High-speed helicopter rotor mode conversion mechanism

Abstract

The invention discloses a high-speed helicopter rotor mode conversion mechanism which comprises a main shaft, a propeller hub fixedly arranged on the main shaft in a sleeving mode and a plurality of rotor modules evenly arranged in the circumferential direction of the propeller hub, each rotor module comprises a folding propeller hub rotationally connected with the propeller hub and a propeller clamping piece connected with the folding propeller hub through a universal cross shaft, and the propeller clamping pieces are used for fixing propeller blades; a folding base sleeves the propeller clamping piece, an auxiliary connecting rod is hinged to the folding base, a main connecting rod is hinged to the other end of the auxiliary connecting rod, the main connecting rod is hinged to the propeller hub, the folding driving module drives the main connecting rod to rotate relative to the propeller hub and drives the propeller clamping piece to rotate relative to the folding propeller hub, and folding of the propeller blades is achieved; the folding propeller hub is fixedly connected with a variable-pitch block, the steering engine drives the folding propeller hub to rotate relative to the propeller hub through the connecting rod structure and the variable-pitch block, and variable pitch of the propeller blades is achieved. The universal joint is added to separate the folding function and the pitch changing function, the folding function and the pitch changing function do not influence each other, the propeller pitch can still be adjusted to the position with small resistance in the folding process, and the folding difficulty is greatly reduced.

Description

Technical Field

[0001] The present invention relates to aircraft technology, in particular to a high-speed helicopter rotor mode conversion mechanism. Background Art

[0002] Helicopters play a vital role in air traffic and mission execution. However, despite their exceptional performance in vertical takeoff and landing (VTOL), hovering, and other capabilities, their speed and fuel efficiency lag far behind fixed-wing aircraft during long-distance cruising. Fixed-wing aircraft offer the advantages of high cruising speed, long range, and adaptability to adverse weather conditions. However, these aircraft require longer runways for takeoff and landing, making them unsuitable for narrow or uneven terrain. Furthermore, they have higher maintenance costs than rotary-wing aircraft. Therefore, the emergence of high-speed helicopters aims to overcome the speed limitations of traditional helicopters while inheriting the advantages of rotary-wing aircraft, such as vertical takeoff and landing, and the fast cruising speed and high efficiency of fixed-wing aircraft. This new type of aircraft, combining the advantages of both fixed-wing and rotary-wing aircraft, enables it to operate in more complex takeoff and landing environments and achieve rapid aerial deployment. It can be used for a variety of combat missions, such as reconnaissance and surveillance, airborne early warning, and disrupting enemy communications and command systems.

[0003] In order to achieve the requirements of mode transition between the aircraft rotor and fixed wing, and reduce the resistance during flight, a variant aircraft with foldable-tilt rotor is currently a better solution.

[0004] Prior art, such as patent application CN117141768A, discloses a twin-engine tilt-rotor drone with foldable winglets. The tilt drive motor drives a tilt linkage to tilt the rotors, while the tilt drive motor simultaneously drives a winglet folding and deployment mechanism via a rack-and-pinion mechanism to fold the wings. However, the rotors do not fold after tilting, resulting in significant resistance in level flight. Furthermore, the rotors lack a self-locking mechanism for tilting, which can cause the rotors to unfold or tilt unsteadily during flight.

[0005] In order to prevent the blades from colliding with the fixed wing when folding, it is necessary to control the blades to stop within a specified range before folding. For example, the patent application with publication number CN115743653A discloses a small blade brake positioning and folding device, which uses the structure of the servo and the rocker assembly to provide intermittent friction to achieve the deceleration of the blades, and the combination of the rocker assembly and the bosses and grooves on the brake disc surface to achieve the position control of the blades when stopping. However, when braking, the impact load is almost entirely transferred to the driving servo, which will reduce the service life of the servo and even cause the brake to fail. When this method is used on a drone with a large overall mass and high-speed rotating rotors, the braking time is long, the impact load on the driving servo is large, and the safety is poor. Summary of the Invention

[0006] Purpose of the invention: In view of the above shortcomings, the present invention provides a high-speed helicopter rotor mode conversion mechanism that can reduce the difficulty of folding the helicopter rotor.

