Tilting disc transmission device of tilt-rotor unmanned aerial vehicle

Abstract

The utility model provides a tilt rotor unmanned aerial vehicle swash plate transmission device, a tilt rotor unmanned aerial vehicle comprises a fuselage and tilt rotors located on two sides of the fuselage, the tilt rotors are used for controlling the flight direction of the unmanned aerial vehicle, each tilt rotor comprises a rotor main shaft, and a main shaft sleeve, a lining, a bearing and a swash plate are sequentially sleeved on the rotor main shaft in the radial direction of the rotor main shaft. The lining is of a spherical structure with a through hole in the radial direction, two oppositely-arranged plane structures are arranged on the peripheral wall of the lining, the swash plate is connected with two oppositely-arranged control steering engines, the two control steering engines control the swash plate and the bearing to move along the spherical structure of the peripheral wall of the lining, and driving motors are further arranged on the two sides of the machine body correspondingly. The driving motors are used for driving the rotor main shafts to rotate, and the output power difference of the driving motors on the two sides of the fuselage is used for controlling lateral flight of the unmanned aerial vehicle. The defects that in the prior art, a tilting disc transmission device of the tilt-rotor unmanned aerial vehicle is complex in mechanism, and flight control is complex and difficult to control can be overcome.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, and in particular to a swash plate transmission device for a tilt-rotor unmanned aerial vehicle. Background Art

[0002] Tilt-rotor UAVs have two flight modes. One is the rotor flight mode, which can achieve vertical take-off and landing, hovering and other flights, and is mainly used for the take-off and landing phases of the UAV; the other is the fixed-wing flight mode, which is mainly used for the cruising phase of the UAV; tilt-rotor UAVs have the advantage of unmanned helicopters' vertical take-off and landing without being restricted by the site, and also have the advantages of fixed-wing UAVs' fast speed and long battery life. The rotor flight mode and fixed-wing flight mode can be freely switched through the rotating mechanism.

[0003] When the UAV is operating in rotor mode, the vertical take-off and landing of the UAV is mainly achieved through the rotor transmission assembly. The UAV power assembly transmits power to the rotor main shaft, the rotor main shaft drives the propeller hub to rotate, and at the same time the propeller hub drives the UAV rotor to rotate to generate lift.

[0004] The control system of the drone in rotor mode: the upper tilt plate is connected to the lower tilt plate through a bearing. The upper and lower tilt plates can rotate freely. The lower tilt plate changes its tilt surface by controlling the servo rocker arm, and the upper tilt surface also changes. During flight, the upper tilt plate rotates at the same time as the rotor main shaft, and the lower tilt plate does not rotate. Universal ball joints are installed at both ends of the torque converter rod through threads. One end is installed on the upper tilt plate, and the other end is installed on the rotating rocker arm. The rotating rocker arm drives the propeller hub and the blades to change pitch, so that the vertical take-off and landing, forward and backward flight, side flight, etc. of the drone can be controlled.

[0005] The rotor transmission components of existing tilt-rotor drones are mostly adopted from the rotor transmission components of helicopters. The internal parts of the swash plate components are mostly metal spherical universal bushings, which generally require regular lubrication with grease. The upper swash plate can rotate in any direction, which can drive the corresponding change in the rotor rotation plane, but it requires at least three sets of servos to accurately control the lower swash plate, and three points can determine a plane.

[0006] Disadvantages of the existing technology:

[0007] (1) Complex structure: Existing tilt-rotor assemblies mostly adopt the helicopter swash plate structure, which consists of an upper swash plate and a lower swash plate. The rotation of the swash plate is achieved through a universal ball joint and can rotate freely in any direction. Therefore, the stability of the control plane needs to be ensured. The lower swash plate requires at least three control servos for control, which increases the complexity of the rotor assembly structure.

[0008] (2) Complex flight control: Three control servos require the flight control computer to set up three channels to control the flight, and the flight direction of the drone needs to be accurately controlled. Precise coordination between the servos is required, which requires a more complex algorithm for the flight control computer. Utility Model Content

[0009] Therefore, the utility model provides a tilt-rotor UAV swashplate transmission device, which can overcome the defects in the prior art.

