An unmanned helicopter automatic tilt-rotor structure

Abstract

The present application relates to the technical field of aircraft, in particular to an unmanned helicopter automatic tilting device structure, comprising: a fixed disc, the fixed disc is arranged on a framework, a main shaft is connected to an output end of an engine in the framework, the main shaft is in rotary fit with a bearing in a center hole of the fixed disc, a tilting disc assembly is arranged on the main shaft, top ends of a plurality of rudder connecting rods are hingedly connected to a bottom end of the tilting disc assembly, bottom ends of the rudder connecting rods are hingedly connected to an output end of a rudder, the rudder is arranged on the fixed disc, top ends of the rudder connecting rods are hingedly connected to the tilting disc assembly, the rudder is arranged on the main shaft, the tilting angle of the tilting disc assembly is changed by the rudder in real time, the tilting disc assembly adjusts the tilting angle of the rotor, and then the movement state of the rotor is adjusted, the complexity of the device is reduced, the power size and direction generated by the rotor of the unmanned helicopter can be effectively controlled, and the flight stability of the unmanned helicopter under complex climate environment at low speed is improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to an automatic tilting device structure for an unmanned helicopter. Background Technology

[0002] An automatic swashplate is a specialized device used on helicopters or unmanned helicopters to change the tilt direction of the rotor and the blade angle, thereby controlling the helicopter's flight direction and speed.

[0003] However, existing devices still have shortcomings. For example, a coaxial counter-rotating drone dual tilter linkage mechanism with patent number CN202321332823.5 includes an intermediate shaft, with an upper automatic tilter and a lower automatic tilter symmetrically distributed on the upper and lower sides of the intermediate shaft. The upper and lower automatic tilters each include a fixed ring and a rotating ring, as well as an upper rotor module and a lower rotor module. The linkage mechanism also includes a drive component and several linkage rods, with the two ends of the linkage rods connected to the fixed rings on the upper and lower sides respectively. This device has a complex structure, and it is not convenient to control the flight attitude and direction of the drone in low-speed flight and complex weather conditions. Summary of the Invention

[0004] This invention provides an automatic tilting device structure for unmanned helicopters to address the issues raised in the background art.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution: an automatic swashplate structure for an unmanned helicopter, comprising: a fixed plate, a servo motor, servo motor linkages, a swashplate assembly, and a main shaft. The fixed plate is mounted on a frame, and the engine output end within the frame is connected to the main shaft. The main shaft is rotatably coupled with a bearing in the central hole of the fixed plate. The swashplate assembly is mounted on the main shaft. The bottom end of the swashplate assembly is hinged to the top ends of multiple servo motor linkages. The bottom ends of the servo motor linkages are hinged to the servo motor output ends. The servo motor is mounted on the fixed plate, and the top end of the swashplate assembly is hinged to the rotor. The rotor is mounted on the main shaft.

[0006] Preferably, the fixed plate has multiple relief holes, each of which is oriented toward a servo linkage.

[0007] Preferably, the servo motor includes: a servo motor body, a servo motor connecting frame, and a servo motor rocker arm. Multiple servo motor connecting frames are equidistantly mounted on the top surface of the fixed plate. The servo motor body is mounted on the servo motor connecting frame. The output shaft of the servo motor body is connected to the end of the servo motor rocker arm. The other end of the servo motor rocker arm is hinged to the bottom end of the servo motor connecting rod.

[0008] Preferably, the swashplate assembly includes: a lower swashplate, a limiting rod, and a limiting plate. The lower swashplate has multiple servo linkages hinged at equal intervals on its sidewall. A deep groove ball bearing is installed in the second central hole of the lower swashplate. The deep groove ball bearing is mounted on the bottom sidewall of the spherical plain bearing. The spherical plain bearing is mounted on the main shaft. A limiting plate is mounted on the top surface of the fixed plate. The limiting plate has a longitudinally opening limiting groove. A limiting rod slides in the limiting groove. The end of the limiting rod is mounted on the lower swashplate.

