Tilting four-rotor unmanned aerial vehicle

Abstract

The utility model discloses a tilting quad-rotor unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicles, and solves the technical problems of low space utilization rate and unreasonable gravity center arrangement of a vehicle body in the prior art. Comprising a main body structure, an image transmission system, a flight control system, a power system, a control system and a wing tilting mechanism, and the image transmission system, the flight control system, the power system, the control system and the wing tilting mechanism are installed on the main body structure. When the wings tilt, the gravity center of the aircraft body is transferred from the chord lines of the wings to the geometric center of the four rotors, so that the gravity center optimization in different flight modes is realized, the flight stability and controllability are obviously improved, and the burden of a flight control system and a power system is reduced; a crank connecting rod mechanism driven by a large-torsion steering engine is adopted, the space occupied by the tilting mechanism for the unmanned aerial vehicle body is reduced, meanwhile, the internal structural layout is optimized, the space utilization efficiency is improved, and the effective loading capacity of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically a tilting quadcopter UAV. Background Technology

[0002] This invention relates to the field of tilt-rotor unmanned aerial vehicles (UAVs), an innovative aircraft combining the advantages of quadcopter and fixed-wing flight modes, with broad application prospects and technological value. Its design optimizes airframe space utilization and enhances payload capacity through a wing tilting mechanism driven by a high-torque servo motor. Simultaneously, the wing pylons effectively transfer the aircraft's center of gravity from the wing chord line to the quadcopter's geometric center during tilting, significantly enhancing flight stability and reducing the burden on the flight control and power systems. Furthermore, the UAV employs a high-load-bearing tilting hinge with micro-flange bearings, ensuring smooth wing tilting under high load conditions, further improving system reliability and safety.

[0003] In practical applications, tilt-rotor UAVs demonstrate exceptional versatility and environmental adaptability. Their vertical takeoff and landing capabilities and efficient cruise performance make them invaluable in areas such as military reconnaissance and strike, disaster relief, logistics delivery, and infrastructure inspection. Equipped with an automatically adjusting night vision camera and a high-efficiency image transmission system, this UAV can complete mission planning and obstacle avoidance operations in low-light or no-light conditions; the optimized power system design extends endurance and improves flight efficiency. As a key technological support for the development of the low-altitude economy, this UAV not only addresses the shortcomings of traditional UAVs in terms of flexibility and efficiency but also provides crucial technological support for future aerial logistics, intelligent transportation, and urban air mobility.

[0004] Existing tilt-rotor UAV technology suffers from several problems, including low airframe space utilization, unreasonable center of gravity transfer, insufficient design of rotating connectors, and a lack of material and structural optimization. Specifically, the tilting mechanisms in existing technologies (such as sliders and guide rails) occupy a significant amount of airframe space, restricting the placement of other important components and reducing payload capacity. During tilting, the effective transfer of the airframe's center of gravity from the wing chord line position in fixed-wing mode to the rotor geometric center in multi-rotor mode is not achieved, resulting in poor flight stability and increased burden on the flight control and power systems. Furthermore, the rotating connector design is too simple and cannot withstand load variations under multi-mode flight, leading to insufficient wing tilting performance under heavy loads, affecting the stability and safety of the UAV. At the same time, the material and structural design of the rotating connectors has not been sufficiently optimized, making them prone to failure and affecting the long-term stable operation of the UAV.

[0005] To address these issues, this invention proposes innovative solutions, including employing a wing tilting mechanism driven by a high-torque servo motor to improve space utilization and payload capacity, designing wing pylons to achieve effective center of gravity transfer to enhance flight stability, and using a high-load tilting hinge limited by a miniature flange bearing to improve system stability and reliability, thereby significantly improving the shortcomings of existing technologies. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a tilting quadcopter drone, which solves the technical problems of low space utilization and unreasonable center of gravity setting in existing technologies.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a tilting quadcopter unmanned aerial vehicle (UAV), comprising a main structure, an image transmission system, a flight control system, a power system, a control system, and a wing tilting mechanism. The image transmission system, flight control system, power system, control system, and wing tilting mechanism are mounted on the main structure. The main structure includes a front end, a middle end, and a rear end. The rear end is a tubular structure, and the front end and the middle end are frames. The front end is fixedly mounted on the front side of the rear end, and the middle end is mounted on the upper wall of the front end and the middle end.

