Fixed-wing unmanned aerial vehicle based on tilting mechanism and four rotors

Abstract

The invention discloses a fixed-wing unmanned aerial vehicle based on a tilting mechanism and four rotors. The fixed-wing unmanned aerial vehicle comprises an unmanned aerial vehicle body, the first to fourth rotors, the tilting mechanism, a locking mechanism and a control module, the tilting mechanism comprises a rotating frame, a fixed rod, first to fourth transmission rods, first to second output rods, first to second driving straight gears, first to second driven straight gears, first to second driving bevel gears, first to fourth transmission bevel gears, and first to second driven bevel gears; the locking mechanism comprises four locking units, and each locking unit comprises a locking motor, a locking connecting rod and a locking bolt. The tilting torque is generated by changing the lift force of the front rotor wing and the rear rotor wing, the space occupied by the rotor wings in the tilting state is reduced through the transmission system, compared with other tilting mechanisms, additional steering engine control is not needed, and the structure is simple.

Description

Technical Field

[0001] The present invention relates to the field of aviation vehicles, and in particular to a fixed-wing UAV based on a tilt mechanism and a quad-rotor. Background Art

[0002] Tilt-rotor quadrotor aircraft have both the vertical take-off and landing and hovering capabilities of helicopters and the high-speed cruising capabilities of fixed-wing aircraft, so they have good mission flexibility and a wide range of uses, and are one of the focuses of research and application in the current aviation field. However, existing tilt-rotor aircraft often have complex tilting mechanisms, large mass, limited use, and difficult to ensure reliability and stability. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a fixed-wing UAV based on a tilt mechanism and a quad-rotor in view of the defects involved in the background technology.

