Tilting mechanism of vertical take-off and landing fixed-wing unmanned aerial vehicle

Abstract

The utility model discloses a tilting mechanism of a vertical take-off and landing fixed-wing unmanned aerial vehicle. The tilting mechanism comprises a fixed seat I, a fixed seat II, a fixed seat connecting plate, a fixed seat fairing I, a fixed seat fairing II, a tilting motor, a driving rocker arm I, a driving rocker arm II, a mounting seat, a movable part fairing I and a movable part fairing II, a driving rocker arm I and a driving rocker arm II are respectively arranged on two sides of the tilting motor; the fixed seat I and the fixed seat II are arranged on the outer sides of the driving rocker arm I and the driving rocker arm II; the fixed seat connecting plates are respectively arranged on the upper and lower edges of the fixed seat I and the fixed seat II; the fixed seat fairing I and the fixed seat fairing II are mounted on the outer sides of the fixed seat I and the fixed seat II; the mounting seat is perpendicular to the driving rocker arm I and the driving rocker arm II; the movable part fairing I and the movable part fairing II are installed on the movable part of the tilting mechanism. Through the direct drive mode of the harmonic motor, tilting drive is achieved, installation is convenient, and the tilting angle can be accurately controlled.

Description

Technical Field

[0001] The utility model belongs to the field of aircraft structure design, and in particular relates to a tilting mechanism of a vertical take-off and landing fixed-wing unmanned aerial vehicle. Background Art

[0002] Vertical take-off and landing fixed-wing UAVs can take off vertically and then switch to fixed-wing flight mode. They have potential advantages in speed, flight time, load, and efficiency, and have become a hot topic in aviation research in recent years. Vertical take-off and landing fixed-wing UAVs have the ability to take off and land vertically and hover in the air like rotorcraft, while also having the advantages of fixed-wing aircraft such as fast speed, long range, and low fuel consumption. They can be widely used and have certain economic benefits.

[0003] Chinese patent CN118323474A (publication date July 12, 2024) discloses a tilting mechanism test platform and control method for a tilt-rotor configuration, which consists of a number of motors, an external support frame, a middle frame, an internal frame, and a semi-span tilt-rotor rotor system / tilt mechanism / nacelle structure with wings. The yaw, pitch, and roll attitudes of the semi-span tilt-rotor are adjusted by motors fixed in three directions on different frames to test whether the tilting motion of the tilt-rotor in different attitudes meets the expected standards. The present invention controls the motion mode of the tilt-rotor by controlling the motion of the propeller disc plane of the tilt-rotor mechanism.

[0004] Chinese patent CN118323437A (publication date July 12, 2024) discloses a tilting mechanism of an electric vertical take-off and landing aircraft, including an upper fixed arm, a lower fixed arm, and a motor base. The upper fixed arm and the lower fixed arm are fixedly supported in the aircraft nacelle. A power mechanism is arranged on the lower fixed arm. The power mechanism is connected to the motor base through a transmission mechanism, and the output of the power mechanism is controlled to drive the motor base to tilt.

[0005] The prior art still has the problem that the tilt mechanism requires a large load, has a complex structure, and is difficult to design. The present application aims to achieve flight mode conversion. The tilt mechanism is an executive component that completes the conversion function, minimizes the impact of the tilt mechanism on the weight of the aircraft, ensures the accuracy of control, and improves the reliability of the structure. Utility Model Content

[0006] In response to the shortcomings of the existing technology, this patent proposes a tilting mechanism for a vertical take-off and landing fixed-wing UAV, which may reduce the impact of the tilting mechanism on the weight of the aircraft, ensure the accuracy of control, and improve the reliability of the structure.

[0007] To achieve the above purpose, the present application is implemented through the following technical solutions: the tilting mechanism includes: a fixing seat I, a fixing seat II, a fixing seat connecting plate, a fixing seat fairing I, a fixing seat fairing II, a tilting motor, a driving rocker arm I, a driving rocker arm II, a mounting seat, a movable part fairing I, and a movable part fairing II;

[0008] The tilting mechanism is fixed to the ends of both ends of the power arm;

[0009] A driving rocker arm I and a driving rocker arm II are respectively arranged on both sides of the tilting motor;

[0010] The fixing seat I and the fixing seat II are arranged outside the driving rocker arm I and the driving rocker arm II;

[0011] The fixing seat connecting plates are arranged on the upper and lower edges of the fixing seat I and the fixing seat II;

[0012] The fixed seat fairing I and the fixed seat fairing II are respectively installed on the outside of the fixed seat I and the fixed seat II, and are used to cover the fixed part of the tilting mechanism;

[0013] The mounting seat is arranged perpendicular to the driving rocker arm I and the driving rocker arm II;

[0014] The movable part fairing I and the movable part fairing II are installed on the movable part of the tilting mechanism and are used to shield the rotating part of the tilting mechanism.

