a wear-resistant strip.

[0015] According to an embodiment of the present invention, the automatic tilting device for unmanned aerial vehicles is provided with a plurality of linkage inclined strip holes on the inner linkage plate, a linkage column is provided at the bottom of the inner linkage clamping seat, the linkage column is slidably connected to the linkage inclined strip holes, a linkage hook is provided at the top of the inner linkage clamping seat, and an inner clamping groove corresponding to the linkage hook is provided in the inner linkage groove, and a plurality of braking convex plates are provided in the inner baffle plate, and the braking convex plates are provided with clamping grooves corresponding to the linkage hook.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] This invention provides an automatic tilting device for unmanned aerial vehicles (UAVs). The device includes a tilting body, which comprises a tilting disk assembly, a ball joint assembly, and an anti-torsion arm assembly. The tilting disk assembly is mounted on a main shaft and connected to a servo motor. Two ball joint assemblies and two anti-torsion arm assemblies are mounted on the tilting disk assembly, and these assemblies are centrally symmetrically arranged. The tilting disk assembly is connected to the propeller clamp of the propeller hub via the ball joint assembly and to the base of the propeller hub via the anti-torsion arm assembly. Therefore, when the servo motor drives the tilting disk assembly and controls the propeller clamp through the ball joint assembly and anti-torsion arm assembly, the aircraft's attitude is adjusted. The anti-torsion arm assembly increases control stability. Furthermore, the device features a compact structure, precise control, and minimal idle travel.

[0018] The automatic tilting device for unmanned aerial vehicles (UAVs) described in this invention, along with other advantages, objectives, and features of the invention, will be partly apparent from the following description and partly understood by those skilled in the art through study and practice of the invention. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the installation structure of the present invention.

[0022] Figure 3 This is a schematic diagram of the ball joint assembly in this invention.

[0023] Figure 4 This is a schematic diagram of the anti-torsion arm assembly in this invention.

[0024] Figure 5 This is a schematic diagram of the tilting disk assembly in this invention.

[0025] Figure 6 This is a schematic diagram of the inclined disk moving coil in this invention.

[0026] Figure 7 This is a schematic diagram of the tilted disc ball structure in this invention.

[0027] Figure 8 This is a schematic diagram of the dustproof module in this invention.

[0028] Figure 9 This is an exploded structural diagram of the dustproof module in this invention.

[0029] Figure 10 This is a schematic diagram of part of the internal structure of the dustproof module in this invention. Figure 1 .

[0030] Figure 11 This is a schematic diagram of part of the internal structure of the dustproof module in this invention. Figure 2 .

[0031] Figure 12 This is a schematic diagram of the internal linkage clamp in this invention.

[0032] Figure 13 This is a schematic diagram of the internal linkage disk in this invention.

[0033] Figure 14 For the present invention Figure 10 A magnified structural diagram of part A in the middle.

[0034] Figure 15 For the present invention Figure 11 A magnified structural diagram of part B in the diagram. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0036] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0037] like Figures 1-2 As shown, the present invention provides an automatic tilting device for a UAV, comprising: a tilting body 100, the tilting body 100 including a tilting disk assembly 1, a ball joint linkage assembly 2, and an anti-torsion arm assembly 3, wherein the tilting disk assembly 1 is mounted on a main shaft 101 and is connected to a servo motor (not shown). Simultaneously, two ball joint linkage assemblies 2 and two anti-torsion arm assemblies 3 are mounted on the tilting disk assembly 1, and the two ball joint linkage assemblies 2 and the anti-torsion arm assemblies 3 are centrally symmetrically arranged. The tilting disk assembly 1 is connected to the propeller clamp 201 of the propeller hub 200 through the ball joint linkage assembly 2, and is connected to the base 202 of the propeller hub 200 through the anti-torsion arm assembly 3. Therefore, after the servo motor drives the tilting disk assembly 1 and controls the propeller clamp through the ball joint linkage assembly 2 and the anti-torsion arm assembly 3, the purpose of adjusting the fuselage attitude is achieved. The anti-torsion arm assembly 3 can increase the stability of control; at the same time, the above structure is compact, the control is clear, and the idle travel is small.

[0038] Furthermore, all components in the aforementioned structure are designed to reduce weight, minimizing self-weight and increasing effective load.

