Rotor synchronization transmission, synchronization transmission method, and aircraft

Abstract

This invention belongs to the field of aircraft, specifically relating to a rotor synchronous transmission device, synchronous transmission method, and aircraft, including a fuselage and n sets of rotor mechanisms. Each rotor mechanism includes a rotor arm rotatably mounted on the fuselage, two rotor frames rotatably mounted on the rotor arm, and a tilting transmission rod connecting the two rotor frames. The rotor arm, tilting transmission rod, and two rotor frames form a deformable parallelogram mechanism. The invention also includes a rotor frame rotation drive device, a tilting drive rod, and a rotor arm rotation drive device. The rotor frame rotation drive device has an output rod assembly that moves linearly along the rotor arm axis. The tilting drive rod is rotatably connected to the n tilting transmission rods. A sliding groove is provided on the tilting drive rod along its length, and the output rod assembly is slidably disposed within the sliding groove. The rotor synchronous transmission device provided by this invention can achieve bidirectional synchronous tilting of all rotor frames using only two drive devices, ensuring the consistency of the tilting angles of the four rotors.

Description

Technical Field

[0001] This invention belongs to the field of aircraft, specifically relating to a rotor synchronous transmission device, synchronous transmission method, and aircraft. Background Technology

[0002] In traditional aircraft, the mechanisms used to achieve attitude control and maneuverability typically include multiple rotors and propellers, each usually driven individually by its own motor. To achieve complex maneuvers, a corresponding number of independent motors and rotors are required, leading to increased complexity and weight in the aircraft structure. Furthermore, the synchronization and coordination between these multiple motors necessitates a complex control system, increasing the difficulty of design and maintenance. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a rotor synchronous transmission device, synchronous transmission method and aircraft that can enable all rotor frames to tilt synchronously in two degrees of freedom directions by two driving devices.

[0004] This invention provides a rotor synchronous transmission device, including a fuselage and n sets of rotor mechanisms, where n is greater than or equal to 2;

[0005] The rotor mechanism includes a rotor arm rotatably mounted on the fuselage, at least two rotor frames rotatably mounted on the rotor arm, and a tilting transmission rod connecting the at least two rotor frames. The tilting transmission rod is rotatably connected to the rotor frames. The rotor arm, the tilting transmission rod, and the two rotor frames form a deformable parallelogram mechanism. The n rotor arms are parallel and coplanar, the n tilting transmission rods are parallel and coplanar, and the multiple rotor frames are parallel to each other.

[0006] It also includes a rotor frame rotation drive device, a tilt drive rod, and a rotor arm rotation drive device. The rotor frame rotation drive device has an output rod assembly that moves linearly along the rotor arm axis. The tilt drive rod is rotatably connected to n tilt transmission rods. The tilt drive rod has a sliding groove along its length direction, and the output rod assembly is slidably disposed in the sliding groove.

[0007] Furthermore, the fuselage includes a body and an arm, with one end of the arm fixedly connected to the body and the other end rotatably connected to the rotor arm.

[0008] Furthermore, the rotor arm rotation drive device includes a drive motor I and a timing belt assembly I. The drive motor I is mounted on the fuselage, the driving pulley I of the timing belt assembly I is engaged with the output shaft of the drive motor I, and the driven pulley I of the timing belt assembly I is mounted on the rotor arm.

[0009] Furthermore, the arm includes a connecting cylindrical arm and a transmission cylindrical wall that are perpendicular to each other. The connecting cylindrical arm is fixedly connected to the body on the side facing away from the transmission cylindrical wall. The rotor arm is rotatably disposed inside the transmission cylindrical wall. The belt I of the synchronous belt assembly I is disposed inside the connecting cylindrical arm.

[0010] Furthermore, the rotor frame rotation drive device includes a drive motor II, a synchronous belt assembly II, and an output rod assembly disposed on the belt II of the synchronous belt assembly II, wherein the moving direction of the belt II of the synchronous belt assembly II is parallel to the rotor arm axis.

[0011] Furthermore, the drive motor I and drive motor II are arranged opposite to each other on both sides of the machine body;

[0012] The rotor rotation drive device also includes a bevel gear assembly and a synchronous belt assembly III disposed in the fuselage. The driving gear of the bevel gear assembly is perpendicular to the driven gear. The output shaft of the drive motor II is connected to the driving gear. The driven gear is coaxial with the driving pulley III of the synchronous belt assembly III. The driven pulley III of the synchronous belt assembly III is coaxial with the driving pulley II of the synchronous belt assembly II.