[0004] The present invention adopts the following technical solutions to solve the above technical problems: A fixed-wing UAV based on a tilt mechanism and a quad-rotor, comprising a UAV body, first to fourth rotors, a tilt mechanism, a locking mechanism and a control module; The tilt mechanism comprises a rotating frame, a fixing rod, first to fourth transmission rods, first to second output rods, first to second driving spur gears, first to second passive spur gears, first to second driving bevel gears, first to fourth transmission bevel gears, and first to second passive bevel gears; The rotating frame comprises first and second long plates, and first and second short plates; The first long plate and the second long plate have the same structure, and are provided with a fourth mounting hole, a second mounting hole, a first mounting hole, a third mounting hole, and a fifth mounting hole in sequence along the length direction, wherein the first mounting hole is located at the center, the second mounting hole and the third mounting hole are symmetrical about the first mounting hole, and the fourth mounting hole and the fifth mounting hole are symmetrical about the first mounting hole; The first short plate and the second short plate have the same structure, and the center of each plate is provided with a sixth mounting hole; one end of the first short plate is vertically fixedly connected to the first long plate at the midpoint of the fourth mounting hole and the second mounting hole, and the other end is vertically fixedly connected to the second long plate at the midpoint of the fourth mounting hole and the second mounting hole; one end of the second short plate is vertically fixedly connected to the first long plate at the midpoint of the third mounting hole and the fifth mounting hole, and the other end is vertically fixedly connected to the second long plate at the midpoint of the third mounting hole and the fifth mounting hole; The fixing rod is arranged between the first short plate and the second short plate, and the two ends thereof extend out from the first mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the first mounting holes of the first long plate and the second long plate respectively through bearings; The first and second transmission rods are symmetrically arranged on both sides of the fixed rod, wherein one end of the first transmission rod is rotatably connected to the second mounting hole of the first long plate through a bearing, and the other end is rotatably connected to the second mounting hole of the second long plate through a bearing; one end of the second transmission rod is rotatably connected to the third mounting hole of the first long plate through a bearing, and the other end is rotatably connected to the third mounting hole of the second long plate through a bearing; The first and second transmission rods are symmetrically arranged on both sides of the fixed rod, wherein the center of the third transmission rod is rotatably connected to the sixth mounting hole of the first short plate through a bearing, and the center of the fourth transmission rod is rotatably connected to the sixth mounting hole of the second short plate through a bearing; The first and second output rods are symmetrically arranged on both sides of the fixed rod, wherein two ends of the first output rod pass through the fourth mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the fourth mounting holes of the first long plate and the second long plate respectively through bearings; two ends of the second output rod pass through the fifth mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the fifth mounting holes of the first long plate and the second long plate respectively through bearings; the first and second output rods are symmetrical about the straight line where the first transmission rod is located; The first and second driving spur gears are both sleeved on the fixed rod, coaxially fixedly connected with the fixed rod, and symmetrical about the center of the fixed rod; The first passive spur gear and the first active bevel gear are both sleeved on the first transmission rod and coaxially fixedly connected to the first transmission rod, and the first passive spur gear is meshed with the first active spur gear; The second passive spur gear and the second active bevel gear are both sleeved on the second transmission rod and coaxially fixedly connected with the second transmission rod, and the second passive spur gear is meshed with the second active spur gear; The first passive bevel gear sleeve is coaxially fixedly connected to the first output rod at the midpoint of the first output rod; the second passive bevel gear sleeve is coaxially fixedly connected to the first output rod at the midpoint of the second output rod; The first and second transmission bevel gears are respectively sleeved on both ends of the third transmission rod, and are both coaxially fixedly connected to the third transmission rod; the first transmission bevel gear is meshed with the first active bevel gear, and the second transmission bevel gear is meshed with the first passive bevel gear; The third and fourth transmission bevel gears are respectively sleeved on both ends of the fourth transmission rod, and are coaxially fixedly connected to the fourth transmission rod; the third transmission bevel gear is meshed with the second active bevel gear, and the fourth transmission bevel gear is meshed with the second passive bevel gear; The first to second driving spur gears have the same number of teeth, the first to second driven spur gears have the same number of teeth, the first to second driving bevel gears have the same number of teeth, the first to fourth transmission bevel gears have the same number of teeth, the first to second driven bevel gears have the same number of teeth, the first to second driven bevel gears have the same number of teeth, the gear ratio of the first driving spur gear to the first driven spur gear is a preset first ratio, and the gear ratio of the first driving bevel gear to the second driven bevel gear is a preset second ratio; The UAV body adopts a fixed-wing UAV, and its fuselage is hollow to place the rotating frame; the fixed rod is fixed in the fuselage through a bracket, so that the third transmission rod is located on the axis of the fuselage in the length direction; the fuselage side wall of the UAV body is respectively provided with a first and a second arc-shaped through groove for the two ends of the first output rod to extend and rotate, and a third and a fourth arc-shaped through groove for the two ends of the second output rod to extend and rotate; the first and the second rotors are respectively arranged at the two ends of the first output rod, and the third and the fourth rotors are respectively arranged at the two ends of the second output rod, and the first to the fourth rotors are oriented in the same direction. When the rotating frame and the horizontal cross-section of the fuselage are parallel, the axes of the first to the fourth rotors are perpendicular to the plane where the rotating frame is located; when the rotation speed of the first to the fourth rotors is controlled to make the rotating frame rotate, the first and the second output rods rotate in the same direction, so that the first to the fourth rotors generate forward thrust; The fixing rod is symmetrically provided with a first and a second slide groove parallel to the axis thereof on a side wall at one end of the fixing rod located on the outer side of the first long plate, and a third and a fourth slide groove parallel to the axis thereof are symmetrically provided on a side wall at one end of the fixing rod located on the outer side of the second long plate, and the first to fourth slide grooves have the same structure, the first and the third slide grooves are collinear, and the second and the fourth slide grooves are collinear; The locking mechanism comprises first to fourth locking units; The first to fourth locking units have the same structure and all include a locking motor, a locking link and a locking latch, wherein the locking motor is a linear motor; the locking link is L-shaped, one end of which is fixedly connected to the output shaft of the locking motor, and the other end is fixedly connected to one end of the locking latch, so that the locking latch is parallel to the output shaft of the locking motor; the locking latch can be inserted into the first slide groove and slide freely relative to the first slide groove, and when sliding, a part of the locking latch is located in the slide groove, and a part is higher than the depth of the slide groove and exposed outside the slide groove; The first and second locking units are arranged on the same side of the fuselage, their locking motors are fixed on the fuselage, and their locking pins are respectively inserted into the first and second slide grooves; the third and fourth locking units are arranged on the other side of the fuselage, their locking motors are fixed on the fuselage, and their locking pins are respectively inserted into the third and fourth slide grooves; the locking motors of the first to fourth locking units are used to control the insertion depth of their locking pins; The outer wall of the first long plate is provided at its first mounting hole with a first plug hole for cooperating with a portion of a locking pin of the first locking unit exposed outside the first slide slot when the rotating frame is parallel to the horizontal cross section of the fuselage, and the outer wall of the second long plate is provided at its first mounting hole with a third plug hole for cooperating with a portion of a locking pin of the third locking unit exposed outside the third slide slot when the rotating frame is parallel to the horizontal cross section of the fuselage; The outer wall of the first long plate is provided at its first mounting hole with a second plug hole for mating with a portion of a locking pin of the second locking unit exposed outside the second slide slot when the rotating frame rotates until the axes of the first to fourth rotors are parallel to the horizontal cross section of the fuselage; the outer wall of the second long plate is provided at its first mounting hole with a fourth plug hole for mating with a portion of a locking pin of the fourth locking unit exposed outside the fourth slide slot when the rotating frame rotates until the axes of the first to fourth rotors are parallel to the horizontal cross section of the fuselage; The control module is connected to the locking motors of the first to fourth locking units and the first to fourth rotor motors respectively, and is used to control the operation of the locking motors of the first to fourth locking units and the first to fourth rotors.

