A vertical takeoff and landing tilt multi-rotor fixed-wing UAV

Abstract

This utility model discloses a tilting multi-rotor fixed-wing unmanned aerial vehicle (UAV) with vertical takeoff and landing (VTOL) capability, comprising a fuselage, foldable wings, and multiple rotors mounted on the wings. The wings are mounted on the fuselage via a folding mechanism, and the rotor shafts are fixed to the wings. The drive mechanism includes a slide block that slides along the fuselage and a pull rod connecting the slide block to the wings. The sliding of the slide block drives the wings to fold or unfold via the pull rod, simultaneously causing the rotor shafts to tilt. During VTOL, the wings remain folded, and the rotor shafts are perpendicular to the horizontal plane, allowing the UAV to achieve VTOL takeoff, landing, and hovering in rotor mode. During cruise, the wings are fully unfolded, the rotor shafts rotate to a horizontal position, and the UAV switches to fixed-wing mode for efficient cruise. This UAV, through the coordinated action of wing folding and rotor tilting, maintains VTOL and hovering capabilities while achieving efficient cruise, reducing the space requirements for takeoff and landing sites and the volume required for transportation and storage, thus improving its applicability in complex environments.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a tilting multi-rotor fixed-wing UAV with vertical take-off and landing capability. Background Technology

[0002] Drone technology has developed rapidly in recent years, demonstrating enormous application potential in fields such as logistics, disaster relief, and geographic mapping. However, different drone configurations exhibit significant performance differences, making it difficult to simultaneously meet the dual requirements of vertical takeoff and landing (VTOL) and efficient cruising. This technological contradiction is particularly prominent in remote operational scenarios, such as island and reef patrols and mountain material transportation. These tasks require aircraft with VTOL capabilities to adapt to runway-less environments, while also demanding long endurance and high-speed cruising performance to cover vast areas.

[0003] Currently, drones are mainly divided into two categories: fixed-wing and rotary-wing. Fixed-wing drones are characterized by high speed, large payload capacity, long range, and excellent stability, making them suitable for operations in large airspaces. However, their reliance on standard runways for takeoff and landing limits their adaptability to different terrains. In contrast, rotary-wing drones, with their vertical takeoff and landing capabilities and hovering advantages, can operate flexibly in complex terrains. However, rotary-wing drones have extremely low cruise efficiency and short loiter time, which limits their performance in long-distance, high-speed missions.

[0004] To address the need for both vertical takeoff and landing (VTOL) and efficient cruising, tiltrotor drones have emerged. As an innovative aircraft configuration, tiltrotor drones achieve switching between fixed-wing and multi-rotor modes through a unique rotor tilting system. These drones feature a rotating rotor system on their wings. During VTOL takeoff and landing, the rotor axis is perpendicular to the horizontal plane, enabling hovering, VTOL, and low-speed maneuvering in rotorcraft mode. Once a certain speed is reached, the rotor axis tilts forward 90 degrees to a horizontal position. In this state, the rotor acts as a propeller, providing forward thrust, allowing the drone to cruise at high speeds and over long distances in fixed-wing mode. This type of drone retains the advantages of rotorcraft—no runway required, VTOL, and hovering—while also possessing the high speed and long range of fixed-wing drones. By effectively combining the advantages of both fixed-wing and rotorcraft, it can easily achieve greater range and higher speeds than rotorcraft, as well as greater maneuverability and lower operating costs than fixed-wing aircraft.

[0005] However, existing tiltrotor UAV designs have several inherent drawbacks. Traditional tiltrotor UAVs maintain an extended wing position throughout takeoff, landing, and flight, with the rotor axis tilting forward relative to the wing. This extended wing necessitates a large clearance during takeoff and landing, limiting operations in confined spaces and complex terrains. Furthermore, it results in a large UAV size when not in mission mode, making transportation and storage inconvenient, especially when deployed in remote areas such as mountains and islands. In addition, the extended wing has a large span of area, forming a 90-degree angle with the airflow direction during vertical takeoff and landing, creating a large lateral wind-receiving surface. This makes them susceptible to crosswind interference during vertical takeoff and landing, affecting flight stability. These drawbacks severely limit the practical application value of tiltrotor UAVs in complex environments. Utility Model Content

[0006] The purpose of this invention is to provide a tilt-rotor fixed-wing UAV with vertical take-off and landing, so as to solve the technical problems of existing tilt-rotor UAVs, such as large take-off and landing space requirements and inconvenient transportation and storage, caused by the wings always being deployed.