[0010] In order to solve the above problems, the utility model provides a tilt-rotor UAV swashplate transmission device, the tilt-rotor UAV comprises a fuselage and tilt-rotors located on both sides of the fuselage, the tilt-rotors are used to control the flight direction of the UAV, the tilt-rotor comprises a rotor main shaft, on the rotor main shaft, a main shaft sleeve, a bushing, a bearing and a tilt-plate are sequentially sleeved along its radial direction, the bushing is a spherical structure with a through hole in the radial direction, the outer peripheral wall of the bushing has two relatively arranged planar structures, the tilt-plate is connected to two relatively arranged control servos, the two control servos control the swashplate and the bearing to move along the spherical structure of the outer peripheral wall of the bushing, drive motors are also respectively arranged on both sides of the fuselage, the drive motors are used to drive the rotor main shaft to rotate, and the output power difference of the drive motors on both sides of the fuselage is used to control the lateral flight of the UAV.

[0011] In some embodiments, the bearing includes a fixed inner ring and a rotating outer ring, the inner circumferential wall of the fixed inner ring is adapted to the outer circumferential wall of the bushing, the inclined plate includes an upper inclined plate and a lower inclined plate axially spaced apart along the rotor main shaft, the inner circumferential wall of the upper inclined plate is adapted to the rotating outer ring, the upper inclined plate is also connected to the hub through a pitch rod, the hub is connected to the blades, the lower inclined plate is adapted to the fixed inner ring, and the lower inclined plate is also connected to the two control servos.

[0012] In some embodiments, the upper inclined plate includes an upper anti-torsion arm, which includes a first spherical pull rod. One end of the first spherical pull rod is connected to the upper inclined plate, and the other end of the first spherical pull rod is connected to an anti-torsion bracket. The anti-torsion bracket is divided into a front trapezoidal bracket and a rear rectangular bracket by an intermediate reinforcement rib. The rectangular bracket is mounted on the rotor main shaft and rotates with the rotor main shaft. The first spherical pull rod is connected to the trapezoidal bracket.

[0013] In some embodiments, the lower inclined plate includes a lower anti-torsion arm, which includes a second spherical tie rod, one end of which is connected to the lower inclined plate and the other end is connected to an H bracket, and the other end of the H bracket is fixed to the reduction gearbox housing.

[0014] In some embodiments, the paddle is a seesaw paddle structure.

[0015] In some embodiments, the bushing is a nylon bushing.

[0016] In some embodiments, when the drone glides to the left, the right motor power and the right rotor total torque are increased, or the left motor power and the left rotor total torque are reduced. When the drone glides to the right, the left motor power and the left rotor total torque are increased, or the right motor power and the right rotor total torque are reduced.

[0017] In some embodiments, the tail of the UAV has a flight control surface for steering the UAV.

[0018] The utility model provides a tilt-rotor UAV swashplate transmission device, in which the structure of the bushing is designed by combining a spherical surface with a plane, and the swashplate can rotate freely along the spherical direction, but cannot rotate in the plane direction, and the degree of freedom is correspondingly limited. In this way, only two control servos are needed to accurately control the swashplate, reducing the number of control servos. The special structure of the swashplate bushing combining a spherical surface with a plane can simplify the structure of the rotor transmission assembly of the tilt-rotor UAV swashplate transmission device. The entire rotor transmission assembly is simplified, lightweight, and the maintenance cost is reduced. While reducing the number of control servos, the control difficulty is also reduced. In the rotor flight mode, the tilt-rotor UAV swashplate transmission device can rotate freely along the spherical direction to realize the hovering, vertical lifting and backward and forward movement of the UAV; and the lateral flight rotation can realize the lateral flight of the UAV through the output power difference of the left and right rotor assembly motors. This power difference method has a better control effect than the spiral pitch control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the tilt-rotor structure of a tilt-rotor UAV swashplate transmission device according to an embodiment of the utility model;

[0020] Figure 2 This is a schematic structural diagram of a tilt-rotor UAV swashplate transmission device according to an embodiment of the present utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the swash plate connection of the swash plate transmission device of the tilt-rotor UAV according to an embodiment of the utility model;

[0022] Figure 4 This is a schematic diagram of the bushing structure of the tilt-rotor UAV swashplate transmission device according to an embodiment of the utility model;

[0023] Figure 5 This is a front view of the bushing structure of the tilt-rotor UAV swashplate transmission device according to an embodiment of the utility model;

[0024] Figure 6 A side view of the bushing structure of the tilt-rotor UAV swashplate transmission device according to an embodiment of the utility model;

[0025] Figure 7 The tilt-rotor structure of the tilt-rotor UAV swashplate transmission device of the utility model is shown in FIG. Figure 2 .

[0026] The reference numerals are:

[0027] 1. Tilt rotor; 2. Pitch rod; 3. Upper tilt plate; 4. Lower tilt plate; 5. Lower anti-torsion arm; 6. Rotor main shaft; 7. Upper anti-torsion arm; 8. Fixing bolt; 9. Rotor clamp; 10. Hub; 11. Main shaft sleeve; 12. Bushing; 13. Bearing; 14. Rotating rocker arm; 15. First control servo rocker arm mounting seat; 16. Second control servo rocker arm mounting seat. DETAILED DESCRIPTION

[0028] See also Figures 1 to 7As shown, according to an embodiment of the utility model, a tilt-rotor UAV swashplate transmission device is provided, the tilt-rotor UAV comprises a fuselage, and tilt-rotors 1 located on both sides of the fuselage, the tilt-rotor 1 is used to control the flight direction of the UAV, the tilt-rotor 1 comprises a rotor main shaft 6, on the rotor main shaft 6, a main shaft sleeve 11, a bushing 12, a bearing 13 and a swashplate are sequentially sleeved along its radial direction, the bushing 12 is a spherical structure with a through hole in the radial direction, the outer peripheral wall of the bushing 12 has two relatively arranged planar structures, the swashplate is connected to two relatively arranged control servos, the two control servos control the swashplate and the bearing 13 to move along the spherical structure of the outer peripheral wall of the bushing 12, and drive motors are also respectively arranged on both sides of the fuselage, the drive motors are used to drive the rotor main shaft 6 to rotate, and the output power difference of the drive motors on both sides of the fuselage is used to control the lateral flight of the UAV. The structure of the bushing 12 is designed by combining a spherical surface with a plane. The swash plate can rotate freely along the spherical surface direction, but cannot rotate in the plane direction, and the degree of freedom is limited accordingly. In this way, only two control servos are needed to accurately control the swash plate, reducing the number of control servos. The special structure of the swash plate bushing 12 combining a spherical surface with a plane can simplify the structure of the swash plate transmission device of the tilt-rotor UAV. The entire rotor transmission assembly is simplified, lightweight, and reduces maintenance costs. While reducing the number of control servos, it also reduces the difficulty of control. In the rotor flight mode, the swash plate can rotate freely along the spherical surface direction to achieve the hovering, vertical lift, and forward and backward flight of the UAV; and the lateral flight rotation can achieve the lateral flight of the UAV through the output power difference between the left and right rotor assembly motors. This power difference method has better control effect than the spiral pitch control method.

[0029] Specifically, the axis angle of the planar structure is determined by the diameter of the rotation axis and the strength of the structure.

[0030] In a specific embodiment, the bearing 13 includes a fixed inner ring and a rotating outer ring, the inner circumferential wall of the fixed inner ring is adapted to the outer circumferential wall of the bushing 12, the inclined plate includes an upper inclined plate 3 and a lower inclined plate 4 axially spaced along the rotor main shaft 6, the inner circumferential wall of the upper inclined plate 3 is adapted to the rotating outer ring, the upper inclined plate 3 is also connected to the hub 10 through the pitch rod 2, the hub 10 is connected to the blades, the lower inclined plate 4 is adapted to the fixed inner ring, and the lower inclined plate 4 is also connected to the two control servos.

[0031] Specifically, the blade is connected to the rotor clamp 9 on the hub 10 through the fixing bolt 8, one end of the rotating rocker arm 14 is connected to the hub 10, and the other end is connected to the pitch rod 2, and the other end of the pitch rod 2 is connected to the joint of the upper inclined plate 3. The lower inclined plate 4 tilts and drives the upper inclined plate 3 to move in the same direction, and the upper inclined plate 3 drives the pitch rod 2 to move, and the pitch rod 2 drives the rotating rocker arm 14 to move upward or downward, thereby driving the hub 10 to rotate clockwise or counterclockwise, thereby changing the angle of attack of the blade, realizing the change of the lift of the drone, and causing the drone to rise or fall. The structure is simple and easy to operate.

[0032] In a specific embodiment, the upper inclined plate 3 includes an upper anti-torsion arm 7, and the upper anti-torsion arm 7 includes a first spherical tie rod, one end of the first spherical tie rod is connected to the upper inclined plate 3, and the other end thereof is connected to an anti-torsion bracket, and the anti-torsion bracket is divided into a front trapezoidal bracket and a rear rectangular bracket through an intermediate reinforcing rib, and the rectangular bracket is sleeved on the rotor main shaft 6 and rotates with the rotor main shaft 6, and the first spherical tie rod is connected to the trapezoidal bracket. The setting of the upper anti-torsion arm 7 can effectively prevent the upper inclined plate 3 from rotating circumferentially during movement, causing the upper inclined plate 3 to pull the pitch-changing tie rod 2. In addition, the combination of the trapezoidal and rectangular structures makes the overall structure lighter, and the intermediate reinforcing ribs are set to meet the overall strength requirements of the upper anti-torsion arm 7.

[0033] In a specific embodiment, the lower inclined plate 4 includes a lower anti-torsion arm 5, and the lower anti-torsion arm 5 includes a second spherical tie rod, one end of the second spherical tie rod is connected to the lower inclined plate 4, and the other end is connected to the H bracket, and the other end of the H bracket is fixed to the reduction gear box housing. The lower anti-torsion arm 5 is used to prevent the lower inclined plate 4 from moving in the circumferential direction, and the H bracket structure is set to ensure that the overall structure meets the strength requirements and is more lightweight.

[0034] Specifically, the lower inclined plate 4 has a first control servo rocker arm mounting seat 15 and a second control servo rocker arm mounting seat 16 which are arranged opposite to each other and are used to be connected with two control servos to control the lower inclined plate 4 to move in any direction along the spherical structure.

[0035] In a specific embodiment, the blade is a seesaw blade structure. The seesaw blade structure is simple, has low manufacturing cost, low failure rate, and is easy to maintain.

[0036] In a specific embodiment, the bushing 12 is a nylon bushing. The rotor transmission components of existing tilt-rotor UAVs are mostly used in the rotor transmission components of helicopters. The interior of the swash plate assembly is mostly used for metal spherical universal bushings, which generally require regular lubrication with grease. In addition, the universal ball joint of the swash plate needs to be regularly inspected for wear, and the parts with excessive wear need to be replaced. The ball joint is made of special metal material, and the replacement cost is relatively expensive. The disassembly and assembly are relatively cumbersome, which increases the maintenance cost. The existing tilt-rotor assemblies are relatively complex in structure, and most of them are made of metal material, and the overall weight is relatively heavy. The use of nylon bushings is lighter in weight and does not usually require lubrication procedures with lubricating oil. Once the nylon bushing is found to be worn beyond the standard, it can be directly replaced. Nylon material is relatively soft, which is more convenient to replace and the price is relatively cheap.

[0037] In a specific embodiment, when the drone glides to the left, the right motor power and the right rotor total torque are increased, or the left motor power and the left rotor total torque are reduced. When the drone glides to the right, the left motor power and the left rotor total torque are increased, or the right motor power and the right rotor total torque are reduced.

[0038] In a specific embodiment, the tail of the UAV has a flight control surface for steering the UAV.

[0039] Flight operation process:

[0040] The tilt-rotor UAV can rotate the upper tilt plate 3 around the spherical surface of the outer surface of the nylon bushing when hovering, so that the upper tilt plate 3 can be tilted forward or backward, thereby driving the variable pitch pull rod 2 to control the hub 10 to change the rotation plane of the blade to tilt forward or backward, thereby realizing the tilt-rotor UAV to glide forward or backward at a low speed in the rotor mode. In the fixed-wing flight mode, the tilt-rotor UAV increases the total torque by the left and right tilt rotors to generate pulling force to make the UAV fly forward.

[0041] Due to the special structural design of the nylon bushing, the upper tilt plate cannot tilt left and right along the outer surface of the nylon bushing, and the rotating surface of the tilt-rotor of the UAV cannot tilt left or right. However, the UAV can be controlled to glide left and right in rotor mode in a more efficient way. The implementation method is that the UAV can glide left and right by changing the output power difference of the left and right motors and the total torque change of the left and right tilt-rotors in rotor mode. When the tilt-rotor UAV glides to the left, the flight control computer only needs to increase the motor power on the right side and the total torque of the right rotor. The lift of the rotor will be greater than the lift of the left rotor, the UAV will tilt slightly to the left, and the combined force of the lift generated by the left and right tilt-rotors and gravity will have a left component, causing the tilt-rotor UAV to glide to the left; when the tilt-rotor UAV glides to the right, the flight control computer only needs to increase the left motor power and the total torque of the left rotor, the lift of the left rotor will be greater than the lift of the right rotor, the UAV will tilt slightly to the right, and the combined force of the lift generated by the left and right tilt-rotors and gravity will have a right component, causing the UAV to glide to the right.

[0042] In fixed-wing flight mode, the tilt-rotor UAV can achieve steering control through the tail flight control surface.

[0043] The above is only a preferred embodiment of the utility model, and is not intended to limit the utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the utility model should be included in the protection scope of the utility model. The above is only a preferred implementation of the utility model. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the utility model, and these improvements and variations should also be regarded as the protection scope of the utility model.

Claims

1. A tilt-rotor UAV swashplate transmission device, characterized in that: A tilt-rotor unmanned aerial vehicle comprises a fuselage, and tilt-rotors (1) located on both sides of the fuselage. The tilt-rotors (1) are used to control the flight direction of the unmanned aerial vehicle. The tilt-rotor (1) comprises a rotor main shaft (6). On the rotor main shaft (6), a main shaft sleeve (11), a bushing (12), a bearing (13) and a swash plate are sequentially sleeved in a radial direction thereof. The bushing (12) is a spherical structure having a through hole in the radial direction. The outer peripheral wall of the bushing (12) has two planar structures arranged opposite to each other. The swash plate is connected to two control servos arranged opposite to each other. The two control servos control the swash plate and the bearing (13) to move along the spherical structure of the outer peripheral wall of the bushing (12). Drive motors are also arranged on both sides of the fuselage. The drive motors are used to drive the rotor main shaft (6) to rotate. The output power difference of the drive motors on both sides of the fuselage is used to control the lateral flight of the unmanned aerial vehicle.

2. The tilt-rotor UAV swashplate transmission device according to claim 1, characterized in that: The bearing (13) comprises a fixed inner ring and a rotating outer ring, the inner circumferential wall of the fixed inner ring is adapted to the outer circumferential wall of the bushing (12), the swash plate comprises an upper swash plate (3) and a lower swash plate (4) which are arranged axially spaced apart from each other along the rotor main shaft (6), the inner circumferential wall of the upper swash plate (3) is adapted to the rotating outer ring, the upper swash plate (3) is also connected to a propeller hub (10) via a pitch rod (2), the propeller hub (10) is connected to a propeller blade, the lower swash plate (4) is adapted to the fixed inner ring, and the lower swash plate (4) is also connected to the two control servos.

3. The tilt-rotor UAV swashplate transmission device according to claim 2, characterized in that: The upper inclined plate (3) comprises an upper anti-torsion arm (7), and the upper anti-torsion arm (7) comprises a first spherical tie rod, one end of the first spherical tie rod is connected to the upper inclined plate (3), and the other end of the first spherical tie rod is connected to an anti-torsion bracket, and the anti-torsion bracket is divided into a front trapezoidal bracket and a rear rectangular bracket through an intermediate reinforcing rib, and the rectangular bracket is sleeved on the rotor main shaft (6) and rotates together with the rotor main shaft (6), and the first spherical tie rod is connected to the trapezoidal bracket.

4. The tilt-rotor UAV swashplate transmission device according to claim 2, characterized in that: The lower inclined plate (4) comprises a lower anti-torsion arm (5), the lower anti-torsion arm (5) comprises a second spherical pull rod, one end of the second spherical pull rod is connected to the lower inclined plate (4), and the other end of the second spherical pull rod is connected to an H bracket, and the other end of the H bracket is fixed to a reduction gearbox housing.

5. The tilt-rotor UAV swashplate transmission device according to claim 2, characterized in that: The blade is a seesaw blade structure.

6. The tilt-rotor UAV swashplate transmission device according to claim 1, characterized in that: The bushing (12) is a nylon bushing.

7. The tilt-rotor UAV swashplate transmission device according to claim 1, characterized in that: When the drone glides to the left, the right motor power and the right rotor total torque are increased, or the left motor power and the left rotor total torque are reduced; When the drone glides to the right, the left motor power and the left rotor total torque are increased, or the right motor power and the right rotor total torque are reduced.

8. The tilt-rotor UAV swashplate transmission device according to claim 1, characterized in that: The tail of the UAV is provided with a flight control surface for steering the UAV.

Images