A tilting power mechanism for a drone

Abstract

The application relates to the technical field of unmanned planes, in particular to a tilting power mechanism of an unmanned plane, which comprises a strip-shaped base and a rotating disc; a pair of symmetrical lead screws are rotatably arranged on the upper surface of the strip-shaped base through a pair of bearing seats; the middle part of the symmetrical lead screws is fixedly connected with a worm wheel; a worm is rotatably arranged in the middle part of the strip-shaped base and a driving motor is fixedly arranged on the strip-shaped base; the driving motor drives the symmetrical lead screws to rotate through the worm and the worm wheel; the symmetrical lead screws comprise two lead screw sections which are arranged on the two ends of the symmetrical lead screws and have opposite rotation directions; each lead screw section is transmissionally connected with a lead screw nut; each lead screw nut is hingedly connected with a connecting rod; the rotating disc is in a disc-shaped structure and is parallel to the strip-shaped base; the ends of the connecting rods, which are away from the lead screw nuts, are hingedly connected to the edge of the rotating disc; and the hinging points of the two connecting rods on the rotating disc are symmetrically arranged about the center of the rotating disc. The tilting power mechanism of the unmanned plane has the advantages of compact structure, power-off self-locking capacity, reliable limiting and easy maintenance.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV tilting power mechanism. Background Technology

[0002] Vertical takeoff and landing (VTOL) fixed-wing unmanned aerial vehicles (UAVs) combine the vertical takeoff and landing capabilities of rotary-wing aircraft with the high-speed cruising capabilities of fixed-wing aircraft, finding wide application in logistics, geographic surveying, and security patrol. The tilt propulsion mechanism is the core component of this type of UAV, its function being to drive the motor-propeller assembly to switch between vertical and horizontal directions, enabling a single power system to simultaneously meet the lift requirements of vertical takeoff and landing and the thrust requirements of horizontal cruising.

[0003] Currently available tilting power mechanisms partially use gear and rack or spur gear reduction to drive the tilting shaft. These transmission methods do not have reverse self-locking capability. When the UAV is in cruise mode, the aerodynamic drag generated by the propeller or the inertial load caused by flight maneuvers will act in the opposite direction on the transmission chain, causing the tilt angle to deviate and affecting the stability of the flight attitude.

[0004] Other solutions add independent mechanical locking devices to achieve the self-locking function, resulting in complex structures, increased number of parts, and increased mechanism weight, which is detrimental to the lightweight design of UAVs. At the same time, the additional locking device introduces new failure points, reducing the overall reliability of the system. Some mechanisms also use mechanical blocks or other mechanisms for hard limiting, which will wear and impact deformation during long-term use, affecting the limiting accuracy and service life.

[0005] Therefore, there is an urgent need for a new type of drone tilting power mechanism to provide an effective solution to the shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a tilting power mechanism for unmanned aerial vehicles (UAVs) to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A tilting power mechanism for an unmanned aerial vehicle (UAV) includes a strip-shaped base and a turntable: a symmetrical lead screw is rotatably mounted on the upper surface of the strip-shaped base via a pair of bearing seats, and a worm gear is fixedly connected to the middle of the symmetrical lead screw; A worm gear is rotatably mounted in the middle of the strip-shaped base and a drive motor is fixedly mounted thereon. The drive motor drives the symmetrical lead screw to rotate through the worm gear and worm wheel transmission. The symmetrical lead screw includes two lead screw segments located at its two ends and with opposite directions of rotation. Each lead screw segment is connected to a lead screw nut, and each lead screw nut is hinged to a connecting rod. The turntable has a disc-shaped structure and is parallel to the strip base. The end of the connecting rod away from the lead screw nut is hinged to the edge of the turntable, and the hinge points of the two connecting rods on the turntable are symmetrically arranged about the center of the turntable.

[0009] Furthermore, at least one lead screw segment in the symmetrical lead screw is equipped with a start contact seat and an end contact seat at its start and end points, respectively. Both the start contact seat and the end contact seat are provided with position sensors for detecting whether the lead screw nut has reached the corresponding limit position.

[0010] Furthermore, the top of the lead screw nut is hinged to the near end of the connecting rod via a near-end hinge pin with an axis perpendicular to the strip base; the edge of the turntable is hinged to the far end of the connecting rod via a far-end hinge pin perpendicular to the strip base.

[0011] Furthermore, a reducer is also installed on the strip-shaped base, and the drive motor drives the worm gear to rotate through the reducer.