[0007] The technical problem solved by this utility model can be achieved by the following solutions:

[0008] A vertical takeoff and landing tilting multi-rotor fixed-wing unmanned aerial vehicle (UAV) includes a fuselage, wings mounted on the fuselage, and multiple rotors mounted on the wings. Each rotor includes a rotor shaft and rotatably mounted on the rotor shaft. The wing is foldably mounted on the fuselage via a folding mechanism, and the rotor shaft is fixed to the wing.

[0009] The drone also includes a drive mechanism for driving the wings. The drive mechanism includes a slide mounted on the fuselage and capable of sliding along the longitudinal axis of the fuselage under the drive of the drive components, and a tie rod connecting the slide and the wings at both ends via universal joints. The sliding of the slide can drive the wings from a folded state to an unfolded state through the tie rods, thereby causing the rotor axis to tilt forward.

[0010] When the wing is folded, the angle α between its spanwise axis and the longitudinal axis of the fuselage satisfies α≥0°, and the rotor shaft is perpendicular to the horizontal plane, indicating that the UAV is in rotor mode. When the wing is unfolded, the angle β between its spanwise axis and the longitudinal axis of the fuselage satisfies β>α, and the rotor shaft is parallel to the horizontal plane, indicating that the UAV is in fixed-wing mode.

[0011] Furthermore: the rotor shaft is parallel to the chord plane of the wing; when the wing is folded, its chord plane is perpendicular to the horizontal plane; when the wing is unfolded, its chord plane is parallel to the horizontal plane.

[0012] Furthermore: a rib is fixedly installed on the fuselage, the rib has a first mating surface, and the wing has a second mating surface adapted to the first mating surface. When the wing is in the deployed state, the first mating surface and the second mating surface form a snap-fit ​​engagement.

[0013] Furthermore: the folding mechanism includes:

[0014] The fuselage conversion section is fixedly mounted on the fuselage rib;

[0015] The wing conversion joint is fixedly mounted on the wing and can rotate relative to the fuselage conversion joint;

[0016] A concentric shaft is inserted through the fuselage transition joint and the wing transition joint, enabling the wing transition joint to rotate around the concentric shaft;

[0017] The wing transition section and the fuselage transition section are respectively provided with a first limiting surface and a second limiting surface. When the wing transitions from a folded state to an unfolded state, the wing transition section rotates around the concentric axis until the first limiting surface of the wing transition section contacts the second limiting surface of the fuselage transition section, at which point the wing reaches a fully unfolded state.

[0018] Furthermore: the axial limiting structure of the fuselage transition joint and the wing transition joint includes:

[0019] The first limiting plate assembly disposed on the wing conversion joint includes at least two plate-like structures that are parallel to each other and perpendicular to the concentric axis.

[0020] The second limiting plate assembly disposed on the fuselage conversion section includes at least one plate-shaped structure perpendicular to the concentric axis.

[0021] The second limiting plate group has its plate-like structure inserted between adjacent plate-like structures of the first limiting plate group, forming an interlocking axial limiting structure.

[0022] Furthermore: the pull rod is connected to the slide via a first universal joint mounted on the slide, and to the wing via a second universal joint mounted on the wing; pull rod swivel heads are fixedly provided at both ends of the pull rod.

[0023] The first universal joint includes a first universal joint seat rotatably mounted on a slide, and a first hinge shaft is fixedly mounted on the first universal joint seat. The second universal joint includes a second universal joint seat rotatably mounted on a wing, and a second hinge shaft is fixedly mounted on the second universal joint seat. One end of the pull rod is rotatably mounted on the first hinge shaft, and the other end of the pull rod is rotatably mounted on the second hinge shaft.

[0024] Furthermore: the first universal joint seat includes a first base plate rotatably mounted on a slide via a first pivot and two first side plates vertically fixed to the first base plate and arranged in parallel. The first pivot is fixedly mounted on the slide, the first base plate is rotatably mounted on the first pivot, and the first hinge is fixedly mounted between the two first side plates and perpendicular to the first pivot.

[0025] The second universal joint includes a second base plate rotatably mounted on the wing via a second pivot and two second side plates vertically fixed to the second base plate and arranged in parallel. The second pivot is fixedly mounted on the wing, the second base plate is rotatably mounted on the second pivot, and the second hinge is fixedly mounted between the two second side plates and perpendicular to the second pivot.

[0026] Furthermore: the first rotating shaft is perpendicular to the longitudinal axis of the fuselage, and the second rotating shaft is perpendicular to the spanwise axis of the wing.