[0008] The image transmission system includes a camera module, a transmitting module, and an antenna. The camera module is installed on the lower front wall of the main structure. The transmitting module and the antenna are connected to the camera module via a coaxial cable. The transmitting module is provided with heat dissipation fins.

[0009] The flight control system includes an integrated accelerometer, a gyroscope, a barometer, a flight control computer module, and a positioning module. The integrated accelerometer, gyroscope, barometer, and flight control computer module are fixedly installed on the lower inner wall of the middle section, and the positioning module is fixedly installed on the upper inner wall of the middle section.

[0010] The power system includes a propeller, a brushless motor, an electronic speed controller, and a rechargeable battery. A wing mounting frame is installed in the middle section. A wing tilting mechanism is installed at both ends of the wing mounting frame. Tilting wing bodies are mounted on the two wing tilting mechanisms. Wing pylons are mounted on the two tilting wing bodies. A first motor mount and a second motor mount are fixedly mounted on the two tilting wing bodies. The brushless motor is fixedly mounted on the first motor mount and the second motor mount, respectively. The propeller is fixedly mounted on the drive end of the brushless motor. The electronic speed controller is installed within the tilting wing body. The lithium battery is installed on the wing pylon.

[0011] A pair of first servo motors are fixedly installed in the middle section. A pair of flanges are rotatably mounted on the upper end of the pair of first servo motors. The pair of flanges are gear-shaped discs and are meshed together. A rocker arm is provided on the pair of flanges. A ball joint is rotatably mounted on the other end of the rocker arm. The other end of the ball joint is connected to the tilting wing body.

[0012] The control system includes an elevator, an aileron, and a second servo. The aileron is rotatably mounted on the rear end of the tilt-wing body, the elevator is rotatably mounted on the rear tail fin of the main structure, and the second servo is fixedly mounted on the rear end of the tilt-wing body and the tail fin. The aileron and the elevator are respectively connected to the second servo.

[0013] The wing tilting structure includes a tilting hinge, a flange bearing, and a hinge plate. The tilting hinge is fixedly installed at one end of the wing mounting frame. The flange bearing is rotatably installed inside the tilting hinge. The hinge plate is rotatably installed between the flange bearings and is connected to the tilting wing body.

[0014] Preferably, the main structure is composed of carbon fiber plates and carbon fiber tubes connected together.

[0015] Preferably, the flight control system employs an ICM-42688-P gyroscope, an SPL06 barometer, an STM32H743 main control flight control computer module, and a BE-252-Q GPS positioning module, with a silicone ball installed outside the flight control computer module.

[0016] Preferably, the transmitting module transmits the real-time images of the camera to the ground via the antenna at a frequency of 5.8 GHz.

[0017] Preferably, the lithium battery is connected to the flight control system via a 16AWG silicone wire for the transfer of the center of gravity from the wing chord to the geometric center of the quadrotor during wing tilting.

[0018] Preferably, there are four flange bearings, which are arranged vertically along their axis of rotation, and are mounted on the hinge body near the machine body.

[0019] Preferably, the hinge plate at the wing end of the hinge is limited by a boss abutting against the inner ring of the flange bearing.

[0020] Preferably, the servo motor is connected to the carbon fiber rocker arm via a flange.

[0021] Preferably, the rocker arm is connected to the motor base via a ball joint rod, thereby forming a crank-connecting rod mechanism that drives the hinge to rotate.