[0009] Preferably, the tilting disk assembly further includes an upper tilting disk, wherein the inner wall of the third central hole of the upper tilting disk is connected to the top side wall of the spherical bearing.

[0010] Preferably, each of the left and right ends of the upper tilting plate is equipped with a left and right stud, the bottom end of the lower anti-torsion arm is hinged to the left and right stud, the top end of the lower anti-torsion arm is hinged to the end of the upper anti-torsion arm, and the other end of the upper anti-torsion arm is hinged to a retaining ring, which is fitted onto the main shaft.

[0011] Preferably, the rotor includes: a mounting base, blades, and an adjusting rod. The top of the main shaft is equipped with a mounting base, and the side wall of the mounting base is rotatably connected to the ends of multiple rotating shafts. One end of the adjusting rod is mounted on the side wall of the rotating shaft, the adjusting rod is arranged parallel to the rotating shaft, and the other end of the rotating shaft is equipped with blades.

[0012] Preferably, the other end of the adjusting rod is hinged to the top of the blade pitch control rod, and the front and rear ends of the upper tilting plate are each equipped with a front and rear stud, and each front and rear stud is hinged to the bottom end of a blade pitch control rod.

[0013] Preferably, the spindle sidewall has multiple blow-suction holes facing the output shaft, and the spindle sidewall is equipped with the ends of multiple cooling plates, with the other ends of the cooling plates facing the output shaft. Each cooling plate is adjacent to a blow-suction hole.

[0014] Preferably, the main shaft has a mounting cavity, with a mounting hole on the top wall and a second mounting hole on the bottom wall. The mounting hole is rotatably connected to the top end of the internally threaded shaft, and the second mounting hole is rotatably connected to the bottom end of the internally threaded shaft. A drive mechanism is connected to the side wall of the internally threaded shaft and is located inside the mounting cavity. A screw is internally threaded onto the internally threaded shaft. Multiple slide bars are longitudinally mounted on the inner wall of the main shaft. The slide bars slide and seal with the longitudinal through groove on the side wall of the piston disc. The side wall of the piston disc slides and seals with the inner wall of the main shaft. A mounting groove is opened on the bottom surface of the piston disc. The top wall of the mounting groove is connected to the top end of the screw. A rotating ring is rotatably connected inside the mounting groove. The fourth center hole of the rotating ring is rotatably connected to the screw. A two-way valve is installed inside the blow-suction hole.

[0015] The beneficial effects of this invention are as follows:

[0016] In the solution of this invention:

[0017] By controlling the servo linkage in real time, the tilt angle of the swashplate assembly is changed. The swashplate assembly adjusts the tilt angle of the rotor, thereby adjusting the rotor's motion state. This reduces the complexity of the device and can effectively control the magnitude and direction of the power generated by the rotor of the unmanned helicopter, improving the flight stability of the unmanned helicopter at low speeds and in complex weather conditions. Attached image description:

[0018] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the fixed disk structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the installation position of the limiting plate of the present invention;

[0021] Figure 4 This is an exploded view of the lower tilting plate, the upper tilting plate, and the joint bearing of the present invention;

[0022] Figure 5 This is a schematic diagram of the blade pitch-changing tie rod structure of the present invention;

[0023] Figure 6 This is a schematic diagram of the installation position of the adjusting rod according to the present invention;

[0024] Figure 7 This is a schematic diagram showing the installation position of the cooling plate of the present invention;

[0025] Figure 8 This is a schematic diagram of the piston disc of the present invention;

[0026] Figure 9 This is a schematic diagram of the blade mounting position according to the present invention;

[0027] Figure 10 This is a schematic diagram of the drive mechanism structure of the present invention;

[0028] Figure 11 This is a schematic diagram of the guide wheel installation position according to the present invention;

[0029] Figure 12 This is a schematic diagram showing the connection relationship between the internal threaded shaft and the screw of the present invention;

[0030] Figure 13 This is a schematic diagram showing the connection between the piston disc and the screw in this invention.