[0027] Furthermore: when the wing is folded, its spanwise axis is parallel to the longitudinal axis of the fuselage; when the wing is unfolded, its spanwise axis is perpendicular to the longitudinal axis of the fuselage.

[0028] Furthermore: the driving component is an electric telescopic rod installed below the machine body. A slide rail is fixedly installed below the machine body, and a slider is slidably installed on the slide rail. The slide base is fixedly installed below the slider. The output end of the electric telescopic rod is fixedly connected to the slider. When the electric telescopic rod moves, it drives the slider and the slide base to slide along the longitudinal axis of the machine body.

[0029] This utility model of a vertical take-off and landing tilt-rotor fixed-wing UAV effectively overcomes the technical limitations of traditional tilt-rotor UAVs through an innovative wing folding and rotor tilting coordinated design.

[0030] This design allows the drone to maintain a folded wing position during vertical takeoff and landing, significantly reducing its overall dimensions and lateral wind-exposed area, lowering the space requirements for takeoff and landing sites, and improving flight stability in crosswind conditions. The folding mechanism allows the wings to be compactly folded when not in mission mode, greatly reducing the space required for transportation and storage. This makes it particularly suitable for deployment in remote areas with poor transportation, such as mountainous regions and islands, significantly improving convenience in practical applications. With the wings folded, the rotor axis is perpendicular to the horizontal plane, enabling the drone to achieve vertical takeoff, landing, and hovering in rotor mode.

[0031] When switching to fixed-wing mode is required, the drive mechanism uses the linear motion of the slide to move the lever, which in turn moves the wing from a folded state to an deployed state. During this transition, the rotor shaft, fixed to the wing, tilts forward, thus simultaneously achieving wing deployment and rotor tilting. With the wing deployed, a complete lifting surface is formed, and the rotor shaft rotates to a horizontal position. The rotor then acts as a thruster, providing forward thrust and allowing the UAV to switch to fixed-wing mode, achieving cruise performance comparable to that of a fixed-wing aircraft.

[0032] By synchronously driving the rotor to tilt during wing deployment, this invention combines the advantages of both rotary-wing and fixed-wing UAVs. It maintains vertical takeoff and landing and hovering capabilities while achieving efficient cruise performance, and simultaneously solves practical problems of traditional tilt-rotor UAVs such as large size, inconvenient transportation and storage, and poor wind resistance. This innovative structural solution provides a new technical approach for the diversified application of UAVs in complex environments. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a structural schematic diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing according to this utility model, with the wings in a folded state;

[0035] Figure 2 This is a structural schematic diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing according to this utility model, with the wings in a transitional state from folded to fully extended;

[0036] Figure 3 This is a structural schematic diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing according to this utility model, with the wings in a fully deployed state;

[0037] Figure 4 This is a structural schematic diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing from another angle, with the wings in a folded state;

[0038] Figure 5 yes Figure 4 Enlarged view of a portion at point A;

[0039] Figure 6 This is a structural schematic diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing from another angle, with the wings in a fully deployed state;

[0040] Figure 7 yes Figure 6 A magnified view of section B;

[0041] Figure 8 This is a structural schematic diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing according to this utility model. The wings are in the deployed state and one wing has been removed.

[0042] Figure 9 yes Figure 8 A magnified view of a portion at point C;

[0043] Figure 10 From Figure 8 A structural diagram of the wing removed from a drone;

[0044] Figure 11 yes Figure 1 A magnified view of a portion at point D;

[0045] Figure 12 This is a structural diagram of a tilting multi-rotor fixed-wing UAV with vertical take-off and landing at another angle, with the wings in a folded state.

[0046] Figure 13 yes Figure 12 A magnified view of a portion at point E;

[0047] Figure 14 This is a schematic diagram of the assembly of the fuselage transition section and the wing transition section of a vertical take-off and landing tilting multi-rotor fixed-wing UAV with the wings in a folded state, at which time the first limiting surface and the second limiting surface are separated.

[0048] Figure 15 This is a schematic diagram of the assembly of the fuselage transition section and the wing transition section of a vertical take-off and landing tilting multi-rotor fixed-wing UAV with the wings in the deployed state, at which time the first limiting surface is in contact with the second limiting surface;

[0049] Figure 16 This is a schematic diagram of the fuselage conversion joint and connecting shaft of a vertical take-off and landing tilting multi-rotor fixed-wing UAV according to this utility model;

[0050] Figure 17 This is a schematic diagram of the wing conversion joint and concentric shaft of a vertical take-off and landing tilting multi-rotor fixed-wing UAV of this utility model;

[0051] Figure 18 yes Figure 3 A magnified view of a portion at point F;

[0052] Figure 19 yes Figure 3 A magnified view of a portion of point G;

[0053] Figure 20 This is a schematic diagram of the structure of a vertical take-off and landing tilting multi-rotor fixed-wing UAV after the fuselage has been removed.