[0022] Beneficial effects

[0023] This invention provides a tilting quadcopter UAV. By shifting the aircraft's center of gravity from the wing chord line to the quadcopter's geometric center during wing tilting, this invention optimizes the center of gravity for different flight modes, significantly improving flight stability and controllability while reducing the burden on the flight control and power systems. The use of a high-torque servo-driven crank-connecting rod mechanism reduces the space occupied by the tilting mechanism, optimizes the internal structural layout, improves space utilization efficiency, and increases the UAV's payload capacity. It supports smooth switching between vertical takeoff and landing (VTOL) mode, transition mode, and fixed-wing mode. Compared to the shortcomings of existing technologies with complex rotating connecting parts and insufficient load-bearing capacity, the tilting mechanism of this invention features optimized materials and a reasonable structural design, capable of withstanding load changes in different modes, significantly improving the stability and safety of the UAV. Furthermore, this device also boasts advantages such as strong environmental adaptability, high flight efficiency, high energy efficiency, and high safety. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of a tilting quadcopter drone according to the present invention.

[0025] Figure 2 This is a schematic diagram of the main structure of a tilting quadcopter drone according to the present invention.

[0026] Figure 3 This is a schematic diagram of the image transmission system layout of a tilting quadcopter UAV according to the present invention.

[0027] Figure 4 This is a schematic diagram of the flight control system structure of a tilting quadcopter UAV described in this utility model.

[0028] Figure 5 This is a schematic diagram of the power system structure of a tilting quadcopter UAV described in this utility model.

[0029] Figure 6 This is a schematic diagram of the wing tilting mechanism of a tilting quadcopter drone according to the present invention.

[0030] Figure 7 This is a schematic diagram of the control system structure of a tilting quadcopter UAV according to the present invention.

[0031] Figure 8 This is a schematic diagram of the heavy-duty tilting hinge structure of the tilting wing mechanism of the present invention for a tilting quadcopter drone.

[0032] Figure 9 This is a schematic diagram of the quadcopter configuration of a tilting quadcopter UAV according to the present invention.

[0033] In the diagram: 1. Main structure; 2. Image transmission system; 3. Flight control system; 4. Power system; 5. Wing folding mechanism; 6. Control system; 101. Front end; 102. Middle end; 103. Rear end; 201. Camera module; 202. Transmission module; 203. Heat sink; 301. Integrated accelerometer, gyroscope, barometer, and flight control computer module; 302. Positioning module; 401. Propeller; 402. Brushless motor; 403. 404. First motor mount; 405. Wing pylon; 406. Second motor mount; 507. Electronic speed controller; 508. Hinge body; 509. Hinge plate; 5000. Flange bearing; 5001. First servo; 5002. Rocker arm; 501. Ball joint rod; 502. Flange; 601. Second servo; 602. Aileron; 603. Elevator; 701. Tilting hinge body; 702. Tilting hinge miniature flange bearing; 703. Tilting hinge plate; Detailed Implementation

[0034] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Detailed description follows.

[0035] Please see Figure 1-9 This utility model provides a technical solution: a tilting quadcopter unmanned aerial vehicle (UAV), comprising a main structure 1, an image transmission system 2, a flight control system 3, a power system 4, a control system 6, and a wing tilting mechanism. The image transmission system 2, flight control system 3, power system 4, control system 6, and wing tilting mechanism are mounted on the main structure 1. The main structure 1 includes a front end 101, a middle end 102, and a rear end 103. The rear end 103 is a tubular structure, and the front end 101 and the middle end 102 are frames. The front end 101 is fixedly mounted on the front side of the rear end 103, and the middle end 102 is mounted on the upper wall of the front end 101 and the middle end 102.

[0036] The image transmission system 2 includes a camera module 201, a transmitting module 202 and an antenna. The camera module 201 is installed on the lower wall of the front end 101 of the main structure 1. The transmitting module 202 and the antenna are connected to the camera module 201 via a coaxial cable. The transmitting module 202 is provided with heat dissipation fins 203.