[0005] As a further optimization solution of the fixed-wing UAV based on the tilt mechanism and the quadrotor of the present invention, the preset first ratio is 3:1, and the preset second ratio is 2:1.

[0006] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects: 1. Simple structure: The tilting torque is generated by the lift difference of the rotor to drive the rotor to tilt. The tilting mechanism is relatively simple and reliable. The rotation angle of the entire tilting mechanism is reduced through the transmission system, and it occupies a small space.

[0007] 2. Good economy: The mechanical parts used are widely available in the market, easy to purchase, with guaranteed quality, high cost performance and good economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the first to fourth rotors and the tilt mechanism in the present invention; Figure 3 It is a partial structural schematic diagram of the tilting mechanism in the present invention; Figure 4 It is a schematic diagram of the state of the present invention when the rotating frame and the horizontal cross section of the fuselage are parallel; Figure 5 It is a schematic diagram of the state when the axes of the first to fourth rotors of the present invention rotate to be parallel to the horizontal cross section of the fuselage; Figure 6 It is a schematic diagram of the structure of the first and second locking units cooperating with the tilting mechanism in the present invention; Figure 7 It is a schematic structural diagram of the first long plate at its first mounting hole in the present invention; Figure 8 It is a schematic diagram of the state of the first and third locking units when the rotating frame and the horizontal cross section of the fuselage are parallel to each other; Fig. 9The figure is a schematic diagram of a curve showing the change of forward flight speed over time when the present invention changes from a rotor mode to a fixed-wing mode.

[0009] In the figure, 1-UAV body, 2-first rotor, 3-third rotor, 4-tilt mechanism, 5-locking mechanism, 6-first long board, 7-second long board, 8-first short board, 9-second short board, 10-fixed rod, 11-first transmission rod, 12-second transmission rod, 13-third transmission rod, 14-fourth transmission rod, 15-first output rod, 16-second output rod, 17-first active spur gear, 18-second active spur gear, 19-first passive spur gear, 20-second passive spur gear, 21-first active bevel gear, 22-second active bevel gear, 23-first transmission bevel gear, 24-third transmission bevel gear, 25-fourth transmission bevel gear, 26-first passive bevel gear, 27-locking motor of the first locking unit, 28-locking connecting rod of the first locking unit, 29-locking pin of the first locking unit, 30-first socket, 31-second socket. DETAILED DESCRIPTION

[0010] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings: The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete, and will fully express the scope of the present invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0011] It should be understood that although the terms first, second, third, etc. can be used here to describe various elements, components and / or parts, these elements, components and / or parts are not limited by these terms. These terms are only used to distinguish elements, components and / or parts from each other. Therefore, the first element, component and / or part discussed below can become the second element, component or part without departing from the teaching of the present invention.