[0013] The rotor rotation drive device also includes a guide rail slider assembly. The guide rail of the guide rail slider assembly is disposed on the fuselage, and the slider of the guide rail slider assembly is disposed on the guide rail. The output rod assembly includes a belt clamping block connected to the belt II and an output rod body. The belt clamping block is fixedly connected to the slider, and the output rod body is slidably disposed in the sliding groove.

[0014] Furthermore, the tilt drive rod is perpendicular to the n tilt transmission rods.

[0015] Furthermore, the rotor mechanism is provided in two sets, with the two sets of rotor assemblies symmetrically arranged on both sides of the fuselage, and each end of the rotor arm is provided with a rotor frame.

[0016] The present invention also provides a rotor synchronous transmission method, using the above-mentioned rotor synchronous transmission device, including synchronous tilt control in the X direction and / or synchronous tilt control in the Y direction;

[0017] X-direction synchronous tilting: The rotor arm rotation drive device drives one rotor arm to rotate, the rotor arm drives the tilt transmission rod in the same group to rotate around the rotor arm, the tilt transmission rod drives n tilt transmission rods to rotate around their respective rotor arms, thereby driving n rotor arms to rotate, and thus driving all rotor frames to rotate around the X-axis; at this time, the sliding groove and the output rod assembly slide relative to each other.

[0018] Synchronous tilting in the Y direction: The rotor frame rotation drive device drives the output rod assembly to move linearly. The output rod assembly abuts against the side wall of the sliding groove and pushes the tilting drive rod to move along the rotor arm axis. The tilting drive rod drives the parallelogram mechanism of n sets of rotor mechanisms to deform, thereby driving all rotor frames to rotate around the Y axis.

[0019] The present invention also provides an aircraft, including a propeller assembly and the aforementioned rotor synchronization transmission device, wherein each of the rotor frames is provided with one of the propeller assemblies.

[0020] The beneficial effects of this invention are that the rotor synchronous transmission device provided by this invention can achieve synchronous tilting of all rotor frames in both directions with only two drive devices. That is, two drive motors can complete synchronous tilting of the rotors in two degrees of freedom. This structure greatly reduces the number of motors, making the entire aircraft structure lighter and more flexible. It ensures that the number of motors matches the number of degrees of freedom of the aircraft while also guaranteeing the consistency of the tilting angles of the four rotors. Furthermore, aircraft using this rotor synchronous transmission device can achieve complex large-attitude hovering, adaptive vertical takeoff and landing on non-flat surfaces, high-degree-of-freedom attitude flight, and horizontal maneuvering without attitude control. It reduces energy consumption while achieving high-speed flight, achieving truly high-maneuverability, all-drive vector flight. Attached Figure Description

[0021] Appendix Figure 1 This is a schematic diagram of the first angle structure of the present invention;

[0022] Appendix Figure 2 This is a schematic diagram of the second angle structure of the present invention;

[0023] Appendix Figure 3 This is a schematic diagram of the first angle structure of the present invention after concealing the body and transmission cylinder wall components;

[0024] Appendix Figure 4 This is a schematic diagram of the second angle structure of the present invention after concealing the main body and transmission cylinder wall components;

[0025] Appendix Figure 5 This is a schematic diagram of the rotor frame rotation drive device and the rotor arm rotation drive device in this invention;

[0026] Appendix Figure 6 This is a schematic diagram showing the synchronous tilting of the four rotor frames along the X direction in this invention;

[0027] Appendix Figure 7 This is a schematic diagram showing the synchronous tilting of the four rotor frames along the Y direction in this invention;

[0028] Appendix Figure 8 This is a schematic diagram showing the synchronous tilting of the four rotor frames along the X and Y directions in this invention.

