Tilt-rotor integrated mechanism, transmission system and unmanned aerial vehicle

Abstract

The utility model provides a tilt rotor integrated mechanism, a transmission system and an unmanned aerial vehicle, the integrated mechanism comprises a power source, a tilt unit and a rotor unit, the power source is provided with a first power output shaft and a second power output shaft; the tilting unit comprises a reversing gear box, a clutch, a worm and a turbine which are in driving connection in sequence, and the first power output shaft is in driving connection with the reversing gear box; each rotor wing unit comprises a universal joint, a first rotor wing shaft, a first bevel gear, a second rotor wing shaft, a second bevel gear and a rotor wing; the first bevel gear and the second bevel gear are respectively arranged on the corresponding rotor shafts and are in meshed connection with the rotor shafts; one end of the first rotor shaft is connected with one side of the universal joint, and the second power output shaft is in driving connection with the other side of the universal joint; the turbine is rotatably arranged on the first rotor wing shaft, the second rotor wing shaft rotatably penetrates through the turbine and extends out of the turbine, and the rotor wing is connected with the extending end of the second rotor wing shaft; the air compressor is high in power integration level and high in pneumatic quality.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to a tilting rotor integrated mechanism, a transmission system and an unmanned aerial vehicle. Background Art

[0002] In the prior art, there is a form that uses a single power system, a transmission shaft and a tilting mechanism to realize the rotation of the left and right rotors and the tilting of the front and rear rotors of the fuselage. Two sets of vertical lift propellers are embedded in the fuselage. When the unmanned aerial vehicle flies horizontally, it generates a large resistance, resulting in a significant reduction in the aerodynamic efficiency of the unmanned aerial vehicle and affecting the endurance time and range of the unmanned aerial vehicle. There is also a form that uses a worm and worm gear to directly drive the tilting of four rotors. The power source for driving the worm is independent of the power source of the rotors, and the integration level is not high. At the same time, once a failure occurs in the rotor system, the unmanned aerial vehicle will not be able to complete the transition flight, resulting in the loss of the unmanned aerial vehicle. There is also a form that uses a servo mechanism to perform vector control on the driving force direction of the motor to realize tilting. This form of tilting has extremely high requirements for the response of the power system, and the control difficulty of the servo system is relatively large.

[0003] Therefore, there is an urgent need for a tilting rotor integrated mechanism, a transmission system and an unmanned aerial vehicle with high power integration and high aerodynamic quality. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a tilting rotor integrated mechanism, a transmission system and an unmanned aerial vehicle, aiming to solve the technical problems of low power integration, poor aerodynamic quality and low reliability of traditional tilting rotor unmanned aerial vehicles.

[0005] To achieve the above purpose, in the first aspect, the utility model provides a tilting rotor integrated mechanism, which includes a power source, a tilting unit and a rotor unit. The power source has a first power output shaft and a second power output shaft;

[0006] The tilting unit includes a reversing gearbox, a clutch, a worm and a turbine that are sequentially drivingly connected. The first power output shaft is drivingly connected to the reversing gearbox;

[0007] The rotor unit includes a universal joint, a first rotor shaft, a first helical gear arranged on the first rotor shaft, a second rotor shaft, a second helical gear arranged on the second rotor shaft, and a rotor. The first rotor shaft and the second rotor shaft are arranged perpendicular to each other, and the first helical gear and the second helical gear are meshingly connected;

[0008] The end of the first rotor shaft far from the first helical gear is connected to one side of the universal joint, and the second power output shaft is drivingly connected to the other side of the universal joint;

[0009] The turbine is rotatably arranged on the first rotor shaft. The second rotor shaft rotatably passes through the turbine and extends out of the turbine. The rotor is connected to the extended end of the second rotor shaft.

[0010] As a further improvement of the above solution, the reversing gearbox includes a driving gear, a driven gear, a first idler gear and a second idler gear. A first connecting rod is arranged between the first idler gear and the second idler gear. A second connecting rod is arranged between the driven gear and the second idler gear.