[0007] Technical solution: In order to solve the above problems, the present invention adopts a high-speed helicopter rotor mode conversion mechanism, including a folding-variable pitch module, the folding-variable pitch module including a main shaft, a propeller hub fixedly sleeved on the main shaft and a plurality of rotor modules evenly arranged around the propeller hub, the rotor module including a folding propeller hub rotatably connected to the propeller hub, a propeller clamp connected to the folding propeller hub via a universal cross shaft, the propeller clamp being used to fix the propeller blades, a folding base being sleeved on the propeller clamp, the folding base and the propeller clamp being rotatably connected to each other, a secondary connecting rod being hinged on the folding base, a main connecting rod being hinged on the other end of the secondary connecting rod, the main connecting rod being hinged to the propeller hub and being connected to a folding drive module, the folding drive module driving the main connecting rod to rotate relative to the propeller hub, and driving the propeller clamp to rotate relative to the folding propeller hub via the secondary connecting rod and the folding base, thereby realizing the folding of the propeller blade relative to the main shaft;

[0008] The folding propeller hub is fixedly connected to a pitch block, which is connected to an automatic swash plate via a connecting rod structure. The automatic swash plate is driven by a steering gear, which drives the automatic swash plate to tilt, and drives the folding propeller hub to rotate relative to the propeller hub via the connecting rod structure and the pitch block, thereby realizing blade pitch change.

[0009] Furthermore, the folding drive module includes a push block hinged to the end of the main connecting rod, a main shaft inner ring fixedly connected to the push block, the main shaft is sleeved outside the main shaft inner ring, and the main shaft inner ring passes through the main shaft. The folding drive module also includes a driving gear, a motor gear meshing with the driving gear, and a folding drive motor that drives the motor gear. The rotating shaft of the driving gear is a screw rod, which is connected to the internal thread of the main shaft inner ring. The main shaft inner ring is circumferentially fixed by an inner ring stop. When the folding drive motor drives the driving gear to rotate through the motor gear, the main shaft inner ring moves along the rotating shaft of the driving gear, thereby driving the push block to push the main connecting rod.

[0010] Furthermore, the driving gear is engaged with two motor gears, and the two motor gears are driven by two folding drive motors respectively, and the two motor gears synchronously provide driving force for the driving gear.

[0011] Furthermore, the mechanism also includes a rotor stall-unlock module, which includes a stall disk fixedly sleeved on the outside of the main shaft, a push rod guide rail arranged parallel to the main shaft, a stall push rod arranged in the push rod guide rail, a connecting shaft fixedly connected to the stall push rod, a cam, a connecting disk, and a locking motor that drives the connecting disk to rotate. The cam and the connecting disk are coaxially arranged and connected by a torsion spring. When the cam rotates, the connecting shaft moves along the outer contour of the cam, and the stall disk is provided with a socket. When the main shaft rotates, there is a socket located in the movement direction of the stall push rod. When the locking motor drives the cam to rotate a preset locking angle through the connecting disk and the torsion spring, the cam drives the stall push rod to move along the push rod guide rail through the connecting shaft until the push rod guide rail is close to the end face of the stall disk. When the socket of the stall disk is located in the movement direction of the stall push rod, the end of the push rod guide rail is inserted into the socket to realize the stalling of the main shaft; when the locking motor drives the cam to rotate a preset unlocking angle through the connecting disk and the torsion spring, the connecting shaft is close to the outer contour of the cam and away from the socket to realize unlocking.

[0012] Furthermore, one end of the connecting shaft is connected to the protruding part of the cam through a return spring. When the locking motor drives the cam to rotate to a preset unlocking angle through the connecting plate and the torsion spring, the return spring makes the connecting shaft close to the outer contour of the cam and away from the socket to achieve unlocking.

[0013] Furthermore, two stop disks are fixedly mounted outside the main shaft, located at either end of a push rod guide rail. Two stop push rods are disposed within the guide rail. Each stop push rod is connected to a connecting shaft. A cam is located between the two connecting shafts, and both connecting shafts move along the outer contour of the cam. When locked, the two stop push rods are inserted into the sockets of the two stop disks. The positions of the sockets on the stop disks correspond to the positions of the blades.

