Small multi-rotor tilting module

Abstract

The invention belongs to the field of tilt rotor unmanned aerial vehicles, and relates to a small multi-rotor tilt module. An adjustable rocker arm steering engine is adopted for driving, a knuckle bearing connecting rod is used for transmitting control force to control a tilting motor (1) to rotate to achieve angle control, and the tilting motor (1) is arranged in a cradle type tilting motor support (2) to reduce control torque.

Description

Technical Field

[0001] The invention belongs to the field of tilt-rotor UAVs and relates to a small multi-rotor tilt module. Background Art

[0002] The tilt mechanism of a small electric tilting multi-rotor requires light weight, a simple structure, low cost, and easy installation and disassembly. It typically uses a rocker servo or a screw reducer as the driving force, with a connecting rod or gear mechanism for tilting. This complex and heavy structure requires a dedicated unit and does not allow for adjustable transmission ratios. Summary of the Invention

[0003] Purpose of the invention: To provide a small multi-rotor tilt module with a simple structure, low cost, convenient assembly and maintenance, and adjustable transmission ratio.

[0004] The technical solution of the present invention: A small multi-rotor tilt module is driven by an adjustable rocker arm servo. The tilt motor 1 is controlled by transmitting the control force through the joint bearing connecting rod to control the rotation of the tilt motor 1 to achieve angle control. The tilt motor 1 is arranged in a cradle-type tilt motor bracket 2 to reduce the control torque.

[0005] Furthermore, the tilt module includes: a tilt motor 1, a cradle-type tilt motor bracket 2, a left side plate 3, a right side plate 4, a tilt motor bracket ball stud 6, a rotary servo 7, an adjustable servo arm 8, a servo rocker arm ball stud 9, a joint bearing connecting rod 10, a transverse partition 11, and an extended square tube 14. Among them, the tilt motor 1 is fixed at the bottom of the cradle-type tilt motor bracket 2, and the side of the cradle-type tilt motor bracket 2 is connected to the left plate 3 and the right plate 4, and can rotate around the tilt axis bolt 5; the left hole of the cradle-type tilt motor bracket 2 is fixed with the tilt motor bracket ball bolt 6, providing a tilt input control point; the rotary servo 7 is fixed on the left plate 3, and the adjustable servo arm 8 is fixed on the output flange of the rotary servo 7; the adjustable servo arm 8 is provided with a rectangular slide groove, and the servo rocker arm ball bolt 9 passes through the slide groove and is fixed, providing a tilt output control point; the two ends of the joint bearing connecting rod 10 are respectively fixed on the tilt motor bracket ball bolt 6 and the servo rocker arm ball bolt 9 to form a connecting rod mechanism; two transverse partitions 11 are fixed between the left plate 3 and the right side plate 4 to form a box structure, and there is a square hole on the transverse partition 11, and the extended square tube 14 is fixed through the square holes on the two transverse partitions 11.

[0006] Furthermore, it also includes: a tilt axis bolt 5, wherein the side holes of the cradle-type tilt motor bracket 2 are connected to the left side plate 3 and the right side plate 4 respectively through two tilt axis bolts 5.

[0007] Furthermore, it also includes: an internal threaded stud 12 and a fixing screw 13, wherein the two transverse partitions 11 are fixed between the left side plate 3 and the right side plate 4 by the internal threaded stud 12 and the fixing screw 13 to form a box-type structure.

[0008] Furthermore, the cradle-type tilt motor bracket 2 adopts a U-shaped shape, the tilt motor 1 is sunken inside the cradle-type tilt motor bracket 2, and the tilt rotation axis is close to the center position of the motor.

[0009] Furthermore, compared with the right side plate 4, the left side plate 3 is reshaped within the movement range of the tilt motor bracket ball stud 6 to prevent interference with the movement of the joint bearing connecting rod 10, thereby realizing the externalization of the joint bearing connecting rod 10 and facilitating the adjustment of the connecting rod length.