[0029] In the diagram, 1-fuselage; 11-body; 12-arm; 121-connecting cylinder arm; 122-transmission cylinder wall; 2-rotor arm; 3-rotor frame; 4-tilt transmission rod; 41-limiting sleeve; 5-rotor frame rotation drive device; 51-drive motor II; 52-synchronous belt assembly II; 521-drive pulley II; 522-driven pulley II; 523-belt II; 53-bevel gear assembly; 531-drive gear; 532-driven gear; 54-synchronous belt assembly III; 541-drive pulley III ; 542-Driven wheel III; 543-Belt III; 55-Output rod assembly; 551-Belt clamping block; 552-Output rod body; 56-Guide rail slider assembly; 561-Guide rail; 562-Slider; 6-Tilting drive rod; 61-Sliding groove; 7-Rotor arm rotation drive device; 71-Drive motor I; 72-Synchronous belt assembly I; 721-Drive wheel I; 722-Driven wheel I; 723-Belt I; 8-Propeller assembly; 81-Motor; 82-Propeller; 9-Landing gear. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0032] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, 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.

[0034] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0035] As attached Figure 1 -Appendix Figure 8 As shown, the present invention provides a rotor synchronous transmission device, including a fuselage 1 and n sets of rotor mechanisms, where n is greater than or equal to 2;

[0036] The rotor mechanism includes a rotor arm 2 rotatably mounted on the fuselage 1, at least two rotor frames 3 rotatably mounted on the rotor arm 2, and a tilting transmission rod 4 connecting the at least two rotor frames 3. The tilting transmission rod 4 is rotatably connected to the rotor frames 3. The rotor arm 2, the tilting transmission rod 4, and the two rotor frames 3 constitute a deformable parallelogram mechanism. The n rotor arms 2 are parallel and coplanar, the n tilting transmission rods 4 are parallel and coplanar, and the multiple rotor frames 3 are parallel to each other.

[0037] This rotor synchronous transmission device also includes a rotor frame rotation drive device 5, a tilt drive rod 6, and a rotor arm rotation drive device 7. The rotor arm rotation drive device 7 is used to drive at least one rotor arm 2 to rotate. The rotor frame rotation drive device 5 has an output rod assembly 55 that moves linearly along the axial direction of the rotor arm 2. That is, the rotor frame rotation drive device 5 can be a linear drive component, such as a linear motor, cylinder, or hydraulic cylinder, whose linear output axis is parallel to the axial direction of the rotor arm 2. The tilt drive rod 6 is rotatably connected to n tilt transmission rods 4, that is, the tilt drive rod 6 can only rotate relative to the tilt transmission rods 4, and cannot slide relative to the axial direction. In one embodiment, the end of the tilt drive rod 6 is a ring structure, and the ring is sleeved on the tilt transmission rod 4 to achieve a rotatable connection. Limit sleeves 41 are provided on both sides of the tilt drive rod 6 on the tilt transmission rod 4 to limit the axial movement of the ring of the tilt drive rod 6 in the tilt transmission rod 4. When one rotor arm 2 rotates, the tilt drive rod 6 rotates. The rotating drive rod 6 can drive all the parallelogram mechanisms to rotate synchronously, realizing the synchronous tilting of all rotor frames 3 in the same angular direction. When the output rod assembly 55 drives the tilting drive rod 6 to move axially along the rotor arm 2, the tilting drive rod 6 will drive all the tilting transmission rods 4 to move axially, thereby driving all the parallelogram mechanisms to deform synchronously, realizing the synchronous tilting of all rotor frames 3 in the same other angular direction. The tilting drive rod 6 is provided with a sliding groove 61 along its length direction. The output rod assembly 55 is slidably disposed in the sliding groove 61. That is, when the rotor arm 2 rotates, when the tilting transmission rod 4 revolves around the corresponding rotor arm 2, the movement of the tilting drive rod 6 will not affect the output rod assembly 55. Only when the output rod assembly 55 moves will it drive the tilting drive rod 6 to move. While realizing that the rotor arm rotation drive device 7 drives one rotor arm 2 to rotate and the tilting drive rod 6 drives all rotor arms 2 to rotate synchronously, the independence of the two degrees of freedom tilting is guaranteed.

[0038] The present invention also provides a rotor synchronous transmission method, using a rotor synchronous transmission device, including synchronous tilt control in the X direction and / or synchronous tilt control in the Y direction, wherein the X and Y directions are referenced... Figure 1 The coordinate system can be tilted synchronously in the X direction and in the Y direction, either individually or simultaneously.