[0054] Main components and designations:

[0055] Fuselage: 1; Rib: 11; First mating surface: 111;

[0056] Wing: 2; Second mating surface: 21;

[0057] Rotor: 3; Rotor shaft: 31; Blades: 32;

[0058] Folding mechanism: 4; Fuselage transition joint: 41; Second limiting surface: 411; Second limiting plate assembly: 412; Wing transition joint: 42; First limiting surface: 421; First limiting plate assembly: 422; Concentric shaft: 43; Connecting shaft: 44;

[0059] Drive mechanism: 5; Slide: 511; Slider: 512; Tie rod: 52; Tie rod rotating head: 521; Drive component: 53; First universal joint: 54; First universal joint seat: 541; First base plate: 5411; First side plate: 5412; First hinge pin: 542; First rotating shaft: 543; Second universal joint: 55; Second universal joint seat: 551; Second base plate: 5511; Second side plate: 5512; Second hinge pin: 552; Second rotating shaft: 553; Slide rail: 56; Shim: 57. Detailed Implementation

[0060] To make the objectives, technical solutions and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0061] Figure 1-3 This embodiment describes a vertical takeoff and landing tilt-multirotor fixed-wing unmanned aerial vehicle, such as... Figure 1-3 As shown, the drone includes a fuselage 1, with wings 2 mounted on both sides of the fuselage 1. Multiple rotors 3 are mounted on the wings 2. In this embodiment, each wing 2 has two rotors, meaning that the drone in this embodiment is a tilt-rotor fixed-wing drone. Of course, other numbers of rotors can be set according to actual needs, drone size, and other factors. The rotor 3 includes a rotor shaft 31 fixedly mounted on the wing 2, and a wing blade 32 is rotatably mounted on the rotor shaft 31. In this embodiment, the wing blade 32 of the rotor 3 is driven to rotate in a conventional way, for example, by installing a rotor motor (not shown in the figure) inside the rotor shaft 31. The output end of the rotor motor is fixedly connected to the wing blade 32. When the rotor motor is started, it drives the wing blade 32 to rotate. The wings 2 are foldably mounted on the fuselage 1 through a folding mechanism 4.

[0062] like Figure 4-7 As shown, the UAV also includes a drive mechanism 5 for driving the wings 2 to transition from a folded state to an unfolded state. The drive mechanism 5 includes a slide block 511 slidably mounted below the fuselage 1. The slide block 511 can slide along the longitudinal axis of the fuselage 1 under the drive of the drive component 53. In the field of aircraft such as UAVs, the longitudinal axis of the fuselage is the reference axis along the nose-to-tail direction in the aircraft's three-axis coordinate system. This axis passes through the fuselage's center of gravity and points from the nose to the tail, i.e., it refers to the reference axis along the length of the fuselage. The drive mechanism 5 also includes a pull rod 52, one end of which is connected to the slide block 511 via a universal joint, and the other end is connected to the wing 2 (e.g., ...) via a universal joint. Figure 3 (As shown). When the slide block 511 slides, it drives the pull rod 52 to move. When the pull rod 52 moves, it can drive the wing 2 from the folded state to the unfolded state. During the process of the wing 2 moving from the folded state to the unfolded state, it simultaneously drives the rotor shaft 31 fixed on it to tilt forward by 90 degrees.

[0063] like Figure 1 As shown, when wing 2 is folded, the angle α between the spanwise axis of wing 2 and the longitudinal axis of fuselage 1 satisfies α≥0°, and the rotor shaft 31 is perpendicular to the horizontal plane. The winglet 32 ​​is located above wing 2, and the UAV is in rotor mode. In the field of UAVs and other aircraft, the spanwise axis of a wing refers to a virtual axis extending from the wing root to the wingtip, representing the wing's span direction. For example... Figure 3 As shown, when the wing 2 is deployed, the angle β between its spanwise axis and the longitudinal axis of the fuselage 1 satisfies β>α, and the rotor shaft 31 is parallel to the horizontal plane. The wing blade 32 is located in front of the wing 2. At this time, the UAV is in fixed-wing mode.