[0037] The flight control system 3 includes an integrated accelerometer, gyroscope, barometer, flight control computer module and positioning module 302. The integrated accelerometer, gyroscope, barometer and flight control computer module 301 are fixedly installed on the lower inner wall of the middle section 102, and the positioning module 302 is fixedly installed on the upper wall of the middle section 102.

[0038] The power system 4 includes a propeller 401, a brushless motor 402, an electronic speed controller 406, and a rechargeable battery. A wing mounting bracket is installed in the middle section 102. The wing tilting mechanism is installed at both ends of the wing mounting bracket. Tilting wing bodies are installed on the two wing tilting mechanisms. Wing hangers 404 are installed on the two tilting wing bodies. A first motor mount 403 and a second motor mount 405 are fixedly installed on the two tilting wing bodies. The brushless motor 402 is fixedly installed on the first motor mount 403 and the second motor mount 405 respectively. The propeller 401 is fixedly installed on the drive end of the brushless motor 402 respectively. The electronic speed controller 406 is installed in the tilting wing body. The lithium battery is installed on the wing hanger 404.

[0039] A pair of first servo motors 504 are fixedly installed inside the middle section 102. A pair of flanges 507 are rotatably mounted on the upper end of the pair of first servo motors 504. The pair of flanges 507 are gear-shaped discs and are meshed together. A rocker arm is provided on the pair of flanges 507. A ball joint rod 506 is rotatably mounted on the other end of the rocker arm. The other end of the ball joint rod 506 is connected to the tilting wing body.

[0040] The control system 6 includes an elevator 603, an aileron 602, and a second servo 601. The aileron 602 is rotatably mounted on the rear end 103 of the tilt-wing body, the elevator 603 is rotatably mounted on the tail fin of the rear end 103 of the main structure 1, and the second servo 601 is fixedly mounted on the rear end 103 of the tilt-wing body and the tail fin. The aileron 602 and the elevator 603 are respectively connected to the second servo 601.

[0041] The wing tilting structure includes a tilting hinge, a flange bearing 503, and a hinge plate 502. The tilting hinge is fixedly installed at one end of the wing fixing frame. The flange bearing 503 is rotatably installed inside the tilting hinge. The hinge plate 502 is rotatably installed between the flange bearings 503. The hinge plate 502 is connected to the tilting wing body.

[0042] In this embodiment, the main structure 1 is further configured to consist of carbon fiber plates and carbon fiber tubes connected together.

[0043] In this embodiment, the flight control system 3 is further configured to use an ICM-42688-P gyroscope, an SPL06 barometer, an STM32H743 main control flight control computer module, and a BE-252-Q GPS positioning module 302, with a silicone ball disposed outside the flight control computer module.

[0044] In this embodiment, the transmitting module 202 transmits the real-time image of the camera to the ground via the antenna at a frequency of 5.8 GHz.

[0045] In this embodiment, the lithium battery is further configured to be connected to the flight control system 3 via a 16AWG silicone wire for the transfer of the center of gravity from the wing chord to the geometric center of the quadrotor during wing tilting.

[0046] In this embodiment, there are four flange bearings 503, which are arranged vertically in the direction of their rotation axis and are mounted on the hinge body 501 near the machine body.

[0047] In this embodiment, the hinge piece 502 at the wing end of the hinge is positioned to limit the movement of the flange bearing 503 by abutting against the inner ring of the flange bearing 503 via a boss.

[0048] In this embodiment, the servo motor is further configured to be connected to the carbon fiber rocker arm 505 via a flange 507.

[0049] In this embodiment, the rocker arm 505 is connected to the motor base via a ball joint rod 506, thereby forming a crank-connecting rod mechanism to drive the hinge to rotate.