[0010] Furthermore, a rectangular slide groove is provided on the adjustable servo arm 8, and the servo rocker arm ball stud 9 can be moved on the slide groove to adjust the position; the movement of the servo rocker arm ball stud 9 can change the operating arm length L1 of the rocker arm. Since the operating arm L2 of the cradle-type tilt motor bracket 2 is fixed and the rotation angle of the tilt module is 90°, adjusting the servo rocker arm ball stud 9 and changing the length of L1 can adapt to rotary servos 7 with different rotation angles, thereby realizing the universalization of the module and facilitating the replacement of rotary servos of different brands and characteristics.

[0011] Furthermore, the length of the spherical bearing connecting rod 10 can be adjusted by rotating the spherical bearings at both ends, and the length of L can be fine-tuned to facilitate accurate calibration of the horizontal and vertical positions of the module.

[0012] Furthermore, the cradle-type tilt motor bracket 2, the left side plate 3, the right side plate 4, the transverse partition 11, and the extended square tube 14 are all processed with carbon fiber plates, spliced ​​by keyways and fixed with bolts, without the need for glue or other assembly processes, with low cost and convenient replacement of damaged parts.

[0013] The beneficial effects of this application are: The small multi-rotor tilt module of this invention is based on the principle of a tilt system. It innovatively uses an adjustable rocker arm and cradle motor mount to reduce tilt torque while maintaining low costs, achieving a convenient and fast adjustable tilt structure. It has the advantages of light weight, simple structure, low cost, and easy installation and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the assembly of a small multi-rotor tilt module according to an embodiment of the present invention; Figure 2 An exploded view of a small multi-rotor tilt module according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the fixing of the adjustable servo arm and the servo rocker arm ball stud; Figure 4Diagram of adjusting the position of the servo rocker arm ball bolt Figure 5 The geometric relationship diagram of the tilt module connecting rod Figure 6 This is a schematic diagram of the tilt module in a vertical take-off and landing state; Figure 7 This is a schematic diagram of the tilt module in a transitional flight state; Figure 8 Schematic diagram of the tilt module in horizontal flight state; Figure 9 Schematic diagram of the connecting rod position when the tilt module is in horizontal flight state.

[0015] Among them, there are the tilt motor 1, the cradle-type tilt motor bracket 2, the left side plate 3, the right side plate 4, the tilt axis bolt 5, the tilt motor bracket ball bolt 6, the rotary servo 7, the adjustable servo arm 8, the servo rocker arm ball bolt 9, the joint bearing connecting rod 10, the cross partition 11, the internal threaded stud 12, the fixing screw 13, and the extended square tube 14. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the implementation of this application will be described in more detail below in conjunction with the drawings in the implementation of this application. In the drawings, the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and should not be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in conjunction with the drawings.

[0017] In the description of the present invention, it should be understood that the terms "center", "axial", "vertical", "up", "down", "upper end", "bottom end", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0018] This invention belongs to the field of tilt-rotor drones and relates to a rotor tilt module. Based on the principles of the tilt system, it innovatively uses an adjustable rocker arm and cradle motor mount to reduce tilt torque while maintaining low costs, achieving a convenient and fast adjustable tilt structure. Driven by a rocker servo, the module is compatible with rocker servos of varying rotation angles through a special slider rocker arm, offering wide applicability and enabling rapid adjustment of the tilt angle. A cradle-style motor mount reduces tilt torque, and the overall structure is assembled from cut carbon fiber sheet material, resulting in low cost and easy assembly and maintenance. This is a tilt module suitable for small electric tilt aircraft.

[0019] The present application is described in further detail below with reference to the accompanying drawings of the embodiments.

[0020] like Figure 1-9 The present invention provides a small multi-rotor tilt module that is driven by an adjustable rocker arm servo and utilizes a joint bearing connecting rod to transmit control force to control the rotation of the tilt motor 1 to achieve angle control. The tilt motor 1 is arranged in a cradle-type tilt motor bracket 2 to reduce the control torque.