[0014] Furthermore, the rotor stall-unlock module also includes a push rod guide rail fixing seat, the push rod guide rail fixing seat includes a first connecting surface, a fixing surface and a second connecting surface connected in sequence, the first connecting surface and the second connecting surface are respectively fixedly connected to the two ends of the push rod guide rail, the fixing surface is fixedly connected to the frame, the rotor stall-unlock module is installed on the frame, and the two sides of the push rod guide rail are respectively fixedly connected to the frame through a push rod guide rail fixing seat.

[0015] Furthermore, it also includes a tilt module, which includes a fixed base, a tilt motor arranged on the fixed base, a worm fixedly connected to the output shaft of the tilt motor, and a worm wheel engaged with the worm. A frame is fixedly connected to the worm wheel shaft, and the frame is used to install the folding-pitch module. The extension direction of the worm wheel shaft is parallel to the rotation plane of the blade when the blade is unfolded, and perpendicular to the extension direction of the blade after folding. The rotation of the tilt motor drives the structure installed in the frame to tilt through the worm wheel.

[0016] Furthermore, it also includes a spindle drive module, which includes a spindle motor, a spindle pinion fixedly connected to the output shaft of the spindle motor, and a spindle gear meshing with the spindle pinion, and the spindle is fixedly connected to the rotating shaft of the spindle gear.

[0017] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: (1) a universal joint is added to separate the folding and pitch-changing functions, making the two functions independent of each other and not affecting each other. The mechanism can still adjust the pitch to a position with less resistance during the folding process, greatly reducing the difficulty of folding; at the same time, based on the self-locking function of the trapezoidal screw, the system can also achieve locking in the unfolded and folded states of the rotor, thereby improving the stability of the system.

[0018] (2) A folding mechanism based on coupled multi-links is adopted, and the up and down movement of the inner ring of the main shaft drives the multi-link mechanism to fold, thereby enabling the drive module to be installed in the lower frame part. The rotational movement of the rotor is compatible with the folding, which well coordinates the movement relationship between the rotor and the stator.

[0019] (3) The redundant drive mode of dual motors increases the driving torque and can ensure the stable operation of the system even in the face of large airflow disturbances. In addition, even when one motor fails, the other motor can take over the work, which greatly increases the reliability of the system.

[0020] (4) No sensor is required during the stopping process. A cam push rod mechanism is used to ensure that the blades stop at the corresponding position. Compared with the method of using sensors to detect and control the blades to stop at the corresponding position, the time required for stopping is reduced and the accuracy and reliability of stopping are improved.

[0021] (5) The force mode during the stall process is optimized. A series elastic driver and push rod guide mechanism are used to transfer the impact force during the stall to the frame, reducing the radial load on the motor. At the same time, the motor stores energy in the torsion spring in advance to prevent the motor from stalling and improve the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the overall structure of the conversion mechanism in the present invention;

[0023] Figure 2 Schematic diagram of the structure of the spindle drive module I in the present invention;

[0024] Figure 3 Schematic diagram of the structure of the stop-unlock module II in the present invention;

[0025] Figure 4 Schematic diagram of the structural decomposition of the stop-unlock module II of the present invention;

[0026] Figure 5 Schematic diagram of the structure of the folding-variable pitch module III in the present invention;

[0027] Figure 6 Schematic diagram of the structure of the folding drive module IV in the present invention;

[0028] Figure 7 Schematic diagram of the principle of rotor folding and pitch changing in the present invention;

[0029] Figure 8 Schematic diagram of the structure of the tilting module V in the present invention;

[0030] Figure 9 is a rotor mode conversion diagram in the present invention; Figure 9 (a) in the figure shows the rotor deployed / stopped state; Figure 9 (b) shows the rotor folded state; Figure 9 (c) in the figure is the rotor folding-tilting state. DETAILED DESCRIPTION

[0031] like Figure 1 As shown, in this embodiment, a high-speed helicopter rotor mode conversion mechanism includes five modules, namely a main shaft drive module I, a stop-unlock module II, a folding-pitch variable module III, a folding drive module IV and a tilt module V. The main shaft drive module I, the stop-unlock module II, the folding-pitch variable module III and the folding drive module IV are installed on the frame 14.