[0064] This embodiment of a tilt-rotor fixed-wing UAV with vertical takeoff and landing (VTOL) features a folded wing 2 and a rotor shaft 31 perpendicular to the horizontal plane. The UAV achieves VTOL takeoff, landing, and hovering in rotor mode. When switching to fixed-wing mode, the drive mechanism 5, through the linear motion of the slide 511, moves the lever 52, causing the wing 2 to move from the folded state to the deployed state. During this transition, the rotor shaft 31 fixed to the wing tilts forward, simultaneously achieving both wing deployment and rotor tilting. With the wing 2 deployed, a complete lifting surface is formed, and the rotor shaft 31 rotates to a horizontal position. The rotor 3 acts as a thruster, providing forward thrust, thus converting the UAV to fixed-wing mode and achieving cruise performance comparable to a fixed-wing aircraft.

[0065] Furthermore, in this embodiment, the rotor shaft 31 is parallel to the chord plane of the wing 2. In the field of aircraft such as UAVs, the chord plane refers to the virtual plane formed by sweeping the chord lines from the leading edge to the trailing edge of the wing along the spanwise direction. For fixed-wing aircraft, the chord plane is usually parallel to the horizontal plane. In this embodiment, as... Figure 1 As shown, when wing 2 is folded, its wing chord plane is perpendicular to the horizontal plane. Figure 3 As shown, when wing 2 is deployed, its wing chord plane is parallel to the horizontal plane.

[0066] Furthermore, in this embodiment, when the wing 2 is folded, the angle α between its spanwise axis and the longitudinal axis of the fuselage 1 satisfies α=0°, that is, the spanwise axis is parallel to the longitudinal axis of the fuselage 1; when the wing 2 is unfolded, its spanwise axis is perpendicular to the longitudinal axis of the fuselage 1.

[0067] Furthermore, in this embodiment, when the wing 2 is folded, the rotor shaft 31 of the rotor 3 is located on the side of the wing 2 away from the fuselage 1, and when the wing 2 is unfolded, the rotor shaft 31 of the rotor 3 is located on the underside of the wing 2.

[0068] To ensure the overall structural stability and reliability of the wing 2 after deployment, and to guarantee the flight safety and performance stability of the UAV, such as Figure 8-11 As shown, a rib 11 is fixedly installed on the fuselage 1. The rib 11 has a first mating surface 111. The wing 2 has a second mating surface 21 that is adapted to the first mating surface 111. When the wing 2 is in the deployed state, the first mating surface 111 and the second mating surface 21 form a snap-fit ​​engagement to limit the accidental displacement and vibration of the wing 2 during flight, while effectively transferring the flight load to the fuselage 1 and improving the load-bearing capacity of the overall structure.

[0069] In this embodiment, the specific structure of the folding mechanism 4 is as follows: Figure 12 , 13 As shown, the folding mechanism 4 includes a fuselage transition joint 41 fixedly mounted on the rib 11 and a wing transition joint 42 fixedly mounted on the wing 2. The wing transition joint 42 is rotatable relative to the fuselage transition joint 41. The folding mechanism 4 also includes a concentric shaft 43 passing through the fuselage transition joint 41 and the wing transition joint 42. The wing transition joint 42 is rotatable about the concentric shaft 43 when rotating relative to the fuselage transition joint 41. Furthermore... Figure 14-17 In this embodiment, the folding mechanism 4 also includes a connecting shaft 44 fixedly installed inside the rib 11. The connecting shaft 44 has the fuselage conversion joint 41 fixedly installed at one end extending from the rib 11. Figure 14 , 16As shown in Figure 17, the wing transition joint 42 is provided with a first limiting surface 421, and the fuselage transition joint 41 is provided with a second limiting surface 411 that cooperates with the first limiting surface 421. When the wing 2 transitions from a folded state to an unfolded state, the wing transition joint 42 rotates relative to the fuselage transition joint 41 while simultaneously rotating around the concentric axis 43 until the first limiting surface 421 of the wing transition joint 42 contacts the second limiting surface 411 of the fuselage transition joint 41 (the contact state is shown in Figure 17). Figure 15 (In the middle), at this time the wing 2 reaches the fully deployed state.