[0031] The components include: 1. Fixed plate; 2. Servo motor; 3. Servo motor connecting rod; 4. Swashplate assembly; 5. Main shaft; 6. Servo motor body; 7. Servo motor connecting frame; 8. Servo motor rocker arm; 9. Lower swashplate; 10. Limiting rod; 11. Limiting plate; 12. Upper swashplate; 13. Joint bearing; 14. Left and right studs; 15. Lower anti-torsion arm; 16. Upper anti-torsion arm; 17. Mounting base; 18. Blade; 19. Adjusting rod; 20. Blade pitch control rod; 21. Front and rear studs; 22. Lightening hole; 23. Blow-in / suction hole; 24. Cooling plate; 25. Internal threaded shaft; 26. Screw; 27. Piston plate; 28. Rotary ring; 29. ​​Blade; 30. Gear ring; 31. Gear rack; 32. Counterweight; 33. Return spring; 34. Drive mechanism; 35. Drain pipe; 36. Heat dissipation pipe; 37. Heat dissipation groove; 38. Guide wheel; 39. Circulating blade. Detailed Implementation

[0032] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0033] Example: Reference Figures 1-13 An automatic swashplate structure for an unmanned helicopter includes: a fixed plate 1, a servo motor 2, servo motor linkages 3, a swashplate assembly 4, and a main shaft 5. The fixed plate 1 is mounted on a frame, and the engine output end within the frame is connected to the main shaft 5. The main shaft 5 is rotatably engaged with a bearing in the center hole of the fixed plate 1. The swashplate assembly 4 is mounted on the main shaft 5. The bottom end of the swashplate assembly 4 is hinged to the top ends of multiple servo motor linkages 3. The bottom ends of the servo motor linkages 3 are hinged to the output ends of servo motor 2. The servo motor 2 is mounted on the fixed plate 1, and the top end of the swashplate assembly 4 is hinged to the rotor. The rotor is mounted on the main shaft 5.

[0034] The principles and beneficial effects of the above scheme are as follows:

[0035] The engine is started, and the rotation of the engine output drives the main shaft 5 to rotate. The main shaft 5 is a tubular structure. When it is necessary to adjust the flight attitude of the unmanned helicopter, the servo motor 2 is activated to control the different rotation angles of the output ends of multiple servo motors 2, so as to control the different heights of the top of each servo motor linkage 3. The servo motor linkage 3 drives the swashplate assembly 4 to move, thereby adjusting the tilt angle of the swashplate assembly 4. The top of the swashplate assembly 4 drives the rotor to move longitudinally, thereby adjusting the rotor angle to control the flight attitude of the unmanned helicopter. By controlling the servo motor linkage 3 in real time through the servo motor 2 to change the tilt angle of the swashplate assembly 4, the swashplate assembly 4 adjusts the tilt angle of the rotor, thereby adjusting the rotor's motion state. This reduces the complexity of the device and can effectively control the magnitude and direction of the power generated by the rotor of the unmanned helicopter, improving the flight stability of the unmanned helicopter at low speeds and in complex weather conditions.

[0036] The fixed plate 1 has multiple light-reducing holes 22, each of which is oriented toward a servo linkage 3.

[0037] The principles and beneficial effects of the above scheme are as follows:

[0038] When multiple servo motors 2 are working, the output end of some servo motors 2 drives the bottom end of the servo motor linkage 3 that is hinged to it to move downward. Multiple relief holes 22 are opened on the fixed plate 1 to ensure that when the bottom end of the main servo motor linkage 3 moves to the lowest position, it will not interfere with the fixed plate 1, thus improving the rationality of the device.

[0039] The servo motor 2 includes: servo motor body 6, servo motor connecting frame 7 and servo motor rocker arm 8. Multiple servo motor connecting frames 7 are equidistantly mounted on the top surface of the fixed plate 1. The servo motor body 6 is mounted on the servo motor connecting frame 7. The output shaft of the servo motor body 6 is connected to the end of the servo motor rocker arm 8. The other end of the servo motor rocker arm 8 is hinged to the bottom end of the servo motor connecting rod 3.