[0015] The fixing seat I and the fixing seat II are metal machined parts, and one end close to the power arm is connected to the flange and fits the inner wall of the power arm.

[0016] The fixing seat I, the fixing seat II and the power arm are connected by gluing or riveting;

[0017] The fixing seat I and the fixing seat II are connected to the tilting motor via bolts;

[0018] The bolts penetrate through the fixing seat I, the fixing seat II and the tilting motor.

[0019] The rotating core shaft of the tilting motor is connected to the driving rocker arm I and the driving rocker arm II by extension;

[0020] A bearing is arranged inside the tilt motor so that the tilt motor can be stressed at multiple angles.

[0021] A cylindrical protrusion is arranged at each of the upper and lower ends of the fixing seat I;

[0022] The driving rocker arm I and the driving rocker arm II contact the cylindrical protrusion when rotating from -5° to 95°, thereby achieving mechanical limiting.

[0023] The fixing seat fairing I and the fixing seat fairing II are connected to the threaded holes on the fixing seat I and the fixing seat II and the edge strip of the mounting seat at the end of the power arm by screws respectively;

[0024] The fixing seat fairing I and the fixing seat fairing II are designed with overlapping connection edges at the seam positions and are connected by screws.

[0025] The movable part fairing I and movable part fairing II are fixed on the driving rocker arm I and driving rocker arm II and the fixing seat I and fixing seat II close to the outer side of the power arm end.

[0026] The movable part fairing I and movable part fairing II provide corresponding wire holes for the power wire harness and the wiring of the tilt motor itself;

[0027] The movable part fairing I and movable part fairing II are 3D printed plastic parts or plastic injection molded parts.

[0028] The power arm is a hollow tube with a constant cross-section, including a carbon fiber composite material tube or an aluminum material.

[0029] The tilting mechanisms are arranged at the front and rear ends of the power arm, wherein the tilting mechanism at the front end tilts upwards, and the tilting mechanism at the rear end tilts downwards.

[0030] Compared with the prior art, the advantages and effects of this application are as follows:

[0031] 1. The present application realizes tilting drive through direct drive of harmonic motor, realizes compact structure of tilting mechanism, convenient installation, no virtual position caused by matching clearance, and can accurately control the tilting angle.

[0032] 2. The present application uses a shared core shaft of the tilt motor to realize that drive rocker arms can be arranged on both sides of the motor, so that the load transmitted from the rotor motor can be reliably and stably transmitted to the tilt motor. Two tilt motor fixing seats are also arranged on both sides of the tilt motor, and a connecting plate connected between the two fixing seats is added to ensure that the tilt mechanism can meet the load-bearing requirements when it is subjected to a large load, and the force transmission path has a combined force and high reliability.

[0033] 3. The application uses a reasonable structural design to ensure that the tilt mechanism will not interfere with the wiring plug of the tilt motor itself during the rotation process. And through the clever design of the limit feature between the drive arm and the motor fixing seat, the mechanical limit of the structure can be achieved, and the structure is simple.

[0034] 4. This application ensures that the appearance of the tilting mechanism is beautiful by reasonably designing the fairing, and in the cruising state, the moving part and the fixed part of the fairing together form the same cross-section as the power arm, thereby minimizing the resistance in the cruising state. The front and rear tilting mechanisms of the power arm adopt exactly the same design, and can be rotated 180° during installation to achieve the tilting of the front and rear tilting mechanisms of the power arm in opposite directions.

[0035] The same design is conducive to reducing manufacturing difficulty and manufacturing cost. The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application so that it can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following is a detailed description of the preferred embodiment of the present application in conjunction with the accompanying drawings as follows.

[0036] Based on the detailed description of the specific embodiments of the present application in combination with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0038] in:

[0039] Figure 1 This is the overall axonometric diagram of the tilting mechanism (cruise state);

[0040] Figure 2 This is the overall axonometric diagram of the tilting mechanism (tilted 90°);

[0041] Figure 3 This is the exploded diagram of the tilting mechanism;

[0042] Figure 4 This is a partial axonometric view of the tilt mechanism (with the fairing hidden);

[0043] Figure 5 Detailed diagram of the wiring interface for the tilt mechanism to avoid harmonics;

[0044] Figure 6 This is a diagram of the mechanical limit of the tilting mechanism (0° and 90 degree states).