[0039] Exemplary ball joint assembly

[0040] like Figure 3 As shown, further, some embodiments of the present invention provide a specific structure of the ball joint assembly 2 described above. The ball joint assembly 2 of this structure includes two first ball joint buckles 21 and a lead screw 22. Here, the two first ball joint buckles 21 are respectively installed at both ends of the lead screw 22. One of the first ball joint buckles 21 is connected to the lower swashplate assembly 1, while the other first ball joint buckle 21 is connected to the upper propeller clip 201. Here, the connection between the swashplate assembly 1 and the ball joint assembly 2 is realized through the ball joint assembly 2. The distance between the two ends can be changed by adjusting the screw 22 screwing in, which is convenient for debugging during test flights.

[0041] Exemplary anti-torsion arm assembly

[0042] like Figure 4 As shown, further, some embodiments of the present invention provide a specific structure of the anti-torsion arm assembly 3 described above. The anti-torsion arm assembly 3 of this structure includes an upper anti-torsion mechanism 31 and a lower anti-torsion mechanism 32. The upper anti-torsion mechanism 31 includes an anti-torsion arm 311, which is H-shaped and can better withstand torsion. Multiple anti-torsion bearings 312 are installed on the anti-torsion arm 311, and an anti-torsion pin 313 is installed between two opposing anti-torsion bearings 312. Snap rings 314 are installed at both ends of the anti-torsion pin 313 to prevent the anti-torsion pin 313 from detaching from the anti-torsion bearing 312. The upper anti-torsion pin 313 can be connected to the base 202 of the propeller hub 200, while the lower anti-torsion pin 313 is connected to the lower anti-torsion mechanism 32.

[0043] Furthermore, the aforementioned lower anti-torsion mechanism 32 includes an anti-torsion connecting rod seat 321 and a second ball head buckle 322. The anti-torsion connecting rod seat 321 is mounted on the second ball head buckle 322, and the anti-torsion connecting rod seat 321 is located at the bottom of the anti-torsion arm 311, with two anti-torsion bearings 312 corresponding to each other. The aforementioned bottom anti-torsion pin 313 passes through the anti-torsion connecting rod seat 321, realizing the connection between the lower anti-torsion mechanism 32 and the upper anti-torsion mechanism 31. Moreover, a set screw 323 is installed on the anti-torsion connecting rod seat 321, and the rotation tightness between the anti-torsion pin 313 and the anti-torsion connecting rod seat 321 can be adjusted by the set screw 323.

[0044] In the above structure, the anti-torsion arm assembly 3 is connected to the swashplate assembly 1 via the second ball joint buckle 322. The upper end of the anti-torsion arm 311 is connected and fixed to the base 202 of the propeller hub 200 by the anti-torsion pin 313. The anti-torsion arm 311 can rotate around the two anti-torsion pins 313, adjusting the distance between the swashplate assembly 1 and the propeller hub 200 while counteracting the counter-torque to maintain stable control.

[0045] Exemplary swashplate component

[0046] like Figure 5 As shown, further, some embodiments of the present invention provide a specific structure for the swashplate assembly 1. This swashplate assembly 1 includes a swashplate stationary ring 11, a stationary ring bearing 12, and a swashplate moving ring 13. The stationary ring bearing 12 is installed inside the swashplate stationary ring 11, and the swashplate moving ring 13 is installed inside the stationary ring bearing 12. The swashplate stationary ring 11 is connected to the swashplate moving ring 13 via the stationary ring bearing 12. The surfaces in contact with the inner and outer rings of the stationary ring bearing 12 are machined with a transition fit to ensure that the swashplate assembly 1 will not loosen during movement. Furthermore, the swashplate moving ring 13 is fitted onto the main shaft 101, and the ball joint connecting rod assembly 2 and the anti-torsion arm assembly 3 are respectively connected to the swashplate moving ring 13.

[0047] Furthermore, a long ball head 111 and two inclined short ball heads 112 are installed on the outer wall of the swashplate stationary ring 11 for connection with the servo motor. At the same time, the long ball head 111 moves along the vertical slot on the housing to ensure that the swashplate does not twist and remains stable.

[0048] like Figure 6 As shown, two first ball seats 131 and two second ball seats 132 are further provided on the outer wall of the inclined disc drive ring 13. The two first ball seats 131 and the two second ball seats 132 are centrally symmetrically arranged. A first short ball head 133 is provided on one side of the first ball seat 131. The first short ball head 133 is connected to the ball head connecting rod assembly 2. A second short ball head 134 is installed on the outer end of the second ball seat 132. The second short ball head 134 is connected to the anti-torsion arm assembly 3.