[0040] The principles and beneficial effects of the above scheme are as follows:

[0041] When the flight attitude of the unmanned helicopter needs to be adjusted, the servo motor body 6 is activated. The output shaft of the servo motor body 6 rotates, causing the end of the servo motor rocker arm 8 to rotate. The other end of the servo motor rocker arm 8 drives the servo motor linkage 3, which is hinged to it, to move up or down. The servo motor body 6 controls the up and down movement of the servo motor linkage 3 through the servo motor rocker arm 8, which improves the accuracy of the movement of the servo motor linkage 3. At the same time, it is easier to accurately respond to the pilot's operation commands, enhance its maneuverability in complex environments, and improve the success rate of mission execution. By setting the servo motor connecting bracket 7 on the fixed plate, the servo motor connecting bracket 7 is connected to the servo motor body 6, which improves the stability of the installation of the servo motor body 6 and facilitates its disassembly and maintenance.

[0042] The tilting disk assembly 4 includes a lower tilting disk 9, a limiting rod 10, and a limiting plate 11. The top ends of multiple servo linkages 3 are equidistantly hinged to the side wall of the lower tilting disk 9. A deep groove ball bearing is installed in the second central hole of the lower tilting disk 9. The deep groove ball bearing is mounted on the bottom side wall of the spherical bearing 13. The spherical bearing 13 is mounted on the main shaft 5. The top surface of the fixed disk 1 is equipped with a limiting plate 11. The limiting plate 11 has a longitudinally opened limiting groove. The limiting rod 10 slides in the limiting groove. The end of the limiting rod 10 is mounted on the lower tilting disk 9.

[0043] The principles and beneficial effects of the above scheme are as follows:

[0044] After the height of the servo linkage 3 is adjusted, the multiple servo linkages 3 cooperate with each other to drive the tilt plate 9 to adjust the tilt angle. The side wall of the tilt plate 9 is equipped with a limit rod 10, which slides in the limit groove of the limit plate 11 on the fixed plate 1. The limit groove guides the limit rod 10, which improves the stability of the tilt plate 9 during the tilt angle adjustment process. At the same time, the limit groove can limit the movement of the limit rod 10 to prevent the collision or jamming of the components in the device caused by excessive movement. A deep groove ball bearing is installed in the second center hole of the tilt plate 9. The deep groove ball bearing is mounted on the spherical bearing 13, which is mounted on the main shaft 5. Since the deep groove ball bearing is installed in the second center hole of the tilt plate 9, the tilt plate 9 can be positioned by the servo linkage 3 when the main shaft 5 rotates. At the same time, since the deep groove ball bearing is mounted on the spherical bearing 13, the tilt plate 9 will not rotate synchronously with the main shaft 5 when adjusting the tilt angle.

[0045] The tilting disk assembly 4 further includes an upper tilting disk 12, wherein the inner wall of the third central hole of the upper tilting disk 12 is connected to the top side wall of the spherical bearing 13.

[0046] The principles and beneficial effects of the above scheme are as follows:

[0047] When the tilt angle of the lower tilt plate 9 is adjusted, the deep groove ball bearing drives the spherical plain bearing 13 to adjust the tilt angle. Since the spherical plain bearing 13 is installed in the third center hole of the upper tilt plate 12, the spherical plain bearing 13 and the upper tilt plate 12 can rotate synchronously with the main shaft 5 while the tilt angle of the upper tilt plate 12 is adjusted.

[0048] The upper tilting plate 12 is equipped with a left and right stud 14 at each of its left and right ends. The bottom end of the lower anti-torsion arm 15 is hinged to the left and right stud 14. The top end of the lower anti-torsion arm 15 is hinged to the end of the upper anti-torsion arm 16. The other end of the upper anti-torsion arm 16 is hinged to a retaining ring, which is fitted onto the main shaft 5.