[0012] like Figure 1 As shown, the present invention discloses a fixed-wing UAV based on a tilt mechanism and a quad-rotor, comprising a UAV body, first to fourth rotors, a tilt mechanism, a locking mechanism and a control module; like Figure 2 As shown, the tilting mechanism includes a rotating frame, a fixing rod, first to fourth transmission rods, first to second output rods, first to second driving spur gears, first to second passive spur gears, first to second driving bevel gears, first to fourth transmission bevel gears, and first to second passive bevel gears; The rotating frame comprises first and second long plates, and first and second short plates; The first long plate and the second long plate have the same structure, and are provided with a fourth mounting hole, a second mounting hole, a first mounting hole, a third mounting hole, and a fifth mounting hole in sequence along the length direction, wherein the first mounting hole is located at the center, the second mounting hole and the third mounting hole are symmetrical about the first mounting hole, and the fourth mounting hole and the fifth mounting hole are symmetrical about the first mounting hole; The first short plate and the second short plate have the same structure, and the center of each plate is provided with a sixth mounting hole; one end of the first short plate is vertically fixedly connected to the first long plate at the midpoint of the fourth mounting hole and the second mounting hole, and the other end is vertically fixedly connected to the second long plate at the midpoint of the fourth mounting hole and the second mounting hole; one end of the second short plate is vertically fixedly connected to the first long plate at the midpoint of the third mounting hole and the fifth mounting hole, and the other end is vertically fixedly connected to the second long plate at the midpoint of the third mounting hole and the fifth mounting hole; The fixing rod is arranged between the first short plate and the second short plate, and the two ends thereof extend out from the first mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the first mounting holes of the first long plate and the second long plate respectively through bearings; The first and second transmission rods are symmetrically arranged on both sides of the fixed rod, wherein one end of the first transmission rod is rotatably connected to the second mounting hole of the first long plate through a bearing, and the other end is rotatably connected to the second mounting hole of the second long plate through a bearing; one end of the second transmission rod is rotatably connected to the third mounting hole of the first long plate through a bearing, and the other end is rotatably connected to the third mounting hole of the second long plate through a bearing; The first and second transmission rods are symmetrically arranged on both sides of the fixed rod, wherein the center of the third transmission rod is rotatably connected to the sixth mounting hole of the first short plate through a bearing, and the center of the fourth transmission rod is rotatably connected to the sixth mounting hole of the second short plate through a bearing; The first and second output rods are symmetrically arranged on both sides of the fixed rod, wherein two ends of the first output rod pass through the fourth mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the fourth mounting holes of the first long plate and the second long plate respectively through bearings; two ends of the second output rod pass through the fifth mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the fifth mounting holes of the first long plate and the second long plate respectively through bearings; the first and second output rods are symmetrical about the straight line where the first transmission rod is located; like Figure 3 As shown, the first and second driving spur gears are both sleeved on the fixed rod, coaxially fixedly connected to the fixed rod, and symmetrical about the center of the fixed rod; The first passive spur gear and the first active bevel gear are both sleeved on the first transmission rod and coaxially fixedly connected to the first transmission rod, and the first passive spur gear is meshed with the first active spur gear; The second passive spur gear and the second active bevel gear are both sleeved on the second transmission rod and coaxially fixedly connected with the second transmission rod, and the second passive spur gear is meshed with the second active spur gear; The first passive bevel gear sleeve is coaxially fixedly connected to the first output rod at the midpoint of the first output rod; the second passive bevel gear sleeve is coaxially fixedly connected to the first output rod at the midpoint of the second output rod; The first and second transmission bevel gears are respectively sleeved on both ends of the third transmission rod, and are both coaxially fixedly connected to the third transmission rod; the first transmission bevel gear is meshed with the first active bevel gear, and the second transmission bevel gear is meshed with the first passive bevel gear; The third and fourth transmission bevel gears are respectively sleeved on both ends of the fourth transmission rod, and are coaxially fixedly connected to the fourth transmission rod; the third transmission bevel gear is meshed with the second active bevel gear, and the fourth transmission bevel gear is meshed with the second passive bevel gear; The first to second driving spur gears have the same number of teeth, the first to second driven spur gears have the same number of teeth, the first to second driving bevel gears have the same number of teeth, the first to fourth transmission bevel gears have the same number of teeth, the first to second driven bevel gears have the same number of teeth, the first to second driven bevel gears have the same number of teeth, the gear ratio of the first driving spur gear to the first driven spur gear is a preset first ratio, and the gear ratio of the first driving bevel gear to the second driven bevel gear is a preset second ratio; The drone body adopts a fixed-wing drone, and its fuselage is hollow to place the rotating frame; the fixed rod is fixed in the fuselage by a bracket, so that the third transmission rod is located on the axis of the fuselage in the length direction; the fuselage side wall of the drone body is respectively provided with a first and a second arc-shaped through groove for the two ends of the first output rod to extend and rotate, and a third and a fourth arc-shaped through groove for the two ends of the second output rod to extend and rotate; the first and the second rotors are respectively arranged at the two ends of the first output rod, and the third and the fourth rotors are respectively arranged at the two ends of the second output rod, and the first to the fourth rotors are oriented in the same direction. When the rotating frame and the horizontal cross section of the fuselage are parallel, the axes of the first to the fourth rotors are perpendicular to the plane where the rotating frame is located. Figure 4 When the first to fourth rotor speeds are controlled to rotate the rotating frame, the first and second output rods rotate in the same direction, so that the first to fourth rotors generate forward thrust, such as Figure 5 As shown; like Figure 6 As shown, the fixing rod is symmetrically provided with a first and a second slide groove parallel to its axis on the side wall at one end of the outer side of the first long plate, and a third and a fourth slide groove parallel to its axis are symmetrically provided on the side wall at one end of the outer side of the second long plate, and the first to fourth slide grooves have the same structure, the first and the third slide grooves are collinear, and the second and the fourth slide grooves are collinear; The locking mechanism comprises first to fourth locking units; The first to fourth locking units have the same structure and all include a locking motor, a locking link and a locking latch, wherein the locking motor is a linear motor; the locking link is L-shaped, one end of which is fixedly connected to the output shaft of the locking motor, and the other end is fixedly connected to one end of the locking latch, so that the locking latch is parallel to the output shaft of the locking motor; the locking latch can be inserted into the first slide groove and slide freely relative to the first slide groove. When sliding, a part of the locking latch is located in the slide groove, and a part is higher than the depth of the slide groove and exposed outside the slide groove, such as Figure 6 As shown; The first and second locking units are arranged on the same side of the fuselage, their locking motors are fixed on the fuselage, and their locking pins are respectively inserted into the first and second slide grooves; the third and fourth locking units are arranged on the other side of the fuselage, their locking motors are fixed on the fuselage, and their locking pins are respectively inserted into the third and fourth slide grooves; the locking motors of the first to fourth locking units are used to control the insertion depth of their locking pins; like Figure 7 As shown, the outer wall of the first long plate is provided at its first mounting hole with a first plug hole for cooperating with a portion of a locking pin of the first locking unit exposed outside the first slide slot when the rotating frame is parallel to the horizontal cross section of the fuselage, and the outer wall of the second long plate is provided at its first mounting hole with a third plug hole for cooperating with a portion of a locking pin of the third locking unit exposed outside the third slide slot when the rotating frame is parallel to the horizontal cross section of the fuselage; The outer wall of the first long plate is provided at its first mounting hole with a second plug hole for mating with a portion of a locking pin of the second locking unit exposed outside the second slide slot when the rotating frame rotates until the axes of the first to fourth rotors are parallel to the horizontal cross section of the fuselage; the outer wall of the second long plate is provided at its first mounting hole with a fourth plug hole for mating with a portion of a locking pin of the fourth locking unit exposed outside the fourth slide slot when the rotating frame rotates until the axes of the first to fourth rotors are parallel to the horizontal cross section of the fuselage; The control module is electrically connected to the locking motors of the first to fourth locking units and the first to fourth rotors, respectively, and is used to control the operation of the locking motors of the first to fourth locking units and the first to fourth rotors.