[0021] The tilt module includes: a tilt motor 1, a cradle-type tilt motor bracket 2, a left side plate 3, a right side plate 4, a tilt axis bolt 5, a tilt motor bracket ball bolt 6, a rotary servo 7, an adjustable servo arm 8, a servo rocker arm ball bolt 9, a spherical bearing connecting rod 10, a cross partition 11, an internally threaded stud 12, a fixing screw 13, and an extended square tube 14.

[0022] Among them, the tilt motor 1 is fixed to the bottom of the cradle-type tilt motor bracket 2, and the side holes of the cradle-type tilt motor bracket 2 are connected to the left plate 3 and the right plate 4 respectively through two tilt axis bolts 5, and can rotate around the tilt axis bolt 5; the left hole of the cradle-type tilt motor bracket 2 is fixed with the tilt motor bracket ball bolt 6, providing a tilt input control point; the rotary servo 7 is fixed on the left plate 3, and the adjustable servo arm 8 is fixed on the output flange of the rotary servo 7; the adjustable servo arm 8 is provided with a rectangular slide groove, and the servo rocker arm ball bolt 9 passes through the slide groove and is fixed, providing a tilt output control point; the two ends of the joint bearing connecting rod 10 are respectively fixed on the tilt motor bracket ball bolt 6 and the servo rocker arm ball bolt 9 to form a connecting rod mechanism; the two transverse partitions 11 are fixed between the left plate 3 and the right side plate 4 by internal threaded studs 12 and fixing screws 13 to form a box structure, and there is a square hole on the transverse partition 11, and the extended square tube 14 is fixed through the square holes on the two transverse partitions 11.

[0023] The cradle-type tilt motor bracket 2 uses a U-shaped shape. The tilt motor 1 is sunken inside the cradle-type tilt motor bracket 2, and the tilt rotation axis is close to the center of the motor. This can effectively reduce the torque during tilt operation, facilitate smooth tilt operation, and reduce the load on the tilt servo. The shape of the cradle-type tilt motor bracket 2 also provides protection for the tilt motor. Compared with the right side plate 4, the left side plate 3 is reshaped within the movement range of the tilt motor bracket ball stud 6 to prevent interference with the movement of the joint bearing connecting rod 10, thereby realizing the externalization of the joint bearing connecting rod 10 and facilitating the adjustment of the connecting rod length.

[0024] The adjustable servo arm 8 is provided with a rectangular slot, and the servo rocker arm ball bolt 9 can be moved on the slot to adjust the position, such as Figure 4 As shown; the movement of the servo rocker arm ball stud 9 can change the rocker arm operating arm length L1, as Figure 5 As shown. Since the control arm L2 of the cradle-type tilt motor bracket 2 is fixed and the tilt module rotates at a 90° angle, adjusting the servo rocker arm ball stud 9 and changing the length of L1 can adapt to rotary servos 7 with different rotation angles, achieving module universality and facilitating replacement of rotary servos of different brands and characteristics. The length of the joint bearing connecting rod 10 can be adjusted by rotating the joint bearings at both ends. Figure 5 As shown, the length of L can be fine-tuned to facilitate accurate calibration of the horizontal and vertical positions of the module; The cradle-type tilt motor bracket 2, left side plate 3, right side plate 4, transverse partition 11, and extended square tube 14 are all made of carbon fiber plates and are spliced ​​by keyways and fixed with bolts. No glue or other assembly processes are required, which is low-cost and convenient for replacing damaged parts. The size and cross-sectional shape of the extended square tube 14 can be flexibly adjusted according to needs, and the tilt module can be installed on different aircraft, with wide applicability.

[0025] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A small multi-rotor tilt module, characterized in that: An adjustable rocker arm servo drive is adopted, and an articulated bearing connecting rod is used to transmit the operating force to control the rotation of the tilting motor (1) to achieve angle control. The tilting motor (1) is arranged in a cradle-type tilting motor bracket (2) to reduce the operating torque.