[0049] The principles and beneficial effects of the above scheme are as follows:

[0050] The end of the upper anti-torsion arm 16 is mounted on the main shaft 5 by a retaining ring. The other end of the upper anti-torsion arm 16 is hinged to the top of the lower anti-torsion arm 15. The bottom end of the lower anti-torsion arm 15 is hinged to a left and right stud 14. By setting the anti-torsion arm assembly composed of the lower anti-torsion arm 15 and the upper anti-torsion arm 16, the operator can further improve the control of the flight attitude of the unmanned helicopter and reduce the idle travel of the control components in the device.

[0051] The rotor includes a mounting base 17, blades 18, and an adjusting rod 19. The mounting base 17 is mounted on the top of the main shaft 5. The side wall of the mounting base 17 is rotatably connected to the ends of multiple rotating shafts. One end of the adjusting rod 19 is mounted on the side wall of the rotating shaft. The adjusting rod 19 is arranged parallel to the rotating shaft. The other end of the rotating shaft is equipped with blades 18.

[0052] The other end of the adjusting rod 19 is hinged to the top of the blade pitch control rod 20. The front and rear ends of the upper tilting plate 12 are each equipped with a front and rear stud 21, and each front and rear stud 21 is hinged to the bottom end of a blade pitch control rod 20.

[0053] The principles and beneficial effects of the above scheme are as follows:

[0054] Mounting base 17 is mounted on main shaft 5. When main shaft 5 rotates, mounting base 17 rotates synchronously. Mounting base 17 drives rotating shaft to rotate, which in turn drives rotating blade 18 connected to it to rotate. Rotation of blade 18 provides lift for the unmanned helicopter's flight. When it is necessary to adjust the attitude of the unmanned helicopter in flight, the tilt angle of upper swashplate 12 is changed, which changes the height of blade pitch control rod 20 hinged to it. The change in height of blade pitch control rod 20 drives adjusting rod 19 hinged to it to rotate up or down relative to mounting base 17. The upward or downward rotation of adjusting rod 19 drives the rotating shaft and blade 18 connected to it to move up or down, thereby adjusting the flight attitude of the unmanned helicopter. By precisely controlling the blade pitch and rotation plane angle of blade 18, the vibration of the unmanned helicopter and the noise generated by the rotor can be reduced.

[0055] The main shaft 5 has multiple blow-suction holes 23 on its side wall, which are oriented toward the output shaft. Multiple cooling plates 24 are mounted on the side wall of the main shaft 5, with the other end of each cooling plate 24 facing toward the output shaft. Each cooling plate 24 is adjacent to a blow-suction hole 23.

[0056] The principles and beneficial effects of the above scheme are as follows:

[0057] When the propeller 18 rotates, the air output is directed towards the periphery of the servo 2. Therefore, when the amount of dust in the environment is too large, some dust will accumulate on the output shaft of the servo body 6. After the engine starts, the main shaft 5 rotates, and the multiple cooling plates 24 installed on the main shaft 5 rotate synchronously. During the rotation of the cooling plates 24, a lateral airflow is generated, which blows off the dust accumulated on the output shaft. This prevents the output shaft from jamming due to the accumulation of dust and the long-term operation of the servo body 6. At the same time, it can also prevent the bottom end of the servo linkage 3, which is hinged to the end of the servo rocker arm 8, from being jammed by the accumulated dust, thus ensuring the stability of the device in flight. It can also reduce the number of times and the difficulty of cleaning the device. The rotating cooling plates 24 can cool the bottom end of the working output shaft, servo 2, servo rocker arm 8 and servo linkage 3, preventing the device from being damaged due to the inability to dissipate heat during continuous operation.