[0049] like Figure 7 As shown, further, a tilting disc ball 14 is installed inside the tilting disc moving ring 13. When installing the tilting disc ball 14, first, vertically insert both end faces downwards into the upper slot of the tilting disc moving ring 13, then rotate it 90 degrees to complete the installation. At this time, the tilting disc ball 14 can rotate freely within the required control angle in the spherical groove of the tilting disc moving ring 13 without dislodging. Further, an inner bearing 15 is configured inside the tilting disc ball 14 via a spring ring 141. The spring ring 141 is located above the inner bearing 15, which is then fitted onto the main shaft 101. Thus, the tilting disc assembly 1 can rotate on the main shaft 101.

[0050] Exemplary dustproof module

[0051] like Figures 8-15 As shown, further, since the tilting disk assembly 1 has a stationary bearing 12 and the tilting disk moving ring 13 is installed above the stationary bearing 12, the tilting disk moving ring 13 can shield the top of the stationary bearing 12 to prevent dust. However, the bottom of the stationary bearing 12 also needs to be shielded to prevent dust. Therefore, some embodiments of the present invention provide a dustproof module 4. This dustproof module 4 can quickly enter and be fixed to the bottom of the tilting disk stationary ring 11 to shield the stationary bearing 12, and can also quickly detach from the tilting disk stationary ring 11 to facilitate the subsequent addition of lubricating oil to the stationary bearing 12 and improve the efficiency of subsequent maintenance.

[0052] Specifically, the dustproof module 4 of this structure is fitted on the main shaft 101 and located at the bottom of the tilting plate assembly 1. The dustproof module 4 of this structure includes an inner baffle 41, an outer bearing plate 42, an outer baffle 43, and an inner linkage dustproof part 45. The inner baffle 41 is located inside the bottom of the tilting plate stationary ring 11 to abut against the stationary ring bearing 12. At the same time, the inner baffle 41 is also connected to the top of the lower outer bearing plate 42. Specifically, a stepped protrusion 413 is arranged on the outer periphery of the inner baffle 41, and a first stepped groove 424 is arranged on the top of the outer bearing plate 42. The stepped protrusion 413 enters into the first stepped groove 424. At the same time, a second stepped sleeve 425 is arranged on the outer periphery of the outer bearing plate 42, and a dustproof sleeve 426 is arranged inside the second stepped sleeve 425. The dustproof sleeve 426 can abut against the upper tilting plate stationary ring 11 to play a role in shielding and preventing dust.

[0053] Furthermore, an inner linkage dustproof part 45 is installed inside the outer bearing plate 42, and an outer baffle 43 is installed at the bottom of the outer bearing plate 42. The outer baffle 43 covers and fixes the inner linkage dustproof part 45. At the same time, a braking mechanism 48 is provided on the outer bearing plate 42. The braking mechanism 48 can fix the inner linkage dustproof part 45, so that the inner linkage dustproof part 45 can fix the entire dustproof module 4 on the main shaft 101, and also play a role in dust prevention from below.

[0054] Exemplary internal linkage dustproof unit

[0055] like Figures 10-13 As shown, further, some embodiments of the present invention provide a specific structure of the aforementioned internal linkage dustproof part 45. This internal linkage dustproof part 45 includes an internal linkage disc 46 and multiple internal linkage clamps 47. Here, multiple internal linkage grooves 421 are provided at the bottom of the support disc 42. The internal linkage disc 46 is movably mounted below the internal linkage clamps 47, and the multiple internal linkage clamps 47 are slidably mounted in the multiple internal linkage grooves 421. Therefore, by actuating the internal linkage disc 46, the multiple internal linkage clamps 47 are clamped around the main shaft 1. On the 01, a dustproof protrusion 471 is installed on one side of the inner linkage clamp 47, and a dustproof inner groove (not shown) corresponding to the adjacent dustproof protrusion 471 is opened on the other side. In this way, two adjacent inner linkage clamps 47 can be connected to each other to play a dustproof role and jointly fix the main shaft 101. Furthermore, a wear-resistant strip 472 is provided at the inner end of the inner linkage clamp 47. In this way, the wear-resistant strip 472 increases the friction between the inner linkage clamp 47 and the main shaft 101, preventing the entire dustproof module 4 from sliding downward off the main shaft 101.