[0032] Spindle drive module I Figure 2 As shown, the main shaft gear 61 is fixedly connected to the main shaft 15 via a flange 62. The main shaft motor 60 is fixedly connected to the frame 14 via a connector 65. The main shaft pinion 66 is fixed to the output shaft of the main shaft motor 60. The helical gear transmission transmits power to the main shaft gear 61 and amplifies the output torque. The axial positioning ring 64 is fixed to the main shaft 15 via a set screw and limits the axial relative movement of the main shaft 15 and the frame 14 via a connector 63, ensuring that the main shaft gear 61 and the main shaft pinion 66 mesh and transmit in the designed position.

[0033] like Figure 3 、 4The figure shows the rotor stop-unlock module II. The stop disk 1 is provided with a slideway and three holes. The three holes correspond to the positions of the three blades 13 respectively. The stop disk 1 is fixed on the main shaft 15 and moves with the main shaft 15. The push rod guide rail fixing seat 12 is fixed on the frame 14. The push rod guide rail 3 is connected to the push rod guide rail fixing seats 12 on both sides by screws. The locking motor 7 is fixed on the frame 14. One end of the rotating shaft 9 is connected to the locking motor 7 through the coupling 8, and the other end is connected to the cam 5 through a bearing. The connecting disk 10 is fixed on the rotating shaft 9. There are small holes on the connecting disk 10 and the cam 5. One end of the torsion spring 11 is fixed in the small hole on the connecting disk 10, and the other end is fixed in the small hole on the cam 5. One end of the return spring 6 is connected to the boss of the cam 5, and the other end is connected to the connecting shaft 4. The stop push rod 2 is fixed to the connecting shaft 4 and can slide in the push rod guide rail 3. When the cam 5 rotates, the connecting shaft 4 moves along the cam profile.

[0034] The working principle of the stall module is as follows:

[0035] When the helicopter needs to stall and lock the rotors, locking motor 7 rotates counterclockwise through a specified angle before stopping, storing energy in torsion spring 11. This in turn drives cam 5 counterclockwise, causing connecting shaft 4 to follow the contour of cam 5, driving stall push rod 2 to slide within push rod guide 3. The upper stall push rod 2 then moves upward and inserts into the socket of the upper stall disc 1, while the lower stall push rod 2 moves downward and inserts into the socket of the lower stall disc 1. Stall push rod 2 transmits the impact force through push rod guide 3 and guide rail mounting 12 to the frame 14. While the stall push rod 2 rises, it may not be able to directly insert into the socket of stall disc 1. In most cases, it must first slide within the slideway of stall disc 1 before being inserted into the socket to stall. During this process, the energy stored in torsion spring 1 maintains contact with the slideway of stall disc 1 and pushes it into the socket of stall disc 1, thus stalling the rotors.

[0036] When the helicopter needs to release the rotor lock state, the locking motor 7 rotates clockwise at a specified angle and then stops, and the cam 5 is driven clockwise by the torsion spring 11. The reset spring 7 on the cam ensures that the connecting shaft 4 always keeps in contact with the cam profile. The connecting shaft 4 drives the stop push rod 2 to reset, thereby releasing the rotor lock state.