[0058] The main shaft 5 has a mounting cavity with a mounting hole on the top wall and a second mounting hole on the bottom wall. The mounting hole is rotatably connected to the top end of the internally threaded shaft 25, and the second mounting hole is rotatably connected to the bottom end of the internally threaded shaft 25. A drive mechanism 34 is connected to the side wall of the internally threaded shaft 25 and is located in the mounting cavity. A screw 26 is internally threaded to the internally threaded shaft 25. Multiple slide bars are longitudinally mounted on the inner wall of the main shaft 5. The slide bars slide and seal with the longitudinal through groove on the side wall of the piston disc 27. The side wall of the piston disc 27 slides and seals with the inner wall of the main shaft 5. A mounting groove is opened on the bottom surface of the piston disc 27. The top wall of the mounting groove is connected to the top end of the screw 26. A rotating ring 28 is rotatably connected in the mounting groove. The fourth center hole of the rotating ring 28 is rotatably connected to the screw 26. A two-way valve is installed in the blow-suction hole 23.

[0059] The bottom surface of the rotating ring 28 is equipped with multiple blades 29.

[0060] The principles and beneficial effects of the above scheme are as follows:

[0061] When the main shaft 5 starts to rotate, the drive mechanism 34 in the mounting cavity is activated. The drive mechanism 34 drives the internal threaded shaft 25 to rotate clockwise. The clockwise rotation of the internal threaded shaft 25 drives the screw 26, which is threaded to it, to move upward within the main shaft 5. The longitudinal through groove on the side wall of the piston disc 27, guided by the slide bar, causes the piston disc 27 to move upward within the main shaft 5. The two-way valve in the suction / blow hole 23 opens into the main shaft 5, allowing air from outside the main shaft 5 to enter between the top surface of the mounting cavity and the bottom surface of the piston disc 27. When the main shaft 5 stops rotating, the drive mechanism 34 in the mounting cavity resets, the internal threaded shaft 25 reverses direction, the screw 26 moves downward within the main shaft 5, and the piston disc 27 moves downward to compress the air. The two-way valve opens away from the axis of the main shaft 5, expelling the air from the suction / blow hole 23, which finally blows it towards the output end of the servo motor 2, thoroughly cleaning the servo motor 2 and its output end of any residual air. The dust is cleaned; as the piston disc 27 moves downward, the air between the bottom of the piston disc 27 and the top of the mounting cavity is compressed and discharged through the blow-suction hole 23. Therefore, airflow is generated at the bottom of the rotating ring 28. The flowing air drives the blade 29 and the rotating ring 28 to rotate in the mounting groove. The screw 26 rotates and engages with the fourth center hole of the rotating ring 28. During the rotation of the blade 29, the dust or moisture on the top surface of the mounting cavity can be blown away and discharged into the main shaft 5 through the blow-suction hole 23, preventing dust from accumulating between the piston disc 27 and the top surface of the mounting cavity, reducing the number of maintenance and inspection times of the device. When the external environment of the unmanned helicopter is poor and there is too much dust or moisture in the air entering the main shaft 5 through the blow-suction hole 23, the blade 29 can be used to assist in cleaning the dust, improving the device's adaptability to various working environments.

[0062] The drive mechanism 34 includes a gear ring 30, a rack 31, a counterweight 32, and a return spring 33. The gear ring 30 is fitted onto the side wall of the internal threaded shaft 25. A rack 31 is meshed with each side of the gear ring 30. The rack 31 is slidably connected to the mounting plate on the bottom wall of the mounting cavity. The end of the rack 31 away from the internal threaded shaft 25 is equipped with a counterweight 32. The side wall of the rack 31 is connected to the end of the return spring 33. The other end of the return spring 33 is connected to the mounting plate.

[0063] The principles and beneficial effects of the above scheme are as follows:

[0064] When the main shaft 5 starts to rotate, under the action of centrifugal force, the counterweight 32 moves away from the axis of the main shaft 5. The counterweight 32 drives the rack 31 to move synchronously, the return spring 33 is compressed, and the gear ring 30 drives the internal thread shaft 25 to rotate forward. When the main shaft 5 finishes rotating, the return spring 33 resets and drives the rack 31 and the counterweight 32 to move and reset in the direction of the axis of the main shaft 5. The gear ring 30 drives the internal thread shaft 25 to rotate in reverse. By using the rack 31 and the counterweight 32 for connection, and the rack 31 meshing with the gear ring 30, the rotation of the main shaft 5 can be used to make the counterweight 32 generate centrifugal effect to drive the rack 31 to move, providing power for the rotation of the internal thread shaft 25, reducing the number of electronic components. The return spring 33 provides power for the reset of the internal thread shaft 25, improving the reliability of the device's cyclic operation, and reducing the manufacturing difficulty and production cost of the device.