[0013] The preset first ratio is preferably 3:1, and the preset second ratio is preferably 2:1. At this time, when the fixed rod rotates 15°, the first and second output rods can rotate 90°. Through the first ratio and the second ratio, the rotating frame only rotates a small angle when the first to fourth rotors rotate at a large angle.

[0014] When the UAV flies in rotor mode, the rotating frame is parallel to the horizontal cross section of the fuselage, and the axes of the first to fourth rotors are perpendicular to the rotating frame. The control module controls the locking pins in the first and third locking units to be inserted into the first and third sockets respectively, and the locking pins of the second and fourth locking units are respectively outside the second and fourth sockets, so as to lock the rotating frame and the fixing rod parallel to the horizontal cross section of the fuselage. Figure 8 As shown, at this time, the first to fourth rotors serve as the main lift sources, and the lift can be changed by changing the rotation speed of the first to fourth rotors to achieve control of the aircraft.

[0015] When the UAV has a certain forward flight speed, it can be converted to fixed-wing mode flight. At this time, the control module first controls the locking pins in the first and third locking units to be pulled out from the first and third sockets respectively, and then generates torque by controlling the differential speed of the first, second rotors and the third, fourth rotors to rotate the rotating frame, thereby causing the axes of the first to fourth rotors to rotate to provide thrust. When the axes of the first to fourth rotors rotate to be parallel to the horizontal cross-section of the fuselage, the control module controls the locking pins of the second and fourth locking units to be inserted into the second and fourth sockets respectively, locking the rotating frame and the fixed rod parallel to the horizontal cross-section of the fuselage. At this time, the first to fourth rotors provide the power for forward flight, and the lift is provided by the fixed wing.