[0050] Its detailed connection methods are well-known technologies in this field; such as Figure 1-9 As shown, the specific usage method of a tilt-rotor drone is as follows: Check and connect the lithium battery power supply to ensure that the drone's flight control system 3, power system 4, and image transmission system 2 are all operating normally. Confirm that the propeller 401 is securely mounted on the drive end of the brushless motor 402. Check the operating status of the servos (first servo 504, second servo 601) and test whether the rotation of the aileron 602 and directional elevator 603 is flexible. Check whether the tilt angle change of the tilt wing body is smooth and confirm that there is no jamming in the wing drive. Start the camera module 201 and confirm that the aerial image is transmitted to the ground display via the transmission module 202 and antenna at a frequency of 5.8 GHz. Start the positioning module 302: Start the BE-252-Q GPS positioning module 302 in the flight control system 3 to confirm the drone's current geographical location. Calibrate the integrated accelerometer and gyroscope. Check the attitude control status of the drone through the flight control computer module.

[0051] Flight commands are set in the ground-based remote control equipment. During takeoff, the quadcopter power system 4 generates upward thrust, and the electronic speed controller 406 regulates the speed of the brushless motor 402 to maintain a smooth ascent for the UAV. The tilt hinge in the wing tilt structure is adjusted to gradually transition the wing from a vertical rotor mode to a horizontal rotor mode. The hinge plate 502 and related transmission mechanisms are adjusted to maintain the stability and streamlined structure of the aircraft. High-resolution images are acquired using the camera module 201, and the transmission module 202 transmits the images to the ground-based equipment in real time; if necessary, the camera angle is adjusted to optimize the field of view. The second servo 601 is used to adjust the ailerons 602 to achieve vertical adjustment of the UAV. The first servo 504 is used to control the elevator 603 to achieve left and right turning of the UAV. The center of gravity shift of the lithium battery is adjusted to support the load and stability to adapt to different flight attitudes.

[0052] Hovering mode: Maintaining the vertical attitude of the tilting wings, the lift is provided by propeller 401 to enable the aircraft to hover for taking pictures or observing specific targets.

[0053] Horizontal cruise mode: Adjust the tiltwing to a horizontal position, use the aileron 602 and the directional elevator 603 to control the flight direction and altitude, and achieve long-distance cruise.

[0054] Autonomous Flight Mode: The flight control computer module sets the autonomous flight path. GPS module-assisted positioning enables precise pathfinding or reconnaissance of specific areas.

[0055] Landing preparation: Adjust the tiltwing to vertical flight mode and gradually decrease altitude. Use aileron 602 to fine-tune the descent speed to prevent direct contact with the ground, which could cause fuselage vibration or damage.

[0056] Safe landing: As the drone approaches the ground, slowly reduce the speed of the brushless motor 402 to allow it to land smoothly. After landing, stop all engines and shut down the flight control system 3 and image transmission system 2.

[0057] Disconnect the lithium battery power and inspect all components of the drone (camera module 201, propeller 401, servo motors, tilting wing, etc.) to ensure there is no damage. Clean any dirt from the drone's surface and store the entire device.

[0058] Exercise caution when flying in high winds to avoid loss of attitude and potential collisions. Monitor image transmission signals in real-time during flight to ensure mission data integrity. After each flight, regularly inspect the wear of hinge plate 502 and flange bearing 503, and replace any worn parts promptly.

[0059] It should be noted that in this paper, relational terms such as first and second are used only 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.