[0011] In the first state, the driving gear is in positive transmission engagement with the driven gear through the first idler gear and the second idler gear in sequence.

[0012] In the second state, the driving gear is in reverse transmission engagement with the driven gear through the second idler gear.

[0013] As a further improvement of the above solution, the reversing gearbox further includes a connecting rod driving mechanism for driving the second connecting rod and the first connecting rod to swing so as to swing the first idler gear and / or the second idler gear between the driving gear and the driven gear.

[0014] As a further improvement of the above solution, the power source is an engine unit with a double output shaft or a motor-reducer unit or a gearbox.

[0015] In a second aspect, the present utility model further provides a tilt-rotor integrated transmission system, including an engine unit, a main gearbox drivingly connected to the engine unit, and a propeller.

[0016] The main gearbox includes a first main output shaft and two second main output shafts symmetrically arranged on both sides of the first main output shaft.

[0017] The first main output shaft is drivingly connected to the propeller through a coupling.

[0018] The two second main output shafts are respectively drivingly connected to a tilt-rotor integrated mechanism as provided in the first aspect through corresponding reduction gearboxes.

[0019] In a third aspect, the present utility model further provides a drone, including a fuselage and a tilt-rotor integrated transmission system as provided in the second aspect arranged in the fuselage. The fuselage includes a fuselage body, a tail wing arranged at the tail of the fuselage body, and a left wing and a right wing symmetrically arranged on both sides of the fuselage body.

[0020] The engine unit is arranged near the center of gravity of the whole machine on the fuselage body. The propeller is arranged at the nose. The main gearbox is arranged at the intersection of the two wings and the fuselage body.

[0021] Two tilting rotor integrated mechanisms are respectively arranged in the left wing and the right wing. Since the present utility model adopts the above technical solutions, the beneficial effects of the present application are as follows:

[0022] 1. For a tilting rotor integrated mechanism provided by the present utility model, a power source can directly drive the rotor unit to rotate to generate lift / pull force and realize the tilting of the rotor unit at the same time. On the one hand, it solves the problem of low aerodynamic efficiency caused by non-tilting of the vertical take-off rotor (that is, the tilting rotor integrated module provided by the present utility model can realize the function of rotor tilting during vertical take-off and ascent), effectively improving the aerodynamic quality of the tilting rotor integrated mechanism provided by the present utility model. On the other hand, the power is concentrated, making its structure more compact and facilitating layout on the unmanned aerial vehicle. In addition, the tilting of the rotor and the rotor drive shaft of the tilting rotor integrated mechanism relies on the combined use of a universal joint and a worm and worm gear, simplifying the tilting structure system. Moreover, the tilting structure using the worm and worm gear also has a self-locking function, which can effectively ensure the stable output of the angle during the tilting process, and the structural scheme is simple and compact. At the same time, by cleverly setting a reversing gearbox, the rotor can be returned to the original position after tilting with only one power source.

[0023] 2. The present utility model also provides a tilting rotor integrated transmission system, which includes an engine unit, a main gearbox drivingly connected to the engine unit, and a propeller. The main gearbox includes a first main output shaft and two second main output shafts symmetrically arranged on both sides of the first main output shaft. The first main output shaft is drivingly connected to the propeller through a coupling. The two second main output shafts are respectively drivingly connected with the above-mentioned tilting rotor integrated mechanism through corresponding reduction gearboxes. The present utility model adopts a combined form of a single engine unit, a drive shaft system, and a worm and worm gear to provide the overall traditional system for the power of the unmanned aerial vehicle for level flight, vertical take-off and landing, and tilting. One-way power output of the engine unit drives the propeller at the nose of the aircraft to rotate through a drive shaft and a reducer to realize forward flight, and the other two-way power outputs drive the left and right rotor systems through a drive shaft, a gearbox, a clutch, and a worm and worm gear device to realize the tilting conversion between vertical take-off and landing and level flight. Compared with the distributed power system unmanned aerial vehicle, the present utility model has a single power source, a precise and stable tilting structure, high reliability, a compact system structure, and is convenient for maintenance. Compared with the unmanned aerial vehicle with an aerodynamic layout where the front and rear propellers of the fuselage tilt and the rotors inside the wings perform vertical take-off and landing, the present utility model ensures the integrity of the aerodynamic shape of the wings, improves the overall aerodynamic efficiency of the aircraft, extends the endurance time of the unmanned aerial vehicle, and also improves the structural efficiency of the whole unmanned aerial vehicle. Compared with the unmanned aerial vehicle directly using a worm and worm gear and a reducer to directly drive multiple sets of rotors to tilt, the power output of the present utility model has two forms, and in the event of an emergency where one rotor fails, it can be switched to another flight mode to achieve a safe landing. Description of the Drawings