[0039] refer to Figure 6 Synchronous tilting in the X direction: The rotor arm rotation drive device 7 drives one rotor arm 2 to rotate, the rotor arm 2 drives the tilt transmission rod 4 of the same group to rotate around the rotor arm 2, the tilt transmission rod 4 drives n tilt transmission rods 4 to rotate around their respective rotor arms 2, thereby driving n rotor arms 2 to rotate, and thus driving all rotor frames 3 to rotate around the X axis; at this time, the sliding groove 61 slides relative to the output rod assembly 55, the parallelogram mechanism does not deform, only tilts at a certain angle;

[0040] refer to Figure 7 Synchronous tilting in the Y direction: The rotor frame rotation drive device 5 drives the output rod assembly 55 to move linearly. The output rod assembly 55 abuts against the side wall of the sliding groove 61 and pushes the tilt drive rod 6 to move axially along the rotor arm 2. The tilt drive rod 6 drives the parallelogram mechanism of n sets of rotor mechanisms to deform, thereby driving all rotor frames 3 to rotate around the Y axis.

[0041] The rotor synchronous transmission device provided by this invention can achieve bidirectional synchronous tilting of all rotor frames 3 using only two drive devices. That is, two drive motors can complete synchronous tilting of the rotors in two degrees of freedom. This structure significantly reduces the number of motors, making the entire aircraft structure lighter and more flexible. It ensures that the number of motors matches the number of degrees of freedom of the aircraft while also guaranteeing the consistency of the tilting angles of the four rotors. Furthermore, aircraft using this rotor synchronous transmission device can achieve complex large-attitude hovering, adaptive vertical takeoff and landing on uneven surfaces, high-degree-of-freedom attitude flight, and horizontal maneuvering without attitude control. It reduces energy consumption while enabling high-speed flight, achieving truly high-maneuverability, all-drive vector flight.

[0042] In one embodiment, the fuselage 1 includes a body 11 and an arm 12. One end of the arm 12 is fixedly connected to the body 11, and the other end is rotatably connected to the rotor arm 2. This arrangement facilitates the connection between the rotor arm 2 and the body 11. The body 11 is used to install motors, batteries, and other equipment. A landing gear 9 can also be installed below the body 11 to facilitate the take-off and landing of the fuselage 1. The bottom of the landing gear 9 is lower than the tilt transmission rod 4 and the tilt drive rod 6, which can prevent the aircraft from hitting the transmission device when it is placed on the take-off and landing platform. In addition, it can also keep the rotor arm 2 relatively away from the body 11, thereby facilitating the installation of the rotor frame 3 and its propeller assembly 8.

[0043] In one embodiment, the rotor arm rotation drive device 7 includes a drive motor I 71 and a timing belt assembly I 72. The drive motor I 71 is mounted on the body 11. The drive pulley I 721 of the timing belt assembly I 72 is engaged with the output shaft of the drive motor I 71. The driven pulley I 722 of the timing belt assembly I 72 is mounted on the rotor arm 2. The drive motor I 71 is relatively heavy, while the timing belt assembly I 72 is relatively light. Mounting the drive motor I 71 on the body 11 simplifies the center of gravity distribution, while the timing belt assembly I 72 effectively transmits the power mounted on the body 11 to the rotor arm 2 mounted at the end of the arm 12.

[0044] In one embodiment, the arm 12 includes a connecting cylindrical arm 121 and a transmission cylindrical wall 122 that are perpendicular to each other. The connecting cylindrical arm 121 is fixedly connected to the body 11 on the side facing away from the transmission cylindrical wall 122. The rotor arm 2 is rotatably disposed within the transmission cylindrical wall 122. The belt I723 of the timing belt assembly I72 is disposed within the connecting cylindrical arm 121. In summary, the arm 12 adopts a cylindrical wall structure, which facilitates the installation of the rotor arm 2 and the timing belt assembly I72, provides physical protection for the belt I723, and reduces weight, thus meeting the lightweight requirements of the aircraft.

[0045] In one embodiment, the rotor frame rotation drive device 5 includes a drive motor II 51, a timing belt assembly II 52, and an output rod assembly 55 disposed on the belt II 523 of the timing belt assembly II 52. The belt II 523 of the timing belt assembly II 52 moves in a direction parallel to the axis of the rotor arm 2. In this embodiment, the rotor frame rotation drive device 5 also adopts a combination of a motor and a timing belt, which can be consistent with the rotor arm rotation drive device 7, simplifying the control difficulty and facilitating the uniform gravity distribution of the aircraft.