[0070] To prevent the fuselage transition joint 41 and the wing transition joint 42 from separating axially, the fuselage transition joint 41 and the wing transition joint 42 have axial limiting structures, such as... Figure 17 As shown, the axial limiting structure includes a first limiting plate group 422 disposed on the wing conversion joint 42, comprising at least two mutually parallel limiting plates perpendicular to the axis of the concentric shaft 43; as Figure 16 As shown, the axial limiting structure also includes a second limiting plate group 412 disposed on the fuselage transition section 41, including at least one limiting plate perpendicular to the axis of the concentric shaft 43; wherein, the limiting plates of the second limiting plate group 412 are inserted between adjacent limiting plates of the first limiting plate group 422, forming an interlocking axial limiting structure. Figure 16 , 17 As shown, in this embodiment, the first limiting plate group 422 includes three parallel limiting plates, and the second limiting plate group 412 includes two parallel limiting plates. The two limiting plates of the second limiting plate group 412 are respectively inserted into the two interval spaces formed by the three limiting plates of the first limiting plate group 422. Of course, other numbers of limiting plates can be provided for the first limiting plate group 422 and the second limiting plate group 412 according to structural strength requirements, UAV size, and other factors.

[0071] Regarding the specific connection method between the pull rod 52 and the slide 511 and the wing 2, such as Figure 3 , 18 As shown, the pull rod 52 is connected to the first universal joint 54 (labeled on) mounted on the slide block 511. Figure 7 The first universal joint 54 is mounted on the upper surface of the slide 511 and is connected to the slide 511. Figure 3 , 19 As shown, the pull rod 52 passes through the second universal joint 55 (labeled on) mounted on the wing 2. Figure 5 The second universal joint 55 is connected to the wing 2. When the wing 2 is folded, the second universal joint 55 is located on the side of the wing 2 closer to the fuselage 1. When the wing 2 is unfolded, the second universal joint 55 is located on the upper side of the wing 2. A pull rod pivot 521 is fixedly installed at each end of the pull rod 52. Figure 18 , 19 As shown, the first universal joint 54 includes a first universal joint seat 541 rotatably mounted on the slide 511, and a first hinge shaft 542 is fixedly mounted on the first universal joint seat 541. The second universal joint 55 includes a second universal joint seat 551 rotatably mounted on the wing 2, and a second hinge shaft 552 is fixedly mounted on the second universal joint seat 551. One end of the pull rod 52 has a pull rod rotating head 521 rotatably mounted on the first hinge shaft 542, and the other end of the pull rod rotating head 521 is rotatably mounted on the second hinge shaft 552.

[0072] like Figure 18 , 19 As shown, the first universal joint seat 541 includes a first base plate 5411 and two first side plates 5412 that are vertically fixed on the first base plate 5411 and arranged in parallel. The first base plate 5411 is rotatably mounted on the slide 511 via a first rotating shaft 543. The first rotating shaft 543 is fixedly mounted on the slide 511. The first base plate 5411 is rotatably mounted on the first rotating shaft 543 and rotates about the first rotating shaft 543 as the rotation center. The first rotating shaft 543 is perpendicular to the first base plate 5411. The first hinge shaft 542 is fixedly mounted between the two first side plates 5412 and is perpendicular to the first rotating shaft 543. The second universal joint 55 includes a second base plate 5511 and two second side plates 5512 that are vertically fixed to the second base plate 5511 and arranged in parallel. The second base plate 5511 is rotatably mounted on the wing 2 via a second rotating shaft 553, which is fixedly mounted on the wing 2. The second base plate 5511 is rotatably mounted on the second rotating shaft 553 and rotates around the second rotating shaft 553 as the center of rotation. The second rotating shaft 553 is perpendicular to the second base plate 5511. The second hinge pin 552 is fixedly mounted between the two second side plates 5512 and is perpendicular to the second rotating shaft 553. To adjust the assembly clearance, improve connection stability, and extend service life, gaskets 57 are provided between the first universal joint seat 541 and the slide 511, and between the second universal joint seat 551 and the wing 2.

[0073] Furthermore, in this embodiment, the first rotating shaft 543 is perpendicular to the longitudinal axis of the fuselage 1, and the second rotating shaft 553 is perpendicular to the spanwise axis of the wing 2.

[0074] Regarding the specific structure of the drive mechanism 5, such as Figure 4-7As shown, in this embodiment, the driving component 53 is an electric telescopic rod fixedly installed below the machine body 1. A slide rail 56 is fixedly provided below the machine body 1, and a slider 512 is slidably installed on the slide rail 56. A slide block 511 is fixedly installed below the slider 512. The output end of the electric telescopic rod is fixedly connected to the slider 512. When the electric telescopic rod moves, it drives the slider 512 and the slide block 511 to slide along the longitudinal axis of the machine body 1. Of course, other conventional structures that can make the slide block 511 slide along the longitudinal axis of the machine body 1 can also be used. For example, the driving component 53 can be a motor. The output shaft of the motor is fixedly connected to a lead screw. The lead screw is rotatably installed inside the slide rail 56. The slider 512 is threadedly connected to the lead screw. The slide block 511 is fixed below the slider 512. When the motor starts, it drives the lead screw to rotate. The rotation of the lead screw drives the slider 512 and the slide block 511 to slide along the longitudinal axis of the machine body 1.

[0075] In order for the slide block 511 to synchronously drive the two wings 2 on both sides of the fuselage 1 via the pull rod 52 during sliding, such as Figure 20 As shown, in this embodiment, a tie rod 52 is installed at each end of the slide 511 via a first universal joint 54. Each tie rod 52 is connected to a wing 2 via a second universal joint 55. A fuselage conversion joint 41 is fixedly installed at each end of the connecting shaft 44. The connecting shaft 44 is fixedly installed inside the fuselage 1. Figure 20 The fuselage 1 is removed. Each fuselage transition section 41 is rotatably connected to a wing transition section 42 of a wing 2 via a concentric shaft 43. When the slide 511 slides, it can drive the two pull rods 52 at both ends to move, and then drive the two wings 2 on both sides of the fuselage 1 from the folded state to the unfolded state in a synchronous manner through the pull rods 52.

[0076] In this embodiment, the tilt-rotor fixed-wing UAV with vertical takeoff and landing (VTOL) has its wings 2 in a folded state. The spanwise axis of the wings 2 is parallel to the longitudinal axis of the fuselage 1, and the chord plane of the wings 2 is perpendicular to the horizontal plane. The rotor shaft 31 of the rotor 3 is also perpendicular to the horizontal plane. The UAV achieves VTOL takeoff, landing, and hovering in rotor mode. When switching to fixed-wing mode, the drive mechanism 5 drives the two pull rods 52 at both ends through the linear motion of the slide 511, thereby synchronously moving the wings 2 from the folded state to the deployed state. When the wings 2 transition from the folded state to the deployed state, the wing transition joint 42 rotates relative to the fuselage transition joint 41 and rotates around the concentric axis 43 until the first limiting surface 421 of the wing transition joint 42 contacts the second limiting surface 411 of the fuselage transition joint 41. At this point, the wings 2 reach a fully deployed state. During the transition of wing 2 from a folded to an unfolded state, it causes the rotor shaft 31 fixed to it to tilt forward by 90 degrees, thus simultaneously achieving the two actions of wing 2 unfolding and rotor 3 tilting. In the unfolded state, the spanwise axis of wing 2 is perpendicular to the longitudinal axis of fuselage 1, and the chord plane of wing 2 is parallel to the horizontal plane. The rotor shaft 31 of rotor 3 is also parallel to the horizontal plane. After unfolding, wing 2 forms a complete lifting surface, and simultaneously, rotor shaft 31 rotates to a horizontal position. Rotor 3 acts as a propulsion unit, providing forward thrust, thus converting the UAV into fixed-wing mode and achieving cruise performance comparable to that of a fixed-wing aircraft.

[0077] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A tilt-rotor fixed-wing unmanned aerial vehicle with vertical takeoff and landing, comprising a fuselage (1), a wing (2) mounted on the fuselage (1), and a plurality of rotors (3) mounted on the wing (2), wherein each rotor (3) comprises a rotor shaft (31) and winglets (32) rotatably mounted on the rotor shaft (31), characterized in that: The wing (2) is foldably mounted on the fuselage (1) via a folding mechanism (4), and the rotor shaft (31) is fixed to the wing (2); The drone also includes a drive mechanism (5) for driving the wing (2). The drive mechanism (5) includes a slide (511) that is slidably mounted on the fuselage (1) and can slide along the longitudinal axis of the fuselage (1) under the drive of the drive member (53), and a pull rod (52) that connects the slide (511) and the wing (2) at both ends through universal joints. The sliding of the slide (511) can drive the wing (2) from the folded state to the unfolded state through the pull rod (52), thereby driving the rotor shaft (31) to tilt forward. When the wing (2) is folded, the angle α between its spanwise axis and the longitudinal axis of the fuselage (1) satisfies α≥0°, and the rotor shaft (31) is perpendicular to the horizontal plane, and the UAV is in rotor mode; when the wing (2) is unfolded, the angle β between its spanwise axis and the longitudinal axis of the fuselage (1) satisfies β>α, and the rotor shaft (31) is parallel to the horizontal plane, and the UAV is in fixed-wing mode.

2. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 1, wherein: The rotor shaft (31) is parallel to the chord plane of the wing (2). When the wing (2) is folded, its chord plane is perpendicular to the horizontal plane. When the wing (2) is unfolded, its chord plane is parallel to the horizontal plane.

3. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 2, wherein: The fuselage (1) is fixedly installed with a rib (11), the rib (11) has a first mating surface (111), and the wing (2) has a second mating surface (21) that is adapted to the first mating surface (111). When the wing (2) is in the deployed state, the first mating surface (111) and the second mating surface (21) form a snap-fit ​​engagement.

4. The vertical takeoff and landing tilt-rotor fixed-wing UAV according to claim 3, characterized in that: The folding mechanism (4) includes: The fuselage conversion section (41) is fixedly mounted on the fuselage rib (11); The wing conversion joint (42) is fixedly mounted on the wing (2) and can rotate relative to the fuselage conversion joint (41); A concentric shaft (43) is inserted through the fuselage transition joint (41) and the wing transition joint (42) so that the wing transition joint (42) can rotate around the concentric shaft (43); The wing transition section (42) and the fuselage transition section (41) are respectively provided with a first limiting surface (421) and a second limiting surface (411). When the wing (2) changes from a folded state to an unfolded state, the wing transition section (42) rotates around the concentric axis (43) until the first limiting surface (421) of the wing transition section (42) contacts the second limiting surface (411) of the fuselage transition section (41). At this time, the wing (2) reaches the fully unfolded state.

5. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 4, wherein: The axial limiting structures of the fuselage transition section (41) and the wing transition section (42) include: The first limiting plate group (422) disposed on the wing conversion section (42) includes at least two plate-shaped structures that are parallel to each other and perpendicular to the axis of the concentric axis (43); The second limiting plate group (412) provided on the fuselage conversion section (41) includes at least one plate-shaped structure perpendicular to the axis of the concentric shaft (43); The plate-like structure of the second limiting plate group (412) is inserted between the adjacent plate-like structures of the first limiting plate group (422) to form an interlocking axial limiting structure.

6. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 1, wherein: The pull rod (52) is connected to the slide (511) via a first universal joint (54) mounted on the slide (511), and to the wing (2) via a second universal joint (55) mounted on the wing (2). Pull rod swivels (521) are fixedly provided at both ends of the pull rod (52). The first universal joint (54) includes a first universal joint seat (541) rotatably mounted on a slide (511), and a first hinge shaft (542) is fixedly mounted on the first universal joint seat (541). The second universal joint (55) includes a second universal joint seat (551) rotatably mounted on a wing (2), and a second hinge shaft (552) is fixedly mounted on the second universal joint seat (551). The pull rod head (521) at one end of the pull rod (52) is rotatably mounted on the first hinge shaft (542), and the pull rod head (521) at the other end is rotatably mounted on the second hinge shaft (552).

7. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 6, wherein: The first universal joint seat (541) includes a first base plate (5411) rotatably mounted on a slide (511) via a first rotating shaft (543) and two first side plates (5412) vertically fixed on the first base plate (5411) and arranged in parallel. The first rotating shaft (543) is fixedly mounted on the slide (511), the first base plate (5411) is rotatably mounted on the first rotating shaft (543), and the first hinge shaft (542) is fixedly mounted between the two first side plates (5412) and perpendicular to the first rotating shaft (543). The second universal joint (55) includes a second base plate (5511) rotatably mounted on the wing (2) via a second pivot (553) and two second side plates (5512) vertically fixed on the second base plate (5511) and arranged in parallel. The second pivot (553) is fixedly mounted on the wing (2), the second base plate (5511) is rotatably mounted on the second pivot (553), and the second hinge (552) is fixedly mounted between the two second side plates (5512) and perpendicular to the second pivot (553).

8. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 7, wherein: The first pivot (543) is perpendicular to the longitudinal axis of the fuselage (1), and the second pivot (553) is perpendicular to the spanwise axis of the wing (2).

9. The vertical take-off and landing, tilting multi-copter, fixed wing drone of claim 1, wherein: When the wing (2) is folded, its spanwise axis is parallel to the longitudinal axis of the fuselage (1); when the wing (2) is unfolded, its spanwise axis is perpendicular to the longitudinal axis of the fuselage (1).

10. The vertical takeoff and landing tilt-multirotor fixed-wing UAV according to claim 1, characterized in that: The driving component (53) is an electric telescopic rod installed below the body (1). A slide rail (56) is fixedly installed below the body (1). A slider (512) is slidably installed on the slide rail (56). A slide block (511) is fixedly installed below the slider (512). The output end of the electric telescopic rod is fixedly connected to the slider (512). When the electric telescopic rod moves, it drives the slider (512) and the slide block (511) to slide along the longitudinal axis of the body (1).

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