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0025] Figure 1 It is a schematic structural principle diagram of an integrated tilt-rotor mechanism disclosed by the present invention;

[0026] Figure 2 It is a partial three-dimensional schematic diagram of an integrated tilt-rotor mechanism disclosed by the present invention:

[0027] Figure 3 It is a partial cross-sectional schematic diagram of an integrated tilt-rotor mechanism disclosed by the present invention:

[0028] Figure 4 It is a schematic structural principle diagram of a reversing gearbox disclosed by the present invention, where Figure 4 a is a schematic diagram before reversing, Figure 4 b is a schematic diagram after reversing;

[0029] Figure 5 It is a schematic diagram of the internal transmission principle of an unmanned aerial vehicle disclosed by the present invention;

[0030] Figure 6 It is a schematic diagram of the comparison principle before and after tilting of an integrated tilt-rotor mechanism disclosed by the present invention, where Figure 6 a is the structural principle diagram before tilting, Figure 6 b is the structural principle diagram after tilting 90°.

[0031] Reference numerals:

[0032] 0, integrated tilt-rotor mechanism;

[0033] 1, power source; 11, first power output shaft; 12, second power output shaft;

[0034] 2, tilting unit; 21, reversing gearbox; 211, driving gear; 212, driven gear; 213, first idler gear; 214, second idler gear; 215, first connecting rod; 216, second connecting rod;

[0035] 22, clutch; 23, worm; 24, turbine;

[0036] 3, rotor unit; 31, universal joint; 32, first rotor shaft; 33, first helical gear; 34, second rotor shaft; 35, second helical gear; 36, rotor;

[0037] 01, Engine unit; 02, Main gearbox; 021, First main output shaft; 022, First main output shaft; 03, Propeller; 04, Fuselage; 05, Tail wing; 06, Left wing; 07, Right wing.

[0038] The realization, functional features and advantages of the present utility model will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0040] It should be noted that all directional indications (such as up, down...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0041] In addition, the descriptions such as "first" and "second" in the present utility model are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0042] Moreover, the technical solutions between the various embodiments of the present utility model can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0043] Embodiment 1:

[0044] Refer to Figures 1 - 3 , the present utility model provides an integrated tilting rotor 36 mechanism, including a power source 1, a tilting unit 2 and a rotor unit 3. The power source 1 has a first power output shaft 11 and a second power output shaft 12;

[0045] The tilting unit 2 includes a reversing gearbox 21, a clutch 22, a worm 23 and a turbine 24 that are sequentially drivingly connected. The first power output shaft 11 is drivingly connected to the reversing gearbox 21;

[0046] The rotor unit 3 includes a universal joint 31, a first rotor shaft 32, a first helical gear 33 arranged on the first rotor shaft 32, a second rotor shaft 34, a second helical gear 35 arranged on the second rotor shaft 34, and a rotor 36; the first rotor shaft 32 and the second rotor shaft 34 are arranged perpendicular to each other, and the first helical gear 33 and the second helical gear 35 are meshed and connected;

[0047] One end of the first rotor shaft 32 away from the first helical gear 33 is connected to one side of the universal joint 31, and the second power output shaft 12 is drivingly connected to the other side of the universal joint 31;

[0048] The turbine 24 is rotatably arranged on the first rotor shaft 32, the second rotor shaft 34 rotatably passes through the turbine 24 and extends out of the turbine 24, and the rotor 36 is connected to the extending end of the second rotor shaft 34;