[0012] Furthermore, a flange seat parallel to the turntable is provided above it, and bolt holes are distributed in a circular array along the edge of the flange seat.

[0013] Furthermore, a cover is detachably and fixedly installed on the strip base, and the cover covers all components except the flange seat.

[0014] Furthermore, the cover is a split structure, comprising a pair of half-shells, each half-shell having a semi-circular disc cover, the two disc covers being joined together to cover the turntable.

[0015] Furthermore, the drive motor is a servo motor or a stepper motor.

[0016] Furthermore, the lead angle of the worm is smaller than the equivalent friction angle, so that the worm gear transmission has a reverse self-locking function.

[0017] Furthermore, the position sensor is a non-contact position sensor.

[0018] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a worm gear transmission in conjunction with other mechanical structures to drive the turntable to rotate. A reduction mechanism is set up and the lead angle is limited to be less than the equivalent friction angle, so that the mechanism has a reverse self-locking capability. After power failure, the external load cannot drive in the reverse direction, realizing passive angle locking, which takes into account both low power consumption during cruise and safety during power failure. The symmetrical lead screw double linkage layout eliminates the off-center load torque, the turntable is symmetrically stressed, the transmission is smooth, and the rigidity is high. Attached Figure Description

[0019] Figure 1 A 3D view of the tilting power mechanism of a drone; Figure 2A three-dimensional structural diagram of the drone's tilt power mechanism after the casing is opened; Figure 3 A three-dimensional structural diagram of the tilting power mechanism of a drone after the cover has been removed; Figure 4 A schematic diagram of the three-dimensional structure of the tilting power mechanism of an unmanned aerial vehicle after the turntable is separated; Figure 5 A top view of the drone's tilting power mechanism housing after it has been opened; Figure 6 This is a structural diagram of a symmetrical lead screw, worm gear, worm, lead screw nut, and connecting rod. Figure 7 This is a structural diagram of a worm gear, worm, reducer, and drive motor; Figure 8 This is a structural diagram of the turntable and flange seat.

[0020] In the diagram: 1. Strip base; 2. Bearing housing; 3. Symmetrical lead screw; 4. Lead screw nut; 5. Connecting rod; 6. Worm gear; 7. Worm; 8. Reducer; 9. Drive motor; 10. Proximal hinge pin; 11. Distal hinge pin; 12. Starting contact seat; 13. Ending contact seat; 14. Turntable; 15. Flange seat; 16. Cover; 17. Disc cover. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1 Please see Figures 1 to 8 This invention provides a tilting power mechanism for an unmanned aerial vehicle (UAV), comprising a strip-shaped base 1 and a turntable 14. A symmetrical lead screw 3 is rotatably mounted on the upper surface of the strip-shaped base 1 via a pair of bearing seats 2, and a worm gear 6 is fixedly connected to the middle of the symmetrical lead screw 3. A worm 7 is rotatably mounted in the middle of the strip-shaped base 1, and a drive motor 9 is fixedly mounted thereon. The output end of the drive motor 9 is drively connected to the worm 7, and the worm 7 meshes with the worm gear 6. The symmetrical lead screw 3 includes two lead screw segments located at its two ends with opposite directions of rotation. Each lead screw segment is drively connected to a lead screw nut 4, and each lead screw nut 4 is hinged to a connecting rod 5. The turntable 14 has a disc-shaped structure and is parallel to the strip-shaped base 1, with its center rotatably connected to the strip-shaped base 1 via a rotating shaft. The end of the connecting rod 5 away from the lead screw nut 4 is hinged to the edge of the turntable 14, and the two hinge points are symmetrically arranged about the center of the turntable 14.

[0023] Working principle: The drive motor 9 drives the worm gear 7 to rotate, and the worm gear 7 drives the worm wheel 6 and the symmetrical lead screw 3 to rotate synchronously. Because the threads at both ends of the symmetrical lead screw 3 turn in opposite directions, the two lead screw nuts 4 move towards or away from each other along the lead screw axis. The lead screw nuts 4 push and pull the turntable 14 through the connecting rod 5, causing it to rotate around its own center, thereby changing the angle of the power device mounted on the turntable 14. The worm gear transmission has a reverse self-locking characteristic, which can maintain the current tilt angle after power is cut off.

[0024] This implementation achieves integrated driving and self-locking through the combination of worm gear and symmetrical lead screw-connecting rod mechanism. The structure is compact and the tilt angle can be locked in the power-off state without the need for an additional locking device. The symmetrical driving method eliminates the off-center load torque, so that the turntable 14 is subjected to balanced force and rotates smoothly.