[0045] Explanation of the reference numerals: 1-fixed seat I; 2-fixed seat II; 3-fixed seat connecting plate; 4-fixed seat fairing I; 5-fixed seat fairing II; 6-tilt motor; 7-drive rocker arm I; 8-drive rocker arm II; 9-mounting seat; 10-movable part fairing I; 11-movable part fairing II; 12-tilt mechanism; 13-power arm. Specific embodiments

[0046] To make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all of the embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures is omitted in the embodiment.

[0047] It should be understood that the references to "one embodiment" or "this embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "one embodiment" or "this embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0048] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0049] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0050] The term "at least one" in this article is merely a description of the association relationship of associated objects, indicating that there may be three relationships. For example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0051] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0052] Example 1

[0053] This embodiment relates to a tilt mechanism for a vertical take-off and landing fixed-wing UAV, please refer to Figure 1 As shown, the tilt mechanism 12 is arranged at the front and rear ends of the power arm 13, and the power arm 13 is a hollow tube with a constant cross-section, including a carbon fiber composite material tube or an aluminum material; please refer to Figure 2 As shown, the tilting mechanism 12 at the front end tilts upward, and the tilting mechanism 12 at the rear end tilts downward, and the tilting angles are both 90°.

[0054] Please refer to Figure 3 As shown, the tilt mechanism 12 includes: a fixing seat Ⅰ1, a fixing seat Ⅱ2, a fixing seat connecting plate 3, a fixing seat fairing Ⅰ4, a fixing seat fairing Ⅱ5, a tilt motor 6, a driving rocker arm Ⅰ7, a driving rocker arm Ⅱ8, a mounting seat 9, a movable part fairing Ⅰ10, and a movable part fairing Ⅱ11;

[0055] The tilting mechanism 12 is fixed to the ends of the power arm 13;

[0056] A driving rocker arm Ⅰ 7 and a driving rocker arm Ⅱ 8 are respectively arranged on both sides of the tilt motor 6;

[0057] The fixing seat Ⅰ1 and the fixing seat Ⅱ2 are arranged outside the driving rocker arm Ⅰ7 and the driving rocker arm Ⅱ8;

[0058] The fixing seat I1 and the fixing seat II2 are metal machined parts, and one end close to the power arm 13 is connected to the flange and fits the inner wall of the power arm 13 .

[0059] The fixing seat Ⅰ1 on the side close to the output end of the tilt motor is directly connected to the fixing part of the tilt motor through bolts. In order to form a double shear structure, a fixing seat Ⅱ2 is also designed on the other side of the output motor. The fixing seats Ⅰ1 and Ⅱ2 share 3 bolts near the side close to the power arm 13, and the connecting bolts penetrate the fixing seats Ⅰ1, Ⅱ2 and the tilt motor 6. Considering that the load transmitted to the tilt mechanism 12 by the propeller of the rotor motor has a torsion along the axial direction of the power arm 13, a fixing seat connecting plate 3 is set on the upper and lower edges of the fixing seats Ⅰ1 and Ⅱ2 to form a closed structure.

[0060] The fixed seat fairing Ⅰ4 and the fixed seat fairing Ⅱ5 are installed on the outside of the fixed seat Ⅰ1 and the fixed seat Ⅱ2, and are used to cover the fixed part of the tilting mechanism 12;

[0061] The mounting seat 9 is arranged perpendicular to the driving rocker arm I7 and the driving rocker arm II8;

[0062] The movable part fairing Ⅰ10 and the movable part fairing Ⅱ11 are installed on the movable part of the tilting mechanism 12 to shield the rotating part of the tilting mechanism 12.

[0063] The technical effect of this embodiment: This application realizes tilt drive through the harmonic motor direct drive mode, realizes the compact structure of the tilt mechanism, is easy to install, has no virtual position caused by the matching gap, and can accurately control the tilt angle. By sharing the core shaft of the tilt motor, it can be realized that the drive rocker arm can be arranged on both sides of the motor, and the load transmitted by the rotor motor can be reliably and stably transmitted to the tilt motor. Two tilt motor fixing seats are also arranged on both sides of the tilt motor, and a connecting plate connected between the two fixing seats is added to ensure that the tilt mechanism can meet the load-bearing requirements when it is subjected to a large load, and the force transmission path is combined, and the reliability is high.

[0064] Example 2

[0065] This embodiment relates to a tilt mechanism for a vertical take-off and landing fixed-wing UAV, please refer to Figure 4 As shown, it is further introduced based on Example 1.

[0066] In order to reduce drag during flight and provide a relatively closed environment for the tilt motor 6 while ensuring a beautiful appearance, four fairings are designed for the tilt mechanism 12. Two of the fairings are fixed seat fairing Ⅰ4 and fixed seat fairing Ⅱ5, which are used to shield the fixed part of the tilt mechanism 12; the other two fairings are active part fairing Ⅰ10 and active part fairing Ⅱ11, which are used to shield the rotating part of the tilt mechanism 12.

[0067] The fixed seat fairing Ⅰ4 and the fixed seat fairing Ⅱ5 are divided into two parts, which are connected to the threaded holes on the fixed seat Ⅰ1 and the fixed seat Ⅱ2 of the tilt motor 6 and the edge strip of the mounting seat 9 of the tilt mechanism 12 at the end of the power arm 13 by screws. The fixed seat fairing Ⅰ4 and the fixed seat fairing Ⅱ5 are designed with overlapping connection edges at the seam position, which are also connected with screws.

[0068] The design of the movable fairing Ⅰ10 and the movable fairing Ⅱ11 is similar to that of the fixed fairing Ⅰ4 and the fixed fairing Ⅱ5, and is mainly fixed on the driving rocker arm Ⅰ7 and the driving rocker arm Ⅱ8 and the mounting seat 9 of the rotor motor. The movable fairing Ⅰ10 and the movable fairing Ⅱ11 provide corresponding wire holes for the power harness wire passing and the wiring of the tilt motor 6 itself. The movable fairing Ⅰ10 and the movable fairing Ⅱ11 are 3D printed plastic parts, and can also be plastic injection molded parts.

[0069] Please refer to Figure 5 As shown, since the tilt motor 6 itself has an output end on only one side, similarly, if there is only a single-sided driving rocker arm, the tilt mechanism 12 will have an eccentricity problem when it is subjected to the pulling force transmitted from the rotor motor, and the fixed seat will be subjected to a large bending moment, resulting in a greater risk of insufficient strength and an unreliable structure.

[0070] Therefore, it is necessary to arrange driving rocker arm I7 and driving rocker arm II8 on the left and right sides of the tilt motor 6. Considering that the tilt motor 6 has only one-side output, in order to realize that the other side of the tilt motor 6 can also be connected to the driving rocker arm, the rotating core shaft of the tilt motor 6 is extended through customization to connect with the driving rocker arm. The tilt motor 6 is also arranged with a bearing inside the original output end position, so there is no problem from the perspective of force.

[0071] The wiring plug of the tilt motor 6 is located on the end face of the fixed end of the tilt motor 6. In order to prevent the right driving rocker arm Ⅱ8 from interfering with the wiring of the tilt motor 6 during the rotation process, the tilt motor 6 is mainly installed by rotating it to a specific angle to ensure that the driving rocker arm Ⅱ8 is within the set rotation angle range and the driving rocker arm Ⅱ8 and the wiring head of the tilt motor 6 do not interfere.

[0072] Please refer to Figure 6 As shown, in order to achieve mechanical limiting of the tilting mechanism 12, a cylindrical protrusion is arranged at specific upper and lower positions of the fixing seat Ⅰ1, and the driving rocker arm Ⅰ7 and the driving rocker arm Ⅱ8 contact the cylindrical protrusion when rotating from -5° to 95° to achieve mechanical limiting.

[0073] The rotor motor is realized by a motor mounting plate connected to the ends of the driving rocker arm Ⅰ7 and the driving rocker arm Ⅱ8, and the bolts are perpendicular to the belly plate surface of the rotor motor mounting seat.

[0074] When the aircraft is flying, the flight controller directly controls the rotation angle of the tilt motor 6 to accurately control the tilt angle.

[0075] Technical effect of this embodiment: This application ensures that the tilt mechanism will not interfere with the wiring plug of the tilt motor itself during the rotation process through reasonable structural design. And by cleverly designing the limiting features between the drive arm and the motor fixing seat, the structural mechanical limit can be achieved, and the structure is simple. By reasonably designing the fairing, the appearance of the tilt mechanism can be ensured to be beautiful, and in the cruising state, the moving part and the fixed part of the fairing together form the same cross-section as the power arm, thereby minimizing the resistance in the cruising state. The front and rear tilt mechanisms of the power arm adopt exactly the same design, and by rotating 180° during installation, the front and rear tilt mechanisms of the power arm can be tilted in opposite directions.

[0076] The above description is only the preferred embodiment of the utility model, which does not limit the protection scope of the utility model. For those skilled in the art, the utility model can be modified and varied in various ways. Any changes, modifications, substitutions, integrations and parameter changes to these embodiments within the spirit and principle of the utility model through conventional substitutions or capable of achieving the same functions without departing from the principles and spirit of the utility model shall fall within the protection scope of the utility model.

Claims

1. A tilt mechanism for a vertical take-off and landing fixed-wing UAV, characterized in that: The tilting mechanism (12) comprises: a fixing seat I (1), a fixing seat II (2), a fixing seat connecting plate (3), a fixing seat fairing I (4), a fixing seat fairing II (5), a tilting motor (6), a driving rocker arm I (7), a driving rocker arm II (8), a mounting seat (9), a movable part fairing I (10), and a movable part fairing II (11); The tilting mechanism (12) is fixed to the ends of both ends of the power arm (13); A driving rocker arm I (7) and a driving rocker arm II (8) are respectively arranged on both sides of the tilting motor (6); The fixing seat I (1) and the fixing seat II (2) are arranged outside the driving rocker arm I (7) and the driving rocker arm II (8); The fixing seat connecting plate (3) is arranged on the upper and lower edges of the fixing seat I (1) and the fixing seat II (2); The fixed seat fairing I (4) and the fixed seat fairing II (5) are respectively installed on the outside of the fixed seat I (1) and the fixed seat II (2) to shield the fixed part of the tilting mechanism (12); The mounting seat (9) is arranged perpendicular to the driving rocker arm I (7) and the driving rocker arm II (8); The movable part fairing I (10) and the movable part fairing II (11) are installed on the movable part of the tilting mechanism (12) and are used to shield the rotating part of the tilting mechanism (12).

2. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 1, characterized in that: The fixing seat I (1) and the fixing seat II (2) are metal machined parts, and one end close to the power arm (13) is connected to the flange and fits the inner wall of the power arm (13).

3. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 2, characterized in that: The fixing seat I (1), the fixing seat II (2) and the power arm (13) are connected by gluing or riveting; The fixing seat I (1) and the fixing seat II (2) are connected to the tilting motor (6) via bolts; The bolt passes through the fixing seat I (1), the fixing seat II (2) and the tilting motor (6).

4. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 3, characterized in that: The rotating core shaft of the tilting motor (6) is connected to the driving rocker arm I (7) and the driving rocker arm II (8) by extension; A bearing is arranged inside the tilting motor (6) so that force can be applied at multiple angles.

5. The tilt mechanism (12) of a vertical take-off and landing fixed-wing UAV according to claim 3, characterized in that: A cylindrical protrusion is arranged at the upper and lower ends of the fixing seat I (1); The driving rocker arm I (7) and the driving rocker arm II (8) contact the cylindrical protrusion when rotating from -5° to 95°, thereby achieving mechanical limiting.

6. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 1, characterized in that: The fixing seat fairing I (4) and the fixing seat fairing II (5) are connected to the threaded holes on the fixing seat I (1) and the fixing seat II (2) and the edge strip of the mounting seat (9) at the end of the power arm (13) respectively by screws; The fixing seat fairing I (4) and the fixing seat fairing II (5) are designed with overlapping connection edges at the seam positions and are connected by screws.

7. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 1, characterized in that: The movable part fairing I (10) and movable part fairing II (11) are fixed on the outer side of the driving rocker arm I (7), driving rocker arm II (8) and the fixing seat I (1) and fixing seat II (2) close to the end of the power arm (13).

8. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 7, characterized in that: The movable part fairing I (10) and the movable part fairing II (11) provide corresponding wire holes for passing the power wire harness and the wiring of the tilt motor (6) itself; The movable part fairing I (10) and the movable part fairing II (11) are 3D printed plastic parts or plastic injection molded parts.

9. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 1, characterized in that: The power arm (13) is a hollow tube with a constant cross-section, including a carbon fiber composite material tube or an aluminum material.

10. The tilt mechanism of a vertical take-off and landing fixed-wing UAV according to claim 1, characterized in that: The tilting mechanism (12) is arranged at the front and rear ends of the power arm (13), wherein the tilting mechanism (12) at the front end tilts upward, and the tilting mechanism (12) at the rear end tilts downward.

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