[0049] The power source 1 is an engine unit 01 or a motor-reducer unit or a gearbox with a double output shaft. In this embodiment, the power source 1 is a gearbox, and the gearbox is convenient to be drivingly connected to the engine unit 01 through a speed reduction box component;

[0050] In the present utility model, a power source 1 directly drives the rotor unit 3 to rotate simultaneously to generate lift / tension and realize the tilting of the tilting unit 2. On the one hand, the problem of low aerodynamic efficiency caused by the non-tilting of the vertical take-off rotor 36 is solved (that is, the tilting rotor 36 integrated module provided by the present utility model can realize the function of tilting the rotor 36 during vertical take-off), so that the aerodynamic quality of the tilting rotor 36 integrated mechanism 0 provided by the present utility model is effectively improved. On the other hand, the power is concentrated, the structure is more compact, and it is convenient to be arranged on the unmanned aerial vehicle; in addition, the tilting rotor 36 integrated mechanism 0 relies on the combined use of the universal joint 31 and the turbine 24 and the worm 23 to tilt the rotor 36 and the rotor 36 drive shaft, simplifies the tilting structure system, and the tilting structure using the turbine 24 and the worm 23 also has a self-locking function, which can effectively ensure the stable output of the angle during the tilting process, and the structural scheme is simple and compact; at the same time, by cleverly setting the reversing gearbox 21, the rotor 36 can be returned to the original position after tilting in the case of one power source 1.

[0051] As a preferred embodiment, see Figure 4 , the reversing gearbox 21 includes a driving gear 211, a driven gear 212, a first idler gear 213 and a second idler gear 214; a first connecting rod 215 is arranged between the first idler gear 213 and the second idler gear 214, and a second connecting rod 216 is arranged between the driven gear 212 and the second idler gear 214;

[0052] The reversing gearbox 21 further includes a connecting rod driving mechanism for driving the second connecting rod 216 and the first connecting rod 215 to swing so as to swing the first idler gear 213 and / or the second idler gear 214 between the driving gear 211 and the driven gear 212;

[0053] In the first state, referring to Figure 4 a, the connecting rod driving mechanism swings the first idler gear 213 and the second idler gear 214 between the driving gear 211 and the driven gear 212, and the driving gear 211 is in positive transmission engagement with the driven gear 212 through the first idler gear 213 and the second idler gear 214 in sequence;

[0054] In the second state, referring to Figure 4 b, the connecting rod driving mechanism only swings the second idler gear 214 between the driving gear 211 and the driven gear 212, and the driving gear 211 is in reverse transmission engagement with the driven gear 212 through the second idler gear 214;

[0055] In this embodiment, the driving gear 211 is connected to the first power output shaft 11 of the gearbox through a coupling, and the output shaft of the driven gear 212 is connected to the clutch 22. In the first state, the reversing gearbox 21 drives the clutch 22 to rotate forward, and the clutch 22 drives the screw to rotate forward, thereby driving the turbine 24 to rotate forward by a preset tilting angle; in the second state, the reversing gearbox 21 drives the clutch 22 to rotate reversely, and the clutch 22 drives the screw to rotate reversely, thereby driving the turbine 24 to rotate reversely by a preset tilting angle;

[0056] The turbine 24 and the worm 23 are used as the tilting power, and their power sources 1 and the power source 1 of the rotor unit 3 are both integrated on the gearbox. By setting the reversing gearbox 21, the tilt drone enters the level flight stage. When the drone is ready to land, the reversing gearbox 21 is switched to reverse, so that the driven gear 212 rotates reversely, thereby causing the worm 23 to rotate reversely to drive the turbine 24 and the rotor 36 provided on the turbine 24 to return to the upright position to generate lift to maintain the power for the drone to land vertically.

[0057] Embodiment 2:

[0058] Referring to Figure 5 , the present invention further provides a tilting rotor 36 integrated transmission system, including an engine unit 01, a main gearbox 02 drivingly connected to the engine unit 01, and a propeller 03;

[0059] The main gearbox 02 includes a first main output shaft 021 and two second main output shafts 022 symmetrically arranged on both sides of the first main output shaft 021.