[0065] There is a mounting hole on each side of the bottom wall of the mounting cavity. A drain pipe 35 is inserted into one mounting hole and an inlet pipe is inserted into the other mounting hole. The two mounting holes are connected by a heat dissipation hole, which is located in the inner wall of the main shaft 5. The drain pipe 35 and the inlet pipe are connected by a heat dissipation pipe 36, which is installed in the heat dissipation hole. The end of the heat dissipation groove 37 is located on the inner wall of the heat dissipation hole. The heat dissipation groove 37 is located below the fixed plate 1, and the other end of the heat dissipation groove 37 faces the side wall of the main shaft 5. A guide wheel 38 is frictionally connected to the bottom surface of the fixed plate 1. The end of the circulating shaft is mounted on the guide wheel 38. A second mounting groove is located on the inner wall of the drain pipe 35 near the axis of the main shaft 5. The second mounting groove is rotatably engaged with the other end of the circulating shaft. Multiple circulating blades 39 are mounted on the circulating shaft and are placed inside the drain pipe 35.

[0066] The mounting cavity, drain pipe 35, heat dissipation pipe 36, and inlet pipe are filled with lubricating oil.

[0067] The bearing top surface is located below the top wall of the mounting cavity, and the bearing bottom surface is located above the bottom wall of the mounting cavity.

[0068] The principles and beneficial effects of the above scheme are as follows:

[0069] The lubricating oil in the mounting cavity can lubricate the gear ring 30 and the rack 31, reducing wear between parts. When the main shaft 5 rotates, the guide wheel 38 rubs against the bottom surface of the fixed disk 1 and rotates. The rotation of the guide wheel 38 drives the rotating shaft to rotate. The heat generated by the rotating bearing is absorbed by the lubricating oil in the mounting cavity. The rotation of the rotating shaft drives the rotating blades 39 to rotate and draws the lubricating oil that has absorbed heat from the mounting cavity into the drain pipe 35. The lubricating oil in the drain pipe 35 flows into the heat dissipation pipe 36 and then dissipates the heat into the air through the heat dissipation groove 37. The rotating heat dissipation groove 37 improves the heat dissipation efficiency of the heat dissipation pipe 36 and avoids excessive heat caused by the bearing working for a long time. After the lubricating oil is cooled, it is circulated and then enters the mounting cavity again through the inlet pipe, eliminating the need for a cooling device.

[0070] Since the mounting cavity is filled with lubricating oil, when the main shaft 5 rotates, the counterweight 32 is subjected to centrifugal force and will be resisted by the lubricating oil when it moves away from the axis of the main shaft 5. This prevents the counterweight 32 from driving the rack 31 to move too fast, which would cause the rack 31 and the gear ring 30 to grind. At the same time, it can prevent the rack 31 from impacting the mounting plate and avoid damage to the parts.

[0071] This can prevent the piston disc 27 from rising too fast, which could cause damage to the internal thread shaft 25 caused by the threads on the screw 26.

[0072] When the return spring 33 resets, the lubricating oil can provide cushioning for the reset rack 31 and counterweight 32, further preventing impact between components.