[0025] Example 2 Please see Figure 5 , Figure 6 Based on Embodiment 1, furthermore, at least one lead screw segment in the symmetrical lead screw 3 is equipped with a starting contact seat 12 and an ending contact seat 13 at its starting point and ending point, respectively. Both the starting contact seat 12 and the ending contact seat 13 are provided with position sensors for detecting whether the lead screw nut 4 has reached the corresponding limit position. This position sensor is a non-contact position sensor.

[0026] Its working principle is as follows: when the lead screw nut 4 moves to the limit position of the start or end of the lead screw section, the corresponding non-contact position sensor generates a positioning signal. After receiving the signal, the control system stops the drive motor 9 to prevent the lead screw nut 4 from exceeding its stroke.

[0027] This embodiment uses a non-contact position sensor to achieve electronic limit, which has a rapid response, no mechanical wear, strong resistance to vibration interference, and improves the reliability and service life of the limit function.

[0028] Example 3 Please see Figure 6 Based on Embodiment 1, the top of the lead screw nut 4 is further hinged to the near end of the connecting rod 5 via a near-end hinge post 10 whose axis is perpendicular to the strip base 1; the edge of the turntable 14 is hinged to the far end of the connecting rod 5 via a far-end hinge post 11 perpendicular to the strip base 1.

[0029] The working principle is as follows: When the lead screw nut 4 moves along the lead screw axis, it drives the connecting rod 5 to swing through the near-end hinge 10. The connecting rod 5 then pushes the turntable 14 to rotate through the far-end hinge 11. The axes of the near-end hinge 10 and the far-end hinge 11 are both perpendicular to the strip base 1, so that the connecting rod 5 moves in a plane parallel to the strip base 1, and the motion transmission is direct.

[0030] The vertically arranged hinge column structure in this embodiment keeps the motion plane of the connecting rod 5 parallel to the plane of the turntable 14 and the plane of the lead screw axis, reducing lateral force and improving transmission efficiency and mechanism rigidity.

[0031] Example 4 Please see Figure 5 , Figure 7 Based on Embodiment 1, a reducer 8 is further installed on the strip base 1, and the drive motor 9 drives the worm gear 7 to rotate through the reducer 8. The input end of the reducer 8 is connected to the output shaft of the drive motor 9, and the output end is connected to the worm gear 7.

[0032] The working principle is as follows: the higher speed output by the drive motor 9 is reduced by the reducer 8 and the torque is increased, and then transmitted to the worm 7. The worm gear pair drives the symmetrical lead screw 3 to rotate, which meets the low speed and high torque drive requirements of the tilting mechanism.

[0033] The reducer 8 and the worm gear pair form a multi-stage reduction and torque amplification system, which allows for the selection of a higher speed or smaller size drive motor 9. At the same time, it makes the tilting action smoother and further enhances the self-locking reliability of the transmission chain.

[0034] Example 5 like Figure 8 As shown, based on Embodiment 1, a flange seat 15 parallel to the turntable 14 is further provided above it, and bolt holes are distributed in a circular array along the edge of the flange seat 15. The flange seat 15 is used to install the power unit of the UAV.

[0035] The flange seat 15 rotates synchronously with the turntable 14, transmitting the tilting motion to the bolt-fixed power unit. The annular array of bolt holes provides uniform tightening force. The flange seat 15 provides a standardized installation interface, facilitating quick disassembly and maintenance of the power unit, and the flange connection strength can withstand the overturning moment generated by the propeller thrust.

[0036] Example 6 like Figure 1 and Figure 2 As shown, based on Embodiment 5, a cover 16 is detachably and fixedly installed on the strip base 1, and the cover 16 covers all components except the flange seat 15. The cover 16 is a split structure, which includes a pair of half-shells, each half-shell being provided with a semi-circular disc cover 17, and the two disc covers 17 together cover the turntable 14 after being joined together.

[0037] During assembly, the two half-shells are fastened to the strip base 1 from both sides, and the disc cover 17 wraps around the edge of the turntable 14 to form a closed shell, with only the mounting surface of the flange seat 15 exposed. For maintenance, the half-shells can be separated by loosening the fasteners. The integrated cover 16 provides full protection for the internal transmission mechanism, offering dustproof and waterproof functions, and facilitating disassembly and maintenance; the semi-circular disc cover 17 conforms to the shape of the turntable, resulting in a compact structure without adding extra height to the mechanism.