2. The small multi-rotor tilt module according to claim 1, characterized in that: The tilt module includes: a tilt motor (1), a cradle-type tilt motor bracket (2), a left side plate (3), a right side plate (4), a tilt motor bracket ball stud (6), a rotary servo (7), an adjustable servo arm (8), a servo rocker arm ball stud (9), a joint bearing connecting rod (10), a transverse partition (11), and an extended square tube (14). The tilt motor (1) is fixed to the bottom of the cradle-type tilt motor bracket (2), and the side of the cradle-type tilt motor bracket (2) is connected to the left side plate (3) and the right side plate (4), and can rotate around the tilt axis bolt (5); the left hole of the cradle-type tilt motor bracket (2) is fixed with the tilt motor bracket ball head bolt (6), providing a tilt input control point; the rotary servo (7) is fixed on the left side plate (3), and the adjustable servo arm (8) is fixed on the output flange of the rotary servo (7); the adjustable servo arm ( 8) is provided with a rectangular slot, and the steering gear rocker arm ball stud (9) passes through the slot and is fixed, providing a tilt output control point; the two ends of the joint bearing connecting rod (10) are respectively fixed on the tilt motor bracket ball stud (6) and the steering gear rocker arm ball stud (9) to form a connecting rod mechanism; two transverse partitions (11) are fixed between the left side plate (3) and the right side plate (4) to form a box structure, and the transverse partitions (11) are provided with square holes, and the extended square tubes (14) pass through the square holes on the two transverse partitions (11) and are fixed.

3. The small multi-rotor tilt module according to claim 1 or 2, characterized in that: Also includes: Tilt axis bolts (5), wherein the side holes of the cradle-type tilt motor bracket (2) are connected to the left side plate (3) and the right side plate (4) respectively through two tilt axis bolts (5).

4. The small multi-rotor tilt module according to claim 3, characterized in that: Also includes: Internal threaded studs (12), fixing screws (13), wherein the two transverse partitions (11) are fixed between the left side plate (3) and the right side plate (4) by the internal threaded studs (12) and fixing screws (13) to form a box-type structure.

5. The small multi-rotor tilt module according to claim 4, characterized in that: The cradle-type tilting motor bracket (2) uses a U-shaped shape, the tilting motor (1) is sunk inside the cradle-type tilting motor bracket (2), and the tilting rotation axis is close to the center position of the motor.

6. The small multi-rotor tilt module according to claim 5, characterized in that: Compared with the right side plate (4), the left side plate (3) is modified within the range of motion of the tilt motor bracket ball head bolt (6) to prevent interference with the motion of the joint bearing connecting rod (10), thereby achieving the external placement of the joint bearing connecting rod (10) and facilitating adjustment of the connecting rod length.

7. The small multi-rotor tilt module according to claim 5, characterized in that: The adjustable servo arm (8) is provided with a rectangular slot, and the servo rocker arm ball bolt (9) can be moved on the slot to adjust the position; the movement of the servo rocker arm ball bolt (9) can change the length L1 of the rocker arm's operating force arm. Since the operating force arm L2 of the cradle-type tilting motor bracket (2) is fixed and the tilting module has a rotation angle of 90°, the servo rocker arm ball bolt (9) is adjusted to change the length of L1 to adapt to rotary servos (7) with different rotation angles, thereby realizing the universalization of the module and facilitating the replacement of rotary servos of different brands and characteristics.

8. The small multi-rotor tilt module according to claim 7, characterized in that: The length of the joint bearing connecting rod (10) can be adjusted by rotating the joint bearings at both ends, and the length of L can be fine-tuned to facilitate accurate calibration of the horizontal and vertical positions of the module.

9. The small multi-rotor tilt module according to claim 8, characterized in that: The cradle-type tilting motor bracket (2), the left side plate (3), the right side plate (4), the transverse partition (11), and the extended square tube (14) are all processed using carbon fiber plates and are spliced ​​by keyways and fixed with bolts. No glue or other assembly processes are required, the cost is low, and damaged parts can be easily replaced.

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