[0073] 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 structure for an unmanned helicopter, characterized in that, include: Fixed disk (1), the fixed disk (1) is set on the frame, the engine output end inside the frame is connected to the main shaft (5), the main shaft (5) is rotatably engaged with the bearing in the center hole of the fixed disk (1), the main shaft (5) is equipped with a swashplate assembly (4), the bottom end of the swashplate assembly (4) is hinged to the top end of multiple servo linkages (3), the bottom end of the servo linkages (3) is hinged to the output end of the servo (2), the servo (2) is set on the fixed disk (1), the top end of the swashplate assembly (4) is hinged to the rotor, and the rotor is set on the main shaft (5); The fixed plate (1) has multiple light-reducing holes (22), each of which is oriented toward a servo linkage (3); The servo (2) includes: servo connecting frame (7), multiple servo connecting frames (7) are equidistantly mounted on the top surface of the fixed plate (1), servo body (6) is mounted on the servo connecting frame (7), the output shaft of the servo body (6) is connected to the end of the servo rocker arm (8), and the other end of the servo rocker arm (8) is hinged to the bottom end of the servo connecting rod (3). The tilting disk assembly (4) includes: a lower tilting disk (9), the top ends of multiple servo linkages (3) are equidistantly hinged to the side wall of the lower tilting disk (9), a deep groove ball bearing is installed in the second center hole of the lower tilting disk (9), the deep groove ball bearing is mounted on the bottom side wall of the spherical bearing (13), the spherical bearing (13) is mounted on the main shaft (5), a limit plate (11) is mounted on the top surface of the fixed disk (1), the limit plate (11) has a longitudinally opened limit groove, a limit rod (10) is slidably fitted in the limit groove, and the end of the limit rod (10) is mounted on the lower tilting disk (9); The tilting disk assembly (4) further includes an upper tilting disk (12), the inner wall of the third central hole of the upper tilting disk (12) being connected to the top side wall of the spherical bearing (13); The upper tilting plate (12) is equipped with a left and right stud (14) at each of its left and right ends. The bottom end of the lower anti-torsion arm (15) is hinged to the left and right stud (14). The top end of the lower anti-torsion arm (15) is hinged to the end of the upper anti-torsion arm (16). The other end of the upper anti-torsion arm (16) is hinged to the retaining ring, which is fitted on the main shaft (5). The rotor includes: a mounting base (17), the top of the main shaft (5) is equipped with the mounting base (17), the side wall of the mounting base (17) is rotatably connected to the ends of multiple rotating shafts, the side wall of the rotating shaft is equipped with one end of an adjusting rod (19), the adjusting rod (19) is arranged parallel to the rotating shaft, and the other end of the rotating shaft is equipped with a blade (18). The main shaft (5) has multiple blow-suction holes (23) on its side wall, which are set towards the output shaft. The side wall of the main shaft (5) is equipped with the ends of multiple cooling plates (24), which are set towards the output shaft. Each cooling plate (24) is adjacent to a blow-suction hole (23). The main shaft (5) is provided with an installation cavity. The top wall of the installation cavity has an installation hole and the bottom wall of the installation cavity has a second installation hole. The installation hole is rotatably connected to the top end of the internal thread shaft (25) and the second installation hole is rotatably connected to the bottom end of the internal thread shaft (25). The side wall of the internal thread shaft (25) is connected to a drive mechanism (34). The drive mechanism (34) is set in the installation cavity. The internal thread shaft (25) is internally connected to a screw (26). The inner wall of the main shaft (5) is longitudinally equipped with multiple slide bars. The slide bars are slidably sealed with the longitudinal through groove of the side wall of the piston disc (27). The side wall of the piston disc (27) is slidably sealed with the inner wall of the main shaft (5). The bottom surface of the piston disc (27) is provided with an installation groove. The top wall of the installation groove is connected to the top end of the screw (26). A rotating ring (28) is rotatably connected in the installation groove. The fourth center hole of the rotating ring (28) is rotatably connected to the screw (26). A two-way valve is installed in the blow-suction hole (23).

2. The automatic tilting device structure for an unmanned helicopter according to claim 1, characterized in that, The other end of the adjusting rod (19) is hinged to the top of the blade pitch control rod (20). The front and rear ends of the upper tilting plate (12) are each equipped with a front and rear stud (21), and each front and rear stud (21) is hinged to the bottom end of a blade pitch control rod (20).

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