[0037] like Figure 5As shown, the rotor folding-pitch module III includes an upper folding rotor mechanism and a lower pitch mechanism. In the upper half of the folding rotor, from the center of the main shaft outward in the direction of the blades, are the folding hub 24, the universal cross 43, the blade clamp rear end component 44, the folding base 29, the base cover 22, and the blade clamp 21. The folding hub 24 and the hub 25 are fixed by a connecting shaft, and the two rotate relative to each other through a bearing to adjust the pitch angle. The blade clamp rear end component 44 is connected to the folding hub 24 by a universal cross 43, thus separating the pitch and folding functions, allowing folding at any pitch position. The blade clamp 21 and the blade clamp rear end component 44 are fixedly connected by a transverse axis, with the folding base 29 installed in between, and relative rotation is achieved through a bearing. The base cover 22 is fixed to the folding base 29 with screws to prevent axial relative movement between the bearing and the folding base 29. The rotor's folding function is primarily driven by a connecting rod system, comprising a main connecting rod 28, a secondary connecting rod 23, a folding support 25, and a pusher block 27. The folding support 25 is screwed to the hub 26. The main connecting rod 28 and pusher block 27 are connected by a rotating shaft that slides within a slot in the main connecting rod 28. The rest of the connecting rod is connected by a single rotating pair. The pusher block 27 is internally fitted with bearings and connected to the main shaft inner ring 16 by two nuts at the top and bottom. The lower nut contacts the shaft shoulder for axial positioning, securing the pusher block 27 axially relative to the main shaft inner ring 16. When the main shaft inner ring 16 moves upward along the rotor axis, it drives the pusher block 27 upward, thereby driving the multi-link mechanism to fold the rotor. The lower half of the pitch mechanism primarily includes an automatic swash plate 32 and its drive and actuator components. The servo 31 is used to adjust the position of the automatic swash plate 32, thereby adjusting the cyclic and collective pitch.

[0038] like Figure 6 As shown, the folding drive module IV of the rotor mainly includes: a folding drive motor 77, a motor gear 76, a driving gear 74, a folding motor fixing plate 79, an upper clamping plate 73, a lower clamping plate 75, an inner ring stop 71, a stop slide 70 and a limit switch 72. There is one folding drive motor 77 on each side, which provides higher torque through redundant drive and increases the robustness of the system; the outer ring of the driving gear 74 is engaged with the motor gear 76, and the inner ring is a lead screw threadedly connected to the main shaft inner ring 16. The upper clamp 73 and the lower clamp 75 are fixed on the frame 14, limiting the axial movement of the driving gear 74; the inner ring stop 71 is sleeved on the outside of the main shaft inner ring 16 and is fixed to the main shaft inner ring 16 by a through screw. The cylindrical rods at both ends of the inner ring stop 71 slide in the stop slide 70, thereby limiting the rotational movement of the main shaft inner ring 16. Therefore, when the driving gear 74 rotates, it will drive the main shaft inner ring 16 to move up and down; the limit switch 72 is fixed to the connecting part 63 by screws to detect whether the main shaft inner ring 16 has moved to the limit position, thereby judging whether the folding / unfolding process is over.

[0039] like Figure 7 As shown, the rotor folding and pitch-changing mechanism operates as follows: Powered by two folding drive motors 77 in folding drive module IV, the main shaft inner ring 16 moves upward along the rotor axis via a gear and trapezoidal screw drive, thereby driving the push block 27 upward, which in turn drives the coupled multi-link mechanism to fold the blades. Due to the presence of a universal cross 43, the mechanism can still adjust the rotor pitch during the folding process to adapt to changes in wind resistance, significantly reducing the resistance encountered during rotor folding.

[0040] like Figure 8 The figure shows rotor tilt module V. An output shaft 94 is inserted into the inner hole of tilt mount 90 via a bearing 91 and can rotate relative to the inner hole of tilt mount 90. A worm gear 96 is connected to output shaft 94 via a key 95. The frame 14 is fixedly connected to the output shaft 94 of worm gear 96, transmitting the rotation of worm gear 96 to the upper half via output shaft 94. A worm gear 91 is inserted into the inner hole of tilt mount 90 via a bearing. The other end is connected to tilt motor 93 via a coupling. Tilt motor 93 is connected to tilt mount 90 via a motor mounting plate 92. Coupling 93 is inserted into the inner hole of tilt mount 90 via a bearing. The motor transmits the output torque of the worm gear mechanism to the rotor, causing the rotor to tilt.