[0056] Exemplary internal linkage disk

[0057] like Figures 10-13As shown, in some embodiments of the present invention, a plurality of linkage inclined strip holes 461 are provided on the inner linkage disk 46, and a linkage column 473 is installed at the bottom of the inner linkage clamp 47, so that the linkage column 473 enters the linkage inclined strip hole 461 and slides to connect with the linkage inclined strip hole 461.

[0058] A linkage hook 474 is installed on the top of the inner linkage clamping seat 47, and the inner linkage groove 421 has an inner clamping groove 422 corresponding to the linkage hook 474. Multiple brake cams 411 are installed in the inner baffle 41, and clamping grooves 412 are formed on the brake cams 411, corresponding to the linkage hook 474. Therefore, when the inner linkage disc 46 rotates within the outer bearing disc 42, the linkage inclined strip hole 461 on the inner linkage disc 46 can drive the linkage column 473 to move within the inner linkage groove 421. In the process, since the inner linkage groove 421 has an inner clamping groove 422, and the linkage hook 474 extends into the inner clamping groove 422, the inner linkage clamping seat 47 moves synchronously along the inner clamping groove 422, and then the linkage hook 474 enters the clamping groove 412 of the brake cam 411. Then the aforementioned braking mechanism 48 fixes the inner linkage disc 46, so that multiple inner linkage clamping seats 47 are wrapped and clamped on the main shaft 101, realizing the installation and fixation of the entire dustproof module 4 at the bottom of the tilting disc assembly 1.

[0059] Furthermore, two actuating plates 462 are installed on the inner linkage plate 46. The two actuating plates 462 are located outside the multiple linkage inclined holes 461. The outer baffle plate 43 has actuating strip holes 431 corresponding to the actuating plates 462. Therefore, the inner linkage plate 46 can be operated by the two actuating plates 462, so that the inner linkage plate 46 rotates along the actuating strip holes 431, thereby realizing the synchronous action of the inner linkage plate 46 on the multiple linkage hooks 474, which facilitates operation.

[0060] Exemplary braking mechanism

[0061] like Figures 14-15As shown, further, some embodiments of the present invention provide a specific structure of the braking mechanism 48 described above. This braking mechanism 48 includes an inner brake pad 481, a tension rod 482, and an inner pressure spring 483. A brake seat 423 is mounted on the outer bearing plate 42, and the inner brake pad 481 is installed inside the brake seat 423. The tension rod 482 passes through the brake seat 423 and is connected to the inner brake pad 481. The inner pressure spring 483 is mounted on the tension rod 482 and abuts against the inner brake pad 481 and the brake seat 423. Therefore, by pulling the tension rod 482 outward, the tension rod 482 drives the inner pressure spring 483. When the spring 483 and the inner brake pad 481 move outward, the inner brake pad 481 can disengage from the brake notch 463 on the inner linkage disc 46. Then, by rotating the two actuating plates 462, multiple inner linkage clamps 47 can be disengaged from the main shaft 101. Similarly, when the inner brake pad 48 enters the brake notch 463, the braking mechanism 48 is fixed to the inner linkage disc 46, and the multiple inner linkage clamps 47 are firmly fixed to the main shaft 101. In this way, the entire dustproof module 4 can be fixed or disengaged from the main shaft 101 through the above structure, which facilitates the subsequent maintenance of the stationary bearing 12.

[0062] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An automatic tilting device for unmanned aerial vehicles (UAVs), characterized in that, include: The swashplate body (100) includes a swashplate assembly (1), a ball joint assembly (2), and an anti-torsion arm assembly (3). The swashplate assembly (1) is mounted on the main shaft (101). The swashplate assembly (1) is equipped with two ball joint assemblies (2) and two anti-torsion arm assemblies (3). The two ball joint assemblies (2) and the anti-torsion arm assemblies (3) are symmetrically arranged. The ball joint assembly (2) is connected to the propeller clamp (201) of the propeller hub (200). The anti-torsion arm assembly (3) is connected to the base (202) of the propeller hub (200). The tilting disk assembly (1) includes a tilting disk stationary ring (11), a stationary ring bearing (12), and a tilting disk moving ring (13). The stationary ring bearing (12) is disposed inside the tilting disk stationary ring (11), and the tilting disk moving ring (13) is disposed inside the stationary ring bearing (12). The tilting disk moving ring (13) is sleeved on the main shaft (101). The ball joint connecting rod assembly (2) and the anti-torsion arm assembly (3) are respectively connected to the tilting disk moving ring (13). The outer wall of the inclined disc drive (13) is provided with two first ball seats (131) and two second ball seats (132). The two first ball seats (131) and the two second ball seats (132) are centrally symmetrically arranged. A first short ball head (133) is provided on one side of the first ball seat (131). The first short ball head (133) is connected to the ball head connecting rod assembly (2). A second short ball head (134) is provided on the outer end of the second ball seat (132). The second short ball head (134) is connected to the anti-torsion arm assembly (3). The main shaft (101) is equipped with a dustproof module (4), which is located at the bottom of the tilting disk assembly (1). The dustproof module (4) includes an inner baffle (41), an outer bearing disk (42), an outer baffle (43), and an inner linkage dustproof part (45). The inner baffle (41) is disposed on the top of the outer bearing disk (42) and is located inside the bottom of the tilting disk stationary ring (11) to abut against the stationary ring bearing (12). The inner linkage dustproof part (45) is disposed inside the outer bearing disk (42). The outer baffle (43) is disposed at the bottom of the outer bearing disk (42). The outer bearing disk (42) is equipped with a braking mechanism (48) corresponding to the inner linkage dustproof part (45).