[0060] The first main output shaft 021 is drivingly connected to the propeller 03 through a coupling.

[0061] The two second main output shafts 022 are respectively drivingly connected to a tilting rotor 36 integrated mechanism 0 as provided in Embodiment 1 through corresponding reduction gearboxes. Specifically, in this embodiment, the power source 1 in the tilting rotor 36 integrated mechanism 0 is a gearbox, and the reduction gearbox is drivingly connected to the gearbox through a coupling, so as to transmit the power of the engine unit 01 to the gearboxes on both sides. The gearbox then outputs the obtained power into two paths to provide power for the rotation and tilting of the rotor 36 respectively.

[0062] The present utility model adopts a combination form of a single engine unit 01, a drive shaft system, and a turbine 24 and a worm 23 to provide the power overall traditional system for the flat flight, vertical takeoff and landing, and tilting of the unmanned aerial vehicle. One path of power output of the engine unit 01 drives the propeller 03 at the nose of the aircraft to rotate through a drive shaft to achieve forward flight, and the other two paths of power output drive the left and right sets of rotor 36 systems through a drive shaft, a gearbox, a clutch 22, and a turbine 24 and a worm 23 device to achieve the tilting conversion between vertical takeoff and landing and flat flight. Compared with the distributed power system unmanned aerial vehicle, the present utility model has a single power source, a precise and stable tilting structure, high reliability, a compact system structure, and is convenient for maintenance. Compared with the unmanned aerial vehicle with an aerodynamic layout in which the propellers 03 at the front and rear of the fuselage 04 tilt and the rotors 36 inside the wings take off and land vertically, the present utility model ensures the integrity of the aerodynamic shape of the wings, improves the overall aerodynamic efficiency of the aircraft, extends the endurance time of the unmanned aerial vehicle, and also improves the structural efficiency of the whole unmanned aerial vehicle. Compared with the unmanned aerial vehicle that directly uses a turbine 24 and a worm 23 and a reducer to directly drive multiple sets of rotors 36 to tilt, the power output of the present utility model is in two forms, and in the emergency situation where one rotor 36 fails, it can transition to another flight mode to achieve a safe landing.

[0063] Embodiment 3:

[0064] See Figure 5 The present utility model further provides an unmanned aerial vehicle, which includes a fuselage 04 and a tilting rotor 36 integrated transmission system as provided in Embodiment 2 arranged inside the fuselage 04. The fuselage 04 includes a fuselage 04 body, a tail wing 05 arranged at the tail of the fuselage 04 body, and a left wing 06 and a right wing 07 symmetrically arranged on both sides of the fuselage 04 body.

[0065] The engine unit 01 is arranged near the center of gravity of the whole aircraft on the body 04, the propeller 03 is arranged at the nose of the aircraft, and the main gearbox 02 is arranged at the intersection of the two wings and the body 04;

[0066] Two tilting rotor 36 integration mechanisms 0 are respectively arranged in the left wing 06 and the right wing 07;

[0067] Specifically, refer to Figure 6 , when tilting is required, first control the clutch 22 to act to realize the driving connection between the first power output shaft 11 and the worm 23. The gearbox simultaneously drives the rotor unit 3 and the tilting unit 2 to act. The rotor 36 continues to rotate through the universal joint 31 connected to the second power output shaft 12 to generate lift;

[0068] The driven gear 212 of the reversing gearbox 21 rotates forward under the drive of the first power output shaft 11. The worm 23 drives the turbine 24 to rotate forward. The turbine 24 rotates forward by a preset angle around the center of the universal joint 31, and at the same time drives the rotor 36 arranged on the turbine 24 to rotate forward by the preset angle to realize the tilting flight of the rotor 36;