[0060] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A tilting quadcopter unmanned aerial vehicle (UAV), comprising a main structure (1), an image transmission system (2), a flight control system (3), a power system (4), a control system (6), and a wing tilting mechanism, characterized in that, The image transmission system (2), flight control system (3), power system (4), control system (6) and wing tilting mechanism are mounted on the main structure (1). The main structure (1) includes a front end (101), a middle end (102) and a rear end (103). The rear end (103) is a tubular structure, and the front end (101) and the middle end (102) are frames. The front end (101) is fixedly mounted on the front side of the rear end (103), and the middle end (102) is mounted on the upper wall of the front end (101) and the middle end (102). The image transmission system (2) includes a camera module (201), a transmitting module (202) and an antenna. The camera module (201) is installed on the lower wall of the front end (101) of the main structure (1). The transmitting module (202) and the antenna are connected to the camera module (201) via a coaxial cable. The transmitting module (202) is provided with heat dissipation fins (203). The flight control system (3) includes an integrated accelerometer, gyroscope, barometer, flight control computer module and positioning module (302). The integrated accelerometer, gyroscope, barometer and flight control computer module (301) are fixedly installed on the lower inner wall of the middle section (102) and the positioning module (302) is fixedly installed on the upper wall of the middle section (102). The power system (4) includes a propeller (401), a brushless motor (402), an electronic speed controller (406), and a rechargeable battery. A wing mounting bracket is installed in the middle section (102). The wing tilting mechanism is installed at both ends of the wing mounting bracket. Tilting wing bodies are installed on the two wing tilting mechanisms. Wing hangers (404) are installed on the two tilting wing bodies. A first motor mount (403) and a second motor mount (405) are fixedly installed on the two tilting wing bodies. The brushless motor (402) is fixedly installed on the first motor mount (403) and the second motor mount (405), respectively. The propeller (401) is fixedly installed on the drive end of the brushless motor (402). The electronic speed controller (406) is installed in the tilting wing body. The rechargeable battery is installed on the wing hanger (404). A pair of first servo motors (504) are fixedly installed inside the middle section (102). A pair of flanges (507) are rotatably mounted on the upper end of the pair of first servo motors (504). The pair of flanges (507) are gear-shaped discs and are meshed together. A rocker arm is provided on the pair of flanges (507). A ball joint rod (506) is rotatably mounted on the other end of the rocker arm. The other end of the ball joint rod (506) is connected to the tilting wing body. The control system (6) includes an elevator (603), an aileron (602), and a second servo (601). The aileron (602) is rotatably mounted on the rear end (103) of the tilt-wing body. The elevator (603) is rotatably mounted on the tail fin of the rear end (103) of the main structure (1). The second servo (601) is fixedly mounted on the rear end (103) of the tilt-wing body and the tail fin. The aileron (602) and the elevator (603) are respectively connected to the second servo (601). The wing tilting structure includes a tilting hinge, a flange bearing (503), and a hinge plate (502). The tilting hinge is fixedly installed at one end of the wing fixing frame. The flange bearing (503) is rotatably installed inside the tilting hinge. The hinge plate (502) is rotatably installed between the flange bearings (503). The hinge plate (502) is connected to the tilting wing body.

2. A tilting quadcopter UAV according to claim 1, characterized in that... The main structure (1) is composed of carbon fiber plates and carbon fiber tubes connected together.

3. A tilting quadcopter UAV according to claim 1, characterized in that... The flight control system (3) uses an ICM-42688-P gyroscope, an SPL06 barometer, an STM32H743 main control flight control computer module and a BE-252-Q GPS positioning module (302). A silicone ball is provided outside the flight control computer module.

4. A tilting quadcopter UAV according to claim 1, characterized in that... The transmitting module (202) transmits the real-time images of the camera to the ground via the antenna at a frequency of 5.8 GHz.

5. A tilting quadcopter UAV according to claim 1, characterized in that... The lithium battery is connected to the flight control system (3) via a 16AWG silicone wire and is used to transfer the center of gravity from the wing chord to the geometric center of the quadrotor when the wing tilts.

6. A tilting quadcopter UAV according to claim 1, characterized in that... There are four flange bearings (503). The flange bearings (503) are arranged vertically in the direction of their rotation axis. The flange bearings (503) are mounted on the hinge body (501) near the machine body.

7. A tilting quadcopter UAV according to claim 1, characterized in that... The hinge piece (502) at the wing end of the hinge is limited by the boss abutting against the inner ring of the flange bearing (503).

8. A tilting quadcopter UAV according to claim 1, characterized in that... The servo motor is connected to the carbon fiber rocker arm (505) via a flange (507).

9. A tilting quadcopter UAV according to claim 1, characterized in that... The rocker arm (505) is connected to the motor base via the ball joint rod (506), thereby forming a crank-connecting rod mechanism that drives the hinge to rotate.

Images