[0041] The modal conversion process of the folding rotor is as follows:

[0042] Unfold to folded state: The folding variation process of the rotor can be divided into three steps: stalling, folding, and tilting. When the rotor receives the control signal of the folding variation, it drives the stall module III to move to stop the rotor. Due to the presence of the slot on the stall disk 1, the rotor is locked in a fixed position, preventing the blades 13 from colliding with the wing during the subsequent folding process. After the stall lock is completed, the blades 13 are folded, and the folded state is locked by the self-locking function of the trapezoidal screw. After the folding is completed, the system drives the worm gear mechanism of the tilt module to operate so that the rotor tilts to a horizontal position, and relies on its self-locking function to lock the rotor in this posture state, thus completing the entire folding variation process.

[0043] Folding to Expanded: The process of converting the rotor from the folded to the expanded state can be divided into three steps: tilting, deploying, and starting. When the rotor receives the deployment control signal, it tilts from the horizontal position to the operating position. After the tilting is completed, the blades 13 are deployed, and the deployed state is locked using the self-locking function of the trapezoidal screw. Finally, the stall module III drives the push rod to release the rotor lock state, and the system starts the spindle motor 60. The rotor gradually accelerates to the normal operating state, completing the entire deployment transformation process.

Claims

1. A high-speed helicopter rotor mode conversion mechanism, characterized in that: The invention comprises a folding-variable pitch module, wherein the folding-variable pitch module comprises a main shaft (15), a propeller hub (26) fixedly sleeved on the main shaft, and a plurality of rotor modules uniformly arranged around the propeller hub (26), wherein the rotor module comprises a folding propeller hub (24) rotatably connected to the propeller hub (26), and a propeller clamp connected to the folding propeller hub (24) via a universal cross shaft (43), wherein the propeller clamp is used to fix the propeller blades, and a folding base (29) is sleeved on the propeller clamp, and the folding base (29) is uniformly arranged around the propeller hub (26). ) is rotatably connected to the paddle clamp, a secondary connecting rod (23) is hinged on the folding base (29), the other end of the secondary connecting rod (23) is hinged to the main connecting rod (28), the main connecting rod (28) is hinged to the propeller hub (26), and is connected to the folding drive module, the folding drive module drives the main connecting rod to rotate relative to the propeller hub (26), and drives the paddle clamp to rotate relative to the folding propeller hub (24) through the secondary connecting rod (23) and the folding base (29), thereby realizing the folding of the blade relative to the main axis; The folding propeller hub (24) is fixedly connected to a pitch block (30), the pitch block (30) is connected to an automatic tilting plate (32) via a connecting rod structure, the automatic tilting plate (32) is driven by a steering gear (30), the steering gear (30) drives the automatic tilting plate (32) to tilt, and drives the folding propeller hub (24) to rotate relative to the propeller hub (26) via the connecting rod structure and the pitch block (30), thereby realizing blade pitch change.

2. The high-speed helicopter rotor mode conversion mechanism according to claim 1, characterized in that: The folding drive module comprises a push block (27) hinged to the end of the main connecting rod (28), a main shaft inner ring (16) fixedly connected to the push block (27), the main shaft is sleeved outside the main shaft inner ring (16), and the main shaft inner ring (16) passes through the main shaft. The folding drive module also comprises a driving gear (74), a motor gear (76) meshed with the driving gear (74), and a folding drive motor (77) driving the motor gear (76). The rotating shaft of the driving gear (74) is a screw rod, which is connected to the internal thread of the main shaft inner ring (16). The main shaft inner ring (16) is circumferentially fixed by an inner ring rotation stop (71). When the folding drive motor (77) drives the driving gear (74) to rotate through the motor gear (76), the main shaft inner ring (16) moves along the rotating shaft of the driving gear (74), thereby driving the push block (27) to push the main connecting rod (28).

3. The high-speed helicopter rotor mode conversion mechanism according to claim 2, characterized in that: The driving gear (74) is meshed with two motor gears (76), which are driven by two folding drive motors (77) respectively. The two motor gears (76) synchronously provide driving force for the driving gear (74).