[0069] After the tilting is completed, reverse the driven gear 212 of the reversing gearbox 21. The worm 23 drives the turbine 24 to rotate in the reverse direction. The turbine 24 rotates in the reverse direction by a preset angle around the center of the universal joint 31, and at the same time drives the rotor 36 arranged on the turbine 24 to rotate in the reverse direction by the preset angle to realize the return of the rotor 36 to the original position. Then control the clutch 22 to act to release the driving connection between the first power output shaft 11 and the worm 23;

[0070] In this embodiment, the preset angle is 90°. Let the nose of the unmanned aircraft be the origin of the body coordinate system. The X-axis direction of the body 04 is the front-back direction of the body 04 and forward is positive. The Y-axis direction is the direction of the right wing 07 and right is positive. The Z-axis direction is downward and downward is positive. When in the non-tilting working condition, refer to Figure 6 a, the rotation center axis of the rotor 36 is parallel to the Z-axis direction of the body 04, and the unmanned aircraft takes off and lands vertically. When the tilting unit 2 drives the turbine 24 to tilt by 90°, refer to Figure 6 b, the rotation center axis of the rotor 36 is parallel to the X-axis direction of the body 04, and the unmanned aircraft flies forward.

[0071] The above is only the preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A tilt-rotor integrated mechanism, characterized in that: It includes a power source, a tilt unit and a rotor unit, wherein the power source has a first power output shaft and a second power output shaft; The tilting unit comprises a reversing gearbox, a clutch, a worm and a turbine which are sequentially connected in driving connection, and the first power output shaft is drivingly connected to the reversing gearbox; The rotor unit includes a universal joint, a first rotor shaft, a first bevel gear arranged on the first rotor shaft, a second rotor shaft, a second bevel gear arranged on the second rotor shaft, and a rotor; the first rotor shaft and the second rotor shaft are arranged perpendicular to each other, and the first bevel gear and the second bevel gear are meshed and connected; The end of the first rotor shaft away from the first bevel gear is connected to one side of the universal joint, and the second power output shaft is drivingly connected to the other side of the universal joint; The turbine is rotatably arranged on the first rotor shaft, the second rotor shaft is rotatably passed through the turbine and extends out of the turbine, and the rotor is connected to the extended end of the second rotor shaft.

2. The tilt-rotor integrated mechanism according to claim 1, characterized in that: The power source is an engine unit or a motor-reducer unit or a gear box with dual output shafts.

3. A tilt-rotor integrated mechanism according to claim 1 or 2, characterized in that: The reversing gearbox comprises a driving gear, a driven gear, a first idler gear and a second idler gear; a first connecting rod is arranged between the first idler gear and the second idler gear, and a second connecting rod is arranged between the driven gear and the second idler gear; In the first state, the driving gear is meshed with the driven gear through the first idler gear and the second idler gear in sequence to transmit positive power; In the second state, the driving gear meshes with the driven gear through the second idler gear to perform reverse transmission.

4. The tilt-rotor integrated mechanism according to claim 3, characterized in that: The reversing gear box further comprises a connecting rod driving mechanism for driving the second connecting rod and the first connecting rod to swing so as to swing the first idler gear and / or the second idler gear between the driving gear and the driven gear.

5. A tilt-rotor integrated transmission system, characterized in that: comprising an engine unit, a main gearbox drivingly connected to the engine unit, and a propeller; The main gearbox comprises a first main output shaft and two second main output shafts symmetrically arranged on both sides of the first main output shaft. The first main output shaft is drivingly connected to the propeller through a coupling; The two second main output shafts are respectively driven and connected to a tilt-rotor integrated mechanism as described in any one of claims 1 to 4 through corresponding reduction gear boxes.

6. A drone, characterized in that: The invention comprises a fuselage and a tilt-rotor integrated transmission system as claimed in claim 5 arranged in the fuselage; the fuselage comprises a fuselage body and a tail arranged at the tail of the fuselage body, and a left wing and a right wing symmetrically arranged on both sides of the fuselage body; The engine unit is arranged at the fuselage body close to the center of gravity of the whole machine, the propeller is arranged at the nose, and the main gearbox is arranged at the intersection of the wings on both sides and the fuselage body; The two tilt-rotor integrated mechanisms are respectively arranged in the left wing and the right wing.

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