[0046] In one embodiment, the drive motor I 71 and drive motor II 51 are arranged opposite to each other on both sides of the body 11, which facilitates the uniform distribution of gravity of the aircraft.

[0047] The rotor rotation drive device 5 further includes a bevel gear assembly 53 and a synchronous belt assembly III 54 disposed within the fuselage 11. The bevel gear assembly 53 and the synchronous belt assembly III 54 are used to transmit the power of the drive motor II 51 to the synchronous belt assembly II 52. Specifically, the driving gear 531 of the bevel gear assembly 53 is perpendicular to the driven gear 532. The output shaft of the drive motor II 51 is connected to the driving gear 531. The driven gear 532 is coaxial with the driving pulley III 541 of the synchronous belt assembly III 54. The driven pulley III 542 of the synchronous belt assembly III 54 is coaxial with the driving pulley II 521 of the synchronous belt assembly II 52. The belt III 543 is located within the fuselage 11. Specifically, the axes of the drive motor I 71 and the drive motor II 51 are parallel to the axis of the rotor arm 2. The axes of the driven gear 532, the driving pulley III 541, the driven pulley III 542, the driving pulley II 521, and the driven pulley II 522 are parallel and all perpendicular to the axis of the rotor arm 2. In this embodiment, the drive motor II 51 mounted on the fuselage 11 can transmit power to the output rod assembly 55 through the synchronous belt assembly II 52, bevel gear assembly 53 and synchronous belt assembly III 54, so as to realize the linear movement of the output rod assembly 55 and facilitate the control of the overall center of gravity distribution of the aircraft.

[0048] The rotor frame rotation drive device 5 also includes a guide rail slider assembly 56. The guide rail 561 of the guide rail slider assembly 56 is disposed on the body 11, and the slider 562 of the guide rail slider assembly 56 is disposed on the guide rail 561. The output rod assembly 55 includes a belt clamping block 551 connected to the belt II 523 and an output rod body 552. The belt clamping block 551 is fixedly connected to the slider 562, and the output rod body 552 is slidably disposed in the sliding groove 61. In this embodiment, by adding the guide rail slider assembly 56, the problem of the output rod assembly 55 swinging with the movement caused by the flexible structure of the synchronous belt assembly II 52 is solved. Adding the guide rail slider assembly 56 ensures that the output rod assembly 55 can only perform linear reciprocating motion in the axial direction of the rotor arm 2, thereby eliminating the swinging motion of the output rod assembly 55. This can greatly improve the stability and reliability of the synchronous belt assembly II 52 driving the output rod assembly 55 to move.

[0049] In one embodiment, the tilt drive rod 6 is perpendicular to the n tilt transmission rods 4, which simplifies the control difficulty of the output rod assembly 55 in controlling the tilt drive rod 6.

[0050] In one embodiment, the rotor mechanism comprises two sets of rotor assemblies symmetrically arranged on both sides of the fuselage 1. Each end of the rotor arm 2 is equipped with a rotor mount 3, resulting in a total of two rotor arms 2 and four rotor mounts 3, forming a quadcopter structure. Installing propeller assemblies 8 on the four rotor mounts 3 completes the quadcopter aircraft configuration. In this embodiment, the four propeller assemblies 8 serve as four independent thrust control inputs, bringing the aircraft's control inputs to six, consistent with the aircraft's six degrees of freedom. This achieves a fully driven control structure, making rotor synchronous vector tilt more reliable and safer, and improving flight stability. Compared to underactuated control structures (fewer control inputs than degrees of freedom), this fully driven vector thrust technology endows the aircraft with extremely high maneuverability and control flexibility. Compared to overactuated control structures (more control inputs than degrees of freedom), this technology eliminates drive redundancy, reduces aircraft weight, and improves energy efficiency.

[0051] The present invention also provides an aircraft, including a propeller assembly 8 and the aforementioned rotor synchronous transmission device, wherein each of the rotor frames 3 is provided with one of the propeller assemblies 8.