2. The automatic tilting device for unmanned aerial vehicles according to claim 1, characterized in that, The ball joint assembly (2) includes two first ball joints (21) and a lead screw (22). The two first ball joints (21) are respectively disposed at both ends of the lead screw (22). One of the first ball joints (21) is connected to the tilting plate assembly (1), and the other first ball joint (21) is connected to the propeller clamp (201).

3. The automatic tilting device for unmanned aerial vehicles according to claim 1, characterized in that, The anti-torsion arm assembly (3) includes an upper anti-torsion mechanism (31) and a lower anti-torsion mechanism (32). The upper anti-torsion mechanism (31) includes an anti-torsion arm (311), which is H-shaped and is equipped with multiple anti-torsion bearings (312). An anti-torsion pin (313) is disposed between two opposite anti-torsion bearings (312). The lower anti-torsion mechanism (32) is connected to the anti-torsion pin (313) at the bottom.

4. The automatic tilting device for unmanned aerial vehicles according to claim 3, characterized in that, The lower anti-torsion mechanism (32) includes an anti-torsion linkage seat (321) and a second ball head buckle (322). The anti-torsion linkage seat (321) is disposed on the second ball head buckle (322). The anti-torsion linkage seat (321) is located at the bottom of the anti-torsion arm (311) and corresponds to the two anti-torsion bearings (312). The anti-torsion pin (313) at the bottom passes through the anti-torsion linkage seat (321), and a top screw rod (323) is provided on the anti-torsion linkage seat (321).

5. The automatic tilting device for unmanned aerial vehicles according to claim 1, characterized in that, The inclined disc moving ring (13) is equipped with an inclined disc ball (14), and an inner bearing (15) is arranged inside the inclined disc ball (14) through a spring ring (141). The spring ring (141) is located above the inner bearing (15), and the inner bearing is sleeved on the main shaft (101).

6. The automatic tilting device for unmanned aerial vehicles according to claim 1, characterized in that, The bottom of the outer bearing plate (42) is provided with a plurality of inner linkage grooves (421) corresponding to the inner linkage dustproof part (45). The inner linkage dustproof part (45) includes an inner linkage plate (46) and a plurality of inner linkage clamps (47). The inner linkage plate (46) is movably disposed below the inner linkage clamps (47). The plurality of inner linkage clamps (47) are slidably disposed in the inner linkage grooves (421) at the bottom of the outer bearing plate (42). One side of the inner linkage clamp (47) is provided with a dustproof protrusion (471), and the other side is provided with a dustproof inner groove corresponding to the adjacent dustproof protrusion (471). The inner end of the inner linkage clamp (47) is provided with a wear-resistant strip (472).

7. The automatic tilting device for unmanned aerial vehicles according to claim 6, characterized in that, The inner linkage disc (46) is provided with a plurality of linkage inclined strip holes (461), the bottom of the inner linkage clamp (47) is provided with a linkage column (473), the linkage column (473) is slidably connected to the linkage inclined strip holes (461), the top of the inner linkage clamp (47) is provided with a linkage hook (474), and the inner linkage groove (421) has an inner clamping groove (422) corresponding to the linkage hook (474). The inner baffle (41) is provided with a plurality of brake convex plates (411), and the brake convex plates (411) have clamping grooves (412) corresponding to the linkage hook (474).

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