[0016] The curve of the forward flight speed of the drone changing from rotor mode to fixed-wing mode is as follows: Fig. 9 As shown, t1 and t2 are the start and end times of the tilt respectively.

[0017] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0018] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fixed-wing UAV based on a tilt mechanism and a quad-rotor, characterized in that: It includes a drone body, first to fourth rotors, a tilt mechanism, a locking mechanism and a control module; The tilt mechanism comprises a rotating frame, a fixing rod, first to fourth transmission rods, first to second output rods, first to second driving spur gears, first to second passive spur gears, first to second driving bevel gears, first to fourth transmission bevel gears, and first to second passive bevel gears; The rotating frame comprises first and second long plates, and first and second short plates; The first long plate and the second long plate have the same structure, and are provided with a fourth mounting hole, a second mounting hole, a first mounting hole, a third mounting hole, and a fifth mounting hole in sequence along the length direction, wherein the first mounting hole is located at the center, the second mounting hole and the third mounting hole are symmetrical about the first mounting hole, and the fourth mounting hole and the fifth mounting hole are symmetrical about the first mounting hole; The first short plate and the second short plate have the same structure, and the center of each plate is provided with a sixth mounting hole; one end of the first short plate is vertically fixedly connected to the first long plate at the midpoint of the fourth mounting hole and the second mounting hole, and the other end is vertically fixedly connected to the second long plate at the midpoint of the fourth mounting hole and the second mounting hole; one end of the second short plate is vertically fixedly connected to the first long plate at the midpoint of the third mounting hole and the fifth mounting hole, and the other end is vertically fixedly connected to the second long plate at the midpoint of the third mounting hole and the fifth mounting hole; The fixing rod is arranged between the first short plate and the second short plate, and the two ends thereof extend out from the first mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the first mounting holes of the first long plate and the second long plate respectively through bearings; The first and second transmission rods are symmetrically arranged on both sides of the fixed rod, wherein one end of the first transmission rod is rotatably connected to the second mounting hole of the first long plate through a bearing, and the other end is rotatably connected to the second mounting hole of the second long plate through a bearing; one end of the second transmission rod is rotatably connected to the third mounting hole of the first long plate through a bearing, and the other end is rotatably connected to the third mounting hole of the second long plate through a bearing; The first and second transmission rods are symmetrically arranged on both sides of the fixed rod, wherein the center of the third transmission rod is rotatably connected to the sixth mounting hole of the first short plate through a bearing, and the center of the fourth transmission rod is rotatably connected to the sixth mounting hole of the second short plate through a bearing; The first and second output rods are symmetrically arranged on both sides of the fixed rod, wherein two ends of the first output rod pass through the fourth mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the fourth mounting holes of the first long plate and the second long plate respectively through bearings; two ends of the second output rod pass through the fifth mounting holes of the first long plate and the second long plate respectively, and are rotatably connected to the fifth mounting holes of the first long plate and the second long plate respectively through bearings; the first and second output rods are symmetrical about the straight line where the first transmission rod is located; The first and second driving spur gears are both sleeved on the fixed rod, coaxially fixedly connected with the fixed rod, and symmetrical about the center of the fixed rod; The first passive spur gear and the first active bevel gear are both sleeved on the first transmission rod and coaxially fixedly connected to the first transmission rod, and the first passive spur gear is meshed with the first active spur gear; The second passive spur gear and the second active bevel gear are both sleeved on the second transmission rod and coaxially fixedly connected with the second transmission rod, and the second passive spur gear is meshed with the second active spur gear; The first passive bevel gear sleeve is coaxially fixedly connected to the first output rod at the midpoint of the first output rod; the second passive bevel gear sleeve is coaxially fixedly connected to the first output rod at the midpoint of the second output rod; The first and second transmission bevel gears are respectively sleeved on both ends of the third transmission rod, and are both coaxially fixedly connected to the third transmission rod; the first transmission bevel gear is meshed with the first active bevel gear, and the second transmission bevel gear is meshed with the first passive bevel gear; The third and fourth transmission bevel gears are respectively sleeved on both ends of the fourth transmission rod, and are coaxially fixedly connected to the fourth transmission rod; the third transmission bevel gear is meshed with the second active