[0052] In a preferred embodiment of this aircraft, the propeller assembly 8 includes a motor 81 and a propeller 82, and consists of two rotor arms 2, four rotor frames 3 and four propeller assemblies 8. The four motors 81 and two tilt motors form a fully driven vector quadcopter aircraft.

[0053] A vector quadcopter is a special type of aircraft characterized by its ability to change the deflection angle of the rotor relative to the fuselage. Traditional quadcopters cannot do this, thus relying on specific attitude changes to achieve positional shifts, creating a coupling between attitude and position that limits maneuverability. The vector quadcopter overcomes this limitation by independently changing the direction of rotor thrust, making thrust independent of the fuselage's attitude, achieving decoupling between attitude and position, and improving maneuverability.

[0054] It has the following advantages:

[0055] (1) High degree of freedom of attitude flight. The direction of rotor thrust can be changed while the attitude of fuselage 1 remains unchanged, so that the movement is not limited by the attitude of fuselage 1, realizing the decoupling of attitude and position. Therefore, it can achieve flight in any attitude and has excellent passability.

[0056] (2) High agility flight. Traditional quadcopters must adjust their attitude when rapidly changing the position of fuselage 1, resulting in slow response speed. Vector quadcopters can change direction and accelerate without changing the attitude of fuselage 1, resulting in faster response speed and higher agility.

[0057] (3) High-speed flight. During the flight of a traditional quadcopter, the fuselage 1 needs to tilt, which increases the frontal area and the flight drag. The vector quadcopter can maintain a horizontal attitude during flight, with a small frontal area and low flight drag. In addition, the fuselage 1 of a traditional quadcopter can only tilt at a small angle, while the vector rotor can tilt at a large angle, which improves propulsion and flight speed.

[0058] It can be applied to:

[0059] (1) High-maneuverability reconnaissance aircraft. Due to the decoupling of attitude and position, vector quadcopter UAVs can hover or move in the desired direction in any fuselage attitude. Therefore, compared with traditional quadcopters, vector quadcopters are more adaptable to narrow environments and can be used for high-maneuverability reconnaissance aircraft that need to pass through passages much narrower than the width of the fuselage.

[0060] (2) High-speed medical rescue aircraft. During flight rescue operations, to improve patient comfort, facilitate emergency medical care en route, and increase rescue speed, the medical rescue aircraft's fuselage 1 must remain horizontal and fly at high speed. Traditional quadcopters cannot achieve this, but vector quadcopters can. Developing a high-speed medical rescue aircraft with a horizontal fuselage 1 during flight based on vector quadcopter technology is of great significance for protecting the lives and health of the injured.

[0061] (3) High-speed multi-load logistics drones. Ordinary rotary-wing logistics drones cannot keep their fuselage level at all times during transportation. For items that must be placed horizontally during transportation (such as liquids), tilting the fuselage may have serious consequences. Vector quadcopter logistics drones can keep their fuselage level at all times when delivering items, increasing the versatility of the items that can be transported. In addition, the horizontal attitude results in less drag, higher flight speed, and shorter delivery time.