4. The high-speed helicopter rotor mode conversion mechanism according to claim 1, characterized in that: The invention also includes a rotor stop-unlock module, which includes a stop disk (1) fixedly sleeved on the outside of the main shaft (15), a push rod guide rail (3) arranged parallel to the main shaft, a stop push rod (2) arranged in the push rod guide rail (3), a connecting shaft (4) fixedly connected to the stop push rod (2), a cam (5), a connecting disk (10), and a locking motor (7) for driving the connecting disk (10) to rotate. The cam (5) and the connecting disk (10) are coaxially arranged and connected by a torsion spring (11). When the cam rotates, the connecting shaft moves along the outer contour of the cam. The stop disk (1) is provided with a socket. When the main shaft rotates, the socket is Located in the movement direction of the stop push rod (2), when the locking motor (7) drives the cam to rotate (5) to a preset locking angle through the connecting disk (10) and the torsion spring (11), the cam drives the stop push rod to move along the push rod guide rail (3) through the connecting shaft until the push rod guide rail (3) is close to the end face of the stop disk (1). When the insertion hole of the stop disk (1) is located in the movement direction of the stop push rod (2), the end of the push rod guide rail (3) is inserted into the insertion hole to realize the main shaft stopping; when the locking motor (7) drives the cam to rotate (5) to a preset unlocking angle through the connecting disk (10) and the torsion spring (11), the connecting shaft is close to the outer contour of the cam and away from the insertion hole to realize unlocking.

5. The high-speed helicopter rotor mode conversion mechanism according to claim 4, characterized in that: One end of the connecting shaft (4) is connected to the protruding portion of the cam (5) via a return spring (6). When the locking motor (7) drives the cam (5) to rotate to a preset unlocking angle via a connecting plate (10) and a torsion spring (11), the return spring (6) causes the connecting shaft to be close to the outer contour of the cam and away from the insertion hole, thereby achieving unlocking.

6. The high-speed helicopter rotor mode conversion mechanism according to claim 4, characterized in that: Two stop disks (1) are fixedly sleeved outside the main shaft (15). The two stop disks (1) are respectively located at two ends of a push rod guide rail (3). Two stop push rods (2) are arranged in the push rod guide rail. The two stop push rods (2) are respectively connected to a connecting shaft (4). A cam (5) is located between the two connecting shafts (4). Both connecting shafts move along the outer contour of the cam. When locking is performed, the two stop push rods (2) are respectively inserted into the jacks of the two stop disks (1).

7. The high-speed helicopter rotor mode conversion mechanism according to claim 6, characterized in that: The position of the jack on the stop disk (1) corresponds to the position of the blade.

8. The high-speed helicopter rotor mode conversion mechanism according to claim 4, characterized in that: The rotor stop-unlock module also includes a push rod guide rail fixing seat (12), the push rod guide rail fixing seat (12) includes a first connecting surface, a fixing surface and a second connecting surface connected in sequence, the first connecting surface and the second connecting surface are respectively fixedly connected to the two ends of the push rod guide rail (3), the fixing surface is fixedly connected to the frame (14), the rotor stop-unlock module is installed on the frame (14), and the two sides of the push rod guide rail are respectively fixedly connected to the frame (14) through a push rod guide rail fixing seat (12).

9. The high-speed helicopter rotor mode conversion mechanism according to claim 1, characterized in that: The invention also includes a tilting module, which includes a fixing seat (90), a tilting motor (93) arranged on the fixing seat, a worm (91) fixedly connected to the output shaft of the tilting motor (93), and a worm gear (96) meshed with the worm gear (91). The rotating shaft of the worm gear (96) is fixedly connected to a frame (14). The frame (14) is used to install the folding-pitch module. The extending direction of the rotating shaft of the worm gear (96) is parallel to the rotation plane of the blade when the blade is unfolded, and perpendicular to the extending direction of the blade after folding. The tilting motor (93) rotates through the worm gear to drive the structure installed in the frame (14) to tilt.

10. The high-speed helicopter rotor mode conversion mechanism according to claim 1, characterized in that: It also includes a spindle drive module, the spindle drive module includes a spindle motor (60), and a spindle motor (60) A main shaft pinion (66) fixedly connected to the output shaft and a main shaft gear (61) meshing with the main shaft pinion (66) are provided. The main shaft (15) is fixedly connected to the rotating shaft of the main shaft gear (61).

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