bevel gear, and the fourth transmission bevel gear is meshed with the second passive bevel gear; The first to second driving spur gears have the same number of teeth, the first to second driven spur gears have the same number of teeth, the first to second driving bevel gears have the same number of teeth, the first to fourth transmission bevel gears have the same number of teeth, the first to second driven bevel gears have the same number of teeth, the first to second driven bevel gears have the same number of teeth, the gear ratio of the first driving spur gear to the first driven spur gear is a preset first ratio, and the gear ratio of the first driving bevel gear to the second driven bevel gear is a preset second ratio; The UAV body adopts a fixed-wing UAV, and its fuselage is hollow to place the rotating frame; the fixed rod is fixed in the fuselage through a bracket, so that the third transmission rod is located on the axis of the fuselage in the length direction; the fuselage side wall of the UAV body is respectively provided with a first and a second arc-shaped through groove for the two ends of the first output rod to extend and rotate, and a third and a fourth arc-shaped through groove for the two ends of the second output rod to extend and rotate; the first and the second rotors are respectively arranged at the two ends of the first output rod, and the third and the fourth rotors are respectively arranged at the two ends of the second output rod, and the first to the fourth rotors are oriented in the same direction. When the rotating frame and the horizontal cross-section of the fuselage are parallel, the axes of the first to the fourth rotors are perpendicular to the plane where the rotating frame is located; when the rotation speed of the first to the fourth rotors is controlled to make the rotating frame rotate, the first and the second output rods rotate in the same direction, so that the first to the fourth rotors generate forward thrust; The fixing rod is symmetrically provided with a first and a second slide groove parallel to the axis thereof on a side wall at one end of the fixing rod located on the outer side of the first long plate, and a third and a fourth slide groove parallel to the axis thereof are symmetrically provided on a side wall at one end of the fixing rod located on the outer side of the second long plate, and the first to fourth slide grooves have the same structure, the first and the third slide grooves are collinear, and the second and the fourth slide grooves are collinear; The locking mechanism comprises first to fourth locking units; The first to fourth locking units have the same structure and all include a locking motor, a locking link and a locking latch, wherein the locking motor is a linear motor; the locking link is L-shaped, one end of which is fixedly connected to the output shaft of the locking motor, and the other end is fixedly connected to one end of the locking latch, so that the locking latch is parallel to the output shaft of the locking motor; the locking latch can be inserted into the first slide groove and slide freely relative to the first slide groove, and when sliding, a part of the locking latch is located in the slide groove, and a part is higher than the depth of the slide groove and exposed outside the slide groove; The first and second locking units are arranged on the same side of the fuselage, their locking motors are fixed on the fuselage, and their locking pins are respectively inserted into the first and second slide grooves; the third and fourth locking units are arranged on the other side of the fuselage, their locking motors are fixed on the fuselage, and their locking pins are respectively inserted into the third and fourth slide grooves; the locking motors of the first to fourth locking units are used to control the insertion depth of their locking pins; The outer wall of the first long plate is provided at its first mounting hole with a first plug hole for cooperating with a portion of a locking pin of the first locking unit exposed outside the first slide slot when the rotating frame is parallel to the horizontal cross section of the fuselage, and the outer wall of the second long plate is provided at its first mounting hole with a third plug hole for cooperating with a portion of a locking pin of the third locking unit exposed outside the third slide slot when the rotating frame is parallel to the horizontal cross section of the fuselage; The outer wall of the first long plate is provided at its first mounting hole with a second plug hole for mating with a portion of a locking pin of the second locking unit exposed outside the second slide slot when the rotating frame rotates until the axes of the first to fourth rotors are parallel to the horizontal cross section of the fuselage; the outer wall of the second long plate is provided at its first mounting hole with a fourth plug hole for mating with a portion of a locking pin of the fourth locking unit exposed outside the fourth slide slot when the rotating frame rotates until the axes of the first to fourth rotors are parallel to the horizontal cross section of the fuselage; The control module is electrically connected to the locking motors of the first to fourth locking units and the first to fourth rotors, respectively, and is used to control the operation of the locking motors of the first to fourth locking units and the first to fourth rotors.

2. The fixed-wing UAV based on the tilt mechanism and the quad-rotor according to claim 1, characterized in that: The preset first ratio is 3:1, and the preset second ratio is 2:1.

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