[0038] Example 7 Based on Example 1, the drive motor 9 is either a servo motor or a stepper motor. The flight control system sends pulses or position commands to the drive motor 9, which in turn drives the transmission chain to move, achieving precise adjustment of the tilt angle through position or speed control. Using a servo motor or a stepper motor can improve the control resolution and repeatability of the tilt angle, meeting the requirements for precise tilt angle control during the transition between vertical takeoff and landing and level flight.

[0039] Example 8 Based on Example 1, the lead angle of the worm 7 is smaller than the equivalent friction angle, so that the worm gear transmission has a reverse self-locking function. When the lead angle of the worm 7 is smaller than the equivalent friction angle between the meshing tooth surfaces, the worm 7 can drive the worm wheel 6 to rotate, but the worm wheel 6 cannot drive the worm 7 in the reverse direction. After the drive motor 9 stops, if the turntable 14 is subjected to a reverse torque generated by an external aerodynamic load or inertial force, this torque is transmitted to the worm wheel 6 through the connecting rod 5, the lead screw nut 4, and the symmetrical lead screw 3. Due to the self-locking characteristic, the worm 7 cannot rotate, thereby locking the tilt angle.

[0040] By limiting the lead angle, the mechanism is ensured to have stable reverse self-locking capability under various working conditions. It can maintain the tilt angle without relying on motor brakes or continuous power supply, which improves the safety of the system and reduces cruise energy consumption.

Claims

1. A tilting power mechanism for unmanned aerial vehicles (UAVs), characterized in that, Includes a strip base (1) and a turntable (14): A symmetrical lead screw (3) is rotatably mounted on the upper surface of the strip base (1) via a pair of bearing seats (2), and a worm gear (6) is fixedly connected to the middle of the symmetrical lead screw (3). The strip base (1) has a worm gear (7) rotatably mounted in the middle and a drive motor (9) fixedly mounted thereon. The drive motor (9) drives the symmetrical lead screw (3) to rotate through the worm gear (7) and the worm wheel (6). The symmetrical lead screw (3) includes two lead screw segments located at its two ends and rotating in opposite directions. Each lead screw segment is connected to a lead screw nut (4), and each lead screw nut (4) is hinged to a connecting rod (5). The turntable (14) is a disc-shaped structure and is parallel to the strip base (1). The end of the connecting rod (5) away from the lead screw nut (4) is hinged to the edge of the turntable (14), and the hinge points of the two connecting rods (5) on the turntable (14) are symmetrically arranged about the center of the turntable (14).

2. The tilting power mechanism for a UAV according to claim 1, characterized in that: At least one of the lead screw segments in the symmetrical lead screw (3) is equipped with a starting contact seat (12) and an ending contact seat (13) respectively. The starting contact seat (12) and the ending contact seat (13) are each equipped with a position sensor for detecting whether the lead screw nut (4) has reached the corresponding limit position.

3. The tilting power mechanism for a UAV according to claim 1, characterized in that: The top of the lead screw nut (4) is hinged to the near end of the connecting rod (5) via a near-end hinge post (10) whose axis is perpendicular to the strip base (1); the edge of the turntable (14) is hinged to the far end of the connecting rod (5) via a far-end hinge post (11) perpendicular to the strip base (1).

4. The tilting power mechanism for a UAV according to claim 1, characterized in that: A reducer (8) is also installed on the strip base (1), and the drive motor (9) drives the worm (7) to rotate through the reducer (8).

5. The tilting power mechanism for a UAV according to claim 1, characterized in that: Above the turntable (14) is a flange seat (15) parallel to it, and bolt holes are distributed in a ring array on the edge of the flange seat (15).

6. The tilting power mechanism for a UAV according to claim 5, characterized in that: A cover (16) is detachably and fixedly installed on the strip base (1), and the cover (16) covers all components except the flange seat (15).

7. The tilting power mechanism for a UAV according to claim 6, characterized in that: The cover (16) is a split structure, which includes a pair of half-shells, each half-shell is provided with a semi-circular disc cover (17), and the two disc covers (17) are joined together to cover the turntable (14).

8. The tilting power mechanism for a UAV according to claim 1, characterized in that: The drive motor (9) is a servo motor or a stepper motor.

9. The tilting power mechanism for a UAV according to claim 1, characterized in that: The lead angle of the worm (7) is less than the equivalent friction angle, so that the worm gear transmission has a reverse self-locking function.

10. A UAV tilting power mechanism according to claim 2, characterized in that: The position sensor is a non-contact position sensor.

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