[0062] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A rotor synchronous transmission device, characterized in that, It includes the fuselage (1) and n sets of rotor mechanisms, where n is greater than or equal to 2; The rotor mechanism includes a rotor arm (2) rotatably mounted on the fuselage (1), at least two rotor frames (3) rotatably mounted on the rotor arm (2), and a tilting transmission rod (4) connecting the at least two rotor frames (3). The tilting transmission rod (4) is rotatably connected to the rotor frames (3). The rotor arm (2), the tilting transmission rod (4), and the two rotor frames (3) constitute a deformable parallelogram mechanism. The n rotor arms (2) are parallel and coplanar, the n tilting transmission rods (4) are parallel and coplanar, and the multiple rotor frames (3) are parallel to each other. It also includes a rotor frame rotation drive device (5), a tilt drive rod (6), and a rotor arm rotation drive device (7). The rotor frame rotation drive device (5) has an output rod assembly (55) that moves linearly along the rotor arm (2) axis. The tilt drive rod (6) is rotatably connected to n tilt transmission rods (4). A sliding groove (61) is provided on the tilt drive rod (6) along its length direction. The output rod assembly (55) is slidably disposed in the sliding groove (61). The rotor rotation drive device (5) includes a drive motor II (51), a synchronous belt assembly II (52), and an output rod assembly (55) disposed on the belt II (523) of the synchronous belt assembly II (52). The moving direction of the belt II (523) of the synchronous belt assembly II (52) is parallel to the axial direction of the rotor arm (2). Drive motor I (71) and drive motor II (51) are arranged opposite to each other on both sides of the body (11); The rotor rotation drive device (5) further includes a bevel gear assembly (53) and a synchronous belt assembly III (54) disposed in the fuselage (11). The driving gear (531) of the bevel gear assembly (53) is perpendicular to the driven gear (532). The output shaft of the drive motor II (51) is connected to the driving gear (531). The driven gear (532) is coaxial with the driving wheel III (541) of the synchronous belt assembly III (54). The driven wheel III (542) of the synchronous belt assembly III (54) is coaxial with the driving wheel II (521) of the synchronous belt assembly II (52). The rotor rotation drive device (5) further includes a guide rail slider assembly (56), the guide rail (561) of the guide rail slider assembly (56) is disposed on the fuselage (11), the slider (562) of the guide rail slider assembly (56) is disposed on the guide rail (561), the output rod assembly (55) includes a belt clamping block (551) connected to the belt II (523) and an output rod body (552), the belt clamping block (551) is fixedly connected to the slider (562), and the output rod body (552) is slidably disposed in the sliding groove (61).

2. The rotor synchronous transmission device as described in claim 1, characterized in that, The fuselage (1) includes a body (11) and an arm (12). One end of the arm (12) is fixedly connected to the body (11), and the other end is rotatably connected to the rotor arm (2).

3. The rotor synchronous transmission device as described in claim 2, characterized in that, The rotor arm rotation drive device (7) includes a drive motor I (71) and a timing belt assembly I (72). The drive motor I (71) is mounted on the fuselage (11). The drive wheel I (721) of the timing belt assembly I (72) is engaged with the output shaft of the drive motor I (71). The driven wheel I (722) of the timing belt assembly I (72) is mounted on the rotor arm (2).

4. The rotor synchronous transmission device as described in claim 3, characterized in that, The arm (12) includes a connecting cylinder arm (121) and a transmission cylinder wall (122) that are perpendicular to each other. The connecting cylinder arm (121) is fixedly connected to the body (11) on the side away from the transmission cylinder wall (122). The rotor arm (2) is rotatably disposed inside the transmission cylinder wall (122). The belt I (723) of the synchronous belt assembly I (72) is disposed inside the connecting cylinder arm (121).

5. The rotor synchronous transmission device as described in any one of claims 1-4, characterized in that, The tilt drive rod (6) is perpendicular to the n tilt transmission rods (4).

6. The rotor synchronous transmission device as described in any one of claims 1-4, characterized in that, The rotor mechanism is provided in two sets, with the two sets of rotor components symmetrically arranged on both sides of the fuselage (1), and each end of the rotor arm (2) is provided with a rotor frame (3).

7. A method for synchronous transmission of a rotor, characterized in that, Using the rotor synchronous drive device as described in any one of claims 1-6, including synchronous tilt control in the X direction and / or synchronous tilt control in the Y direction; Synchronous tilting in the X direction: The rotor arm rotation drive device (7) drives one of the rotor arms (2) to rotate, the rotor arm (2) drives the tilt transmission rod (4) of the same group to rotate around the rotor arm (2), the tilt transmission rod (4) drives n tilt transmission rods (4) to rotate around their respective rotor arms (2), thereby driving n rotor arms (2) to rotate, thereby driving all rotor frames (3) to rotate around the X axis; at this time, the sliding groove (61) slides relative to the output rod assembly (55); Synchronous tilting in the Y direction: The rotor frame rotation drive device (5) drives the output rod assembly (55) to move linearly. The output rod assembly (55) abuts against the side wall of the sliding groove (61) and pushes the tilt drive rod (6) to move axially along the rotor arm (2). The tilt drive rod (6) drives the parallelogram mechanism of n sets of rotor mechanisms to deform, thereby driving all rotor frames (3) to rotate around the Y axis.

8. An aircraft characterized in that, The rotor assembly (8) includes a rotor assembly (8) and a rotor synchronization drive as described in any one of claims 1-6, with one of the rotor assemblies (8) provided on each rotor frame (3).

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