A high-precision tilting mechanism for small tilt-rotor UAVs

Abstract

This utility model relates to a high-precision tilting mechanism for a small tilt-rotor UAV. The rotor base is located at the lower end of the rotor system, with a central connecting seat at one end and side hinge seats on both sides of the other end. A transmission support includes a transmission hinge seat, with one end fixed to the central connecting seat and the other end hinged to a transmission link. Transmission connecting arms on both sides of the transmission hinge seat are fixed to the corresponding side hinge seats on the rotor base. A first support is located on one side of the tilt base, and a second support is located on the other side. The first and second supports are respectively hinged to the corresponding side hinge seats on the rotor base. A tilt motor is mounted on the first support, and a swing arm is mounted on the power shaft of the tilt motor. The transmission link is hinged to the swing arm. This utility model is based on a four-bar linkage tilt transmission mode, which, while cooperating with UAV mode transitions, can also overcome the huge gyroscopic torque, Coriolis torque, and vibration generated by the rotor system.

Description

Technical Field

[0001] This utility model relates to the field of tilt-rotor unmanned aerial vehicles (UAVs), specifically a high-precision tilt mechanism for small tilt-rotor UAVs. Background Technology

[0002] Tiltrotor drones are a type of drone capable of changing modes. These drones can achieve vertical takeoff and landing in confined spaces using multi-rotor modes. In the air, they utilize a tilting mechanism to switch the propellers from a vertical to a horizontal, forward-facing position, enabling high-speed flight operations in fixed-wing drone mode. Therefore, the tilting mechanism is the core actuator for the tiltrotor drone's mode-changing capabilities. Furthermore, during mode-changing, the drone's propellers maintain high-speed rotation, generating significant gyroscopic torque, Coriolis torque, and vibration from the blades and motors. Therefore, designing a tilting mechanism that can withstand the torque and vibration generated by the rotor system while maintaining high-precision tilting motion is a necessary technical condition for achieving the maneuvers of tiltrotor drones and is crucial for their safe operation.

[0003] Existing technologies for achieving tilting maneuvers in tilt-tilted drones primarily focus on the design and development of nacelle-type tilting mechanisms. This type of tilting mechanism can be used in tilt-tilted drone configurations with the rotor system positioned at the wingtips, but it is not suitable for smaller tilt-tilted drone configurations with the rotor system positioned in the middle of the wing. Furthermore, small tilt-tilted drones with the rotor system positioned in the middle of the wing have higher requirements for flight safety, windward cross-section, and component weight. Additionally, achieving low wind resistance, light weight, and high tilting accuracy in the tilting mechanism requires new technological approaches. Therefore, designing a tilting mechanism suitable for small tilt-tilted drone configurations with the rotor system positioned in the middle of the wing and extending forward is a pressing technical problem that needs to be solved. Utility Model Content

[0004] The purpose of this invention is to provide a high-precision tilting mechanism for small tilt-rotor UAVs. Through structural design, it forms a tilting transmission mode based on the four-bar linkage principle. While cooperating with the UAV's mode conversion, it can also overcome the huge gyroscopic torque, Coriolis torque and vibration generated by the rotor system. It is especially suitable for small tilt-rotor UAV configurations where the rotor system is located in the middle of the wing.

[0005] The objective of this utility model is achieved through the following technical solution: A high-precision tilting mechanism for a small tilt-rotor UAV includes a rotor system, a rotor base, a transmission support, a tilting base, a tilt motor, a swing arm, and a transmission link. The rotor base is fixed to the lower end of the rotor system, with a central connecting seat at one end and side hinge seats on both sides at the other end. The transmission support includes a transmission hinge seat, with one end of the transmission hinge seat fixedly connected to the central connecting seat and the other end hinged to the transmission link. Transmission connecting arms are provided on both sides of the transmission hinge seat, and these arms are fixedly connected to the corresponding side hinge seats on the rotor base. The tilting base has a first support on one side and a second support on the other side, with the first and second supports respectively hinged to the corresponding side hinge seats on the rotor base. The tilt motor is mounted on the first support, the swing arm is mounted on the power end of the tilt motor, and the end of the transmission link away from the transmission hinge seat is hinged to the swing arm.

[0006] The transmission hinge seat has a connecting protrusion at one end and a hinge groove at the other end. The intermediate connecting seat has a fixing groove, and the connecting protrusion is inserted and fixed in the fixing groove. The hinge groove has an intermediate hinge shaft, and one end of the transmission connecting rod is inserted into the hinge groove and rotated and fitted onto the intermediate hinge shaft. The outer side of the groove sidewall of the hinge groove is fixedly connected to the transmission connecting arm on the corresponding side.

[0007] A tilting bushing is fitted on the outer side of the intermediate hinge shaft, and both ends of the intermediate hinge shaft and the tilting bushing are positioned by end caps. The end caps are fixed to the side wall of the hinge groove by end cap bolts.

[0008] The first support is provided with a motor fixing part for fixing the tilting motor, and a first hinge ear is provided on one side of the motor fixing part. The first hinge ear is rotatably connected to a side hinge seat on the corresponding side of the rotor base through a first hinge shaft. The second support is provided with a second hinge ear on one side, and the second hinge ear is rotatably connected to a side hinge seat on the corresponding side of the rotor base through a second hinge shaft. The first hinge shaft and the second hinge shaft are coaxially arranged.

[0009] The first hinge ear is provided with a first limiting platform, the second hinge ear is provided with a second limiting platform, and the side hinge seat is provided with hinge seat limiting surfaces on both sides.

[0010] The tilting base has a first connecting platform on one side and a second connecting platform on the other side, and the first connecting platform is fixedly connected to the first support, and the second connecting platform is fixedly connected to the second support.

[0011] The rotor system includes a rotor fairing and a rotor motor. The rotor fairing is driven to rotate by the rotor motor. Rotor blades are provided on both sides of the rotor fairing. The rotor base is fixedly connected to the rotor motor.

[0012] The rotor base is equipped with a rotor pitch mechanism, which includes a movable pitch transmission rod. The pitch transmission rod passes through the rotor base and the rotor power motor and is hinged to the end of the blade shaft located in the rotor fairing. The front end of the blade shaft is fixedly connected to the rotor blade on the corresponding side.

[0013] The rotor pitch control mechanism includes a pitch control servo and a pitch control mounting base. The pitch control mounting base is fixedly connected to the base end plate of the rotor base. The pitch control servo is mounted on the pitch control mounting base, and the pitch control transmission rod is driven to move by the pitch control servo. The base end plate has an intermediate connecting seat in the middle of one end and side hinge seats on both sides of the other end.

[0014] The base end plate is fixedly connected to the rotor power motor, and the base end plate is provided with heat dissipation holes and a transmission rod through hole for the variable pitch transmission rod to pass through. A wiring hole is provided on one side of the base end plate.

[0015] The advantages and positive effects of this utility model are as follows: This invention utilizes a swing arm, transmission link, transmission frame, and rotor base to form a tilting transmission mode based on the four-bar linkage principle. It can achieve mechanism self-locking in fixed-wing mode and smooth tilting force transmission during tilting. In addition, the side hinge seats on both sides of the rotor base are respectively hinged to the supports on both sides of the tilting base. At the same time, the two hinge shafts (i.e., the first hinge shaft and the second hinge shaft below) are coaxially arranged to form the tilting axis of the rotor base. Furthermore, one end of the transmission link is hinged to the transmission hinge seat of the transmission frame, and the other end is connected to the tilting motor set on the tilting support through the swing arm. In this way, a three-point connection between the rotor base and the tilting base can be formed, which can effectively improve the rigidity of the tilting mechanism and fully resist the Coriolis torque, gyroscopic torque, and blade vibration generated by the rotor system.

[0016] The transmission bracket and rotor base of this utility model are fixed at three points, which can improve the support strength of the rotor base, thereby further improving the rigidity of the tilting mechanism. At the same time, it eliminates unnecessary structural weight and facilitates the separate processing of the rotor base and transmission bracket, which helps to reduce processing costs.

[0017] This invention utilizes the first limiting platform on the first support and the second limiting platform on the second support to cooperate with the limiting surface of the hinge seat on the corresponding side hinge seat to limit the relative rotation angle between the tilting base and the rotor base. This structure provides reliable limiting and does not require the addition of extra proximity sensors. At the same time, the collision between the first or second limiting platform and the limiting surface of the hinge seat is a rotational contact type, which will not cause excessive impact and damage.

[0018] This invention allows the rotor pitch control mechanism to be placed in the rotor base, achieving rotor blade pitch control without affecting the rotor base's tilt. It also makes the structure more compact and reduces the device's size. In addition, the rotor base of this invention is provided with heat dissipation holes for heat dissipation, and a wiring hole is provided on one side to facilitate heat dissipation and wiring. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the usage state of this utility model. Figure 2 for Figure 1 An enlarged schematic diagram of the present invention. Figure 3 for Figure 2 Overall sectional view of the present invention. Figure 4 for Figure 2 Another structural schematic diagram of the present invention. Figure 5 for Figure 4 Enlarged view of point A in the image. Figure 6 for Figure 4 Cross-sectional view of the connection structure between the central rotor base and the first and second supports. Figure 7 for Figure 4 Cross-sectional view of the connection structure between the rotor base and the transmission support. Figure 8 This is a schematic diagram illustrating the working principle of this utility model. Figure 1 , Figure 9 This is a schematic diagram illustrating the working principle of this utility model. Figure 2 .

[0020] Among them, 1 is the rotor fairing, 2 is the rotor blade, 3 is the rotor power motor, 4 is the rotor pitch mechanism, 401 is the pitch transmission rod, 402 is the pitch servo, 403 is the pitch mounting base, 404 is the connecting bolt, 5 is the rotor base, 501 is the base end plate, 502 is the wiring hole, 503 is the intermediate connecting seat, 504 is the side hinge seat, 5041 is the hinge seat limiting surface, 505 is the transmission rod through hole, 506 is the fixing bolt, 5061 is the fixing hole, 507 is the heat dissipation hole, 6 is the transmission bracket, 601 is the transmission hinge seat, 602 is the transmission connecting arm, 603 is the groove sidewall, 604 is the connecting protrusion, and 7 is the... 701 is the motor fixing part, 702 is the first limiting platform, 703 is the first hinge shaft, 7031 is the first bushing, 704 is the reinforcing rib plate, 705 is the first hinge ear, 8 is the second support, 801 is the second hinge ear, 802 is the second limiting platform, 803 is the second hinge shaft, 8031 ​​is the second bushing, 9 is the transmission connecting rod, 10 is the swing arm, 11 is the blade shaft, 12 is the tilting base, 1201 is the first connecting platform, 1202 is the second connecting platform, 13 is the tilting motor, 14 is the intermediate hinge shaft, 1401 is the tilting bushing, 1402 is the end cover, 1403 is the end cover bolt, and 15 is the swing arm hinge shaft. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings.

[0022] like Figures 1-9 As shown, this utility model includes a rotor system, a rotor base 5, a transmission bracket 6, a tilting base 12, a tilting motor 13, a swing arm 10, and a transmission connecting rod 9. The rotor base 5 is fixed to the lower end of the rotor system, and as shown... Figures 3-7 As shown, the rotor base 5 has a central connecting seat 503 at one end and side hinge seats 504 on both sides at the other end. The transmission bracket 6 includes a transmission hinge seat 601, one end of which is fixedly connected to the central connecting seat 503 of the rotor base 5, and the other end is hinged to the transmission connecting rod 9. Transmission connecting arms 602 are provided on both sides of the transmission hinge seat 601, and the transmission connecting arms 602 are fixedly connected to the corresponding side hinge seats 504 on the rotor base 5. Figure 4 As shown, the tilting base 12 has a first support 7 on one side and a second support 8 on the other side. The first support 7 and the second support 8 are respectively hinged to the side hinge seats 504 on the corresponding side of the rotor base 5. The tilting motor 13 is mounted on the first support 7, and the swing arm 10 is mounted on the power end of the tilting motor 13. The swing arm 10 is driven to rotate by the tilting motor 13. The end of the transmission connecting rod 9 away from the transmission hinge seat 601 is hinged to the swing arm 10. Figures 8-9As shown, when this utility model is working, the swing arm 10, the transmission link 9, the transmission bracket 6 and the rotor base 5 form a four-bar linkage. When the tilting motor 13 drives the swing arm 10 to rotate, that is, the transmission link 9 and the transmission bracket 6 drive the rotor base 5 and the rotor system on it to rotate together.

[0023] like Figure 4 and Figure 7 As shown, in this embodiment, the transmission hinge seat 601 has a connecting protrusion 604 at one end and a hinge groove at the other end. The intermediate connecting seat 503 has a fixing groove, and the connecting protrusion 604 is inserted and fixed in the fixing groove. In this embodiment, the connecting protrusion 604 and the fixing groove are fixedly connected by a three-point shaft pin. The hinge groove has an intermediate hinge shaft 14, and one end of the transmission connecting rod 9 is inserted into the hinge groove and rotatably mounted on the intermediate hinge shaft 14. The outer side of the groove sidewall 603 of the hinge groove is fixedly connected to the corresponding side transmission connecting arm 602. At the same time, the transmission connecting arm 602 is fixedly connected to the corresponding side hinge seat 504. In this way, the transmission bracket 6 and the rotor base 5 form a three-point fixed connection structure. This structure can improve the support strength of the rotor base 5, eliminate unnecessary structural weight, and facilitate the separate processing of the rotor base 5 and the transmission bracket 6, which helps to reduce processing costs.

[0024] like Figure 7 As shown, in this embodiment, a tilting bushing 1401 is fitted on the outer side of the intermediate hinge shaft 14, and both ends of the intermediate hinge shaft 14 and the tilting bushing 1401 are positioned by end caps 1402. The end caps 1402 are fixed to the groove sidewall 603 of the hinge groove by end cap bolts 1403, so that the end caps 1402 can be removed at any time and lubricating grease can be injected. Figure 1 As shown, the other end of the transmission link 9 is rotatably connected to the swing arm 10 via the swing arm hinge 15. The swing arm hinge 15 can also adopt the same structure as the intermediate hinge 14.

[0025] like Figure 4As shown, in this embodiment, the first support 7 is provided with a motor fixing part 701 for fixing the tilt motor 13, and a first hinge ear 705 is provided on one side of the motor fixing part 701. The first hinge ear 705 is rotatably connected to the corresponding side hinge seat 504 on the rotor base 5 via a first hinge shaft 703. The second support 8 is provided with a second hinge ear 801 on one side, and the second hinge ear 801 is rotatably connected to the corresponding side hinge seat 504 on the rotor base 5 via a second hinge shaft 803. The first hinge shaft 703 and the second hinge shaft 803 are coaxially arranged, so that the tilt motor 13 can be connected to the first hinge shaft 703 and the second hinge shaft 803 coaxially. The second hinge shaft 803 drives the rotor base 5 to tilt. Simultaneously, the rotor base 5 is connected to the tilting base 12 at three points via the transmission bracket 6. This includes side hinge seats 504 on both sides of the rotor base 5 being connected to the first support 7 and the second support 8 respectively, and the transmission hinge seat 601 being connected to the tilting motor 13 on the first support 7 via the transmission link 9 and the swing arm 13. This allows the tilting motor 13 to drive the rotor base 5 to tilt comprehensively and stably, thereby giving the tilting base 12 strong torque resistance, which can fully resist the Coriolis torque, gyroscopic torque and blade vibration generated by the rotor system, while also making the structure as lightweight as possible.

[0026] like Figure 6 As shown, in this embodiment, a first bushing 7031 is fitted on the first hinge shaft 703, and a second bushing 8031 ​​is fitted on the second hinge shaft 803. The shoulder portion of the first bushing 7031 and the shoulder portion of the second bushing 8031 ​​are respectively in close contact with the inner side of the corresponding side hinge seat 504.

[0027] like Figure 4 and Figure 5 As shown, in this embodiment, the first hinge ear 705 is provided with a first limiting platform 702, and the second hinge ear 801 is provided with a second limiting platform 802. The side hinge seat 504 has hinge seat limiting surfaces 5041 on both sides that cooperate with the first limiting platform 702 or the second limiting platform 802 to limit the relative rotation angle between the tilting base 12 and the rotor base 5. The above structure provides reliable limiting and eliminates the need for additional proximity sensors. Furthermore, the collision between the first limiting platform 702 or the second limiting platform 802 and the hinge seat limiting surface 5041 is a rotational contact type, preventing excessive impact and damage. Additionally, to further improve strength, such as... Figure 4 As shown, both the inner side of the first support 7 and the inner side of the second support 8 are provided with reinforcing ribs 704.

[0028] like Figure 4As shown in this embodiment, the tilting base 12 has a first connecting platform 1201 on one side and a second connecting platform 1202 on the other side. The first connecting platform 1201 is fixedly connected to the first support 7, and the second connecting platform 1202 is fixedly connected to the second support 8. The lower end of the tilting base 12 is fixedly connected to the UAV body.

[0029] like Figures 1-3 As shown, in this embodiment, the rotor system includes a rotor fairing 1 and a rotor motor 3, wherein the rotor fairing 1 is driven to rotate by the rotor motor 3, and rotor blades 2 are provided on both sides of the rotor fairing 1. The above structures are all known technologies in the art.

[0030] like Figure 3 As shown, in this embodiment, the rotor base 5 is fixedly connected to the rotor power motor 3, and the rotor base 5 is provided with a rotor pitch mechanism 4. The rotor pitch mechanism 4 includes a movable pitch transmission rod 401, and the pitch transmission rod 401 passes through the rotor base 5 and the rotor power motor 3 and is hinged to the end of the blade shaft 11 located in the rotor fairing 1. The front end of the blade shaft 11 is fixedly connected to the rotor blade 2 on the corresponding side.

[0031] like Figure 3 As shown, in this embodiment, the rotor pitch control mechanism 4 includes a pitch control servo 402 and a pitch control mounting base 403. The pitch control mounting base 403 is fixedly connected to the base end plate 501 of the rotor base 5 by connecting bolts 404. The base end plate 501 has an intermediate connecting seat 503 in the middle of one end and side hinge seats 504 on both sides of the other end. The pitch control servo 402 is mounted on the pitch control mounting base 403, and the pitch control transmission rod 401 is driven to move by the pitch control servo 402, thereby driving the rotor blade 2 to swing with pitch. The pitch control servo 402 is a commercially available product.

[0032] like Figures 3-5 As shown, in this embodiment, the base end plate 501 is fixedly connected to the rotor power motor 3 by fixing bolts 506, wherein... Figure 5 As shown, the base end plate 501 has a fixing hole 5061 for the fixing bolt 506 to pass through, a transmission rod through hole 505 for the variable pitch transmission rod 401 to pass through in the middle of the base end plate 501, and a cable routing hole 502 for the corresponding cable to pass through on one side of the base end plate 501. Additionally, as shown... Figure 4 As shown, the base end plate 501 is also provided with heat dissipation holes 507 to enable timely heat dissipation of the mechanism.

[0033] The working principle of this utility model is as follows: like Figures 8-9As shown, when this utility model is working, the swing arm 10, transmission link 9, transmission bracket 6, and rotor base 5 form a four-bar linkage, where α represents the transmission angle between the swing arm 10 and the transmission link 9. When the tilting mechanism of this utility model is in fixed-wing mode, at this time, as... Figure 9 As shown, the transmission angle α is 7°. At this angle, the transmission angle is relatively small, and the mechanism is in a self-locking state. Additionally, to provide some error margin for processing, the minimum transmission angle α is not designed to be 0°. When the tilting mechanism is in rotor mode, the transmission angle α is 30° in the opposite direction. Tests show that the effective driving force of the mechanism is 86.6%, exhibiting good force transmission characteristics. Therefore, even after the tilting motor 13 is locked, the overall rigidity of the tilting mechanism remains sufficiently reliable. Furthermore, the tilting mechanism is designed to tilt more than 90°, up to 95°. This allows the UAV to transition from fixed-wing mode to rotor mode by generating sequential thrust in the rotor through a 5° counter-rotation, thereby achieving rapid deceleration.

[0034] The working process of this utility model is as follows: When the tilt motor 13 rotates clockwise, the rotor base 5 gradually tilts from 0° to 95°, during which time it drives the rotor system to generate tilting motion, realizing the switch of the UAV from fixed-wing mode to rotor mode. Figure 8 As shown, the tiltrotor drone can achieve vertical takeoff and landing in rotor mode. Similarly, when tilt motor 13 reverses, the rotor base gradually tilts from 95° to 0°, during which time it drives the rotor system to generate a reverse tilting motion, realizing the drone's switch from rotor mode to fixed-wing mode, that is... Figure 9 As shown in the diagram, the tiltrotor UAV is now operating in fixed-wing mode.

[0035] Furthermore, when the tilt angle is 0°, the pressure transmission angle between the transmission link 9 and the swing arm 10 is approximately 7°, which is almost zero. Therefore, this invention can resist the vibration of the UAV during high-speed flight in a self-locking manner (the UAV flies at high speed and vibrates greatly in fixed-wing mode). When the tilt angle is 95°, the pressure angle generated by the transmission link 9 and the swing arm 10 is approximately 30°. This angle ensures that the transmission efficiency from the tilt motor 13 to the rotor base 5 is 86.6%, thereby ensuring that the tilt motor 13 can reasonably resist the torque generated by the rotor system and improve the overall rigidity in rotor mode.

Claims

1. A high-precision tilting mechanism for a small tilt-rotor UAV, characterized in that: The system includes a rotor system, a rotor base (5), a transmission bracket (6), a tilting base (12), a tilting motor (13), a swing arm (10), and a transmission link (9). The rotor base (5) is fixed to the lower end of the rotor system. One end of the rotor base (5) has a middle connecting seat (503) and the other end has side hinge seats (504) on both sides. The transmission bracket (6) includes a transmission hinge seat (601). One end of the transmission hinge seat (601) is fixed to the middle connecting seat (503), and the other end is hinged to the transmission link (9). The transmission hinge seat (601) has transmission connections on both sides. Arm (602), and the transmission connecting arm (602) is fixedly connected to the side hinge seat (504) on the corresponding side of the rotor base (5); the tilting base (12) has a first support (7) on one side and a second support (8) on the other side, and the first support (7) and the second support (8) are respectively hinged to the side hinge seat (504) on the corresponding side of the rotor base (5), the tilting motor (13) is located on the first support (7), the swing arm (10) is located at the power end of the tilting motor (13), and the transmission connecting rod (9) is hinged to the swing arm (10) at one end away from the transmission hinge seat (601).

2. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 1, characterized in that: The transmission hinge seat (601) has a connecting protrusion (604) at one end and a hinge groove at the other end. The intermediate connecting seat (503) has a fixing groove, and the connecting protrusion (604) is inserted and fixed in the fixing groove. The hinge groove has an intermediate hinge shaft (14), and one end of the transmission connecting rod (9) is inserted into the hinge groove and rotated and fitted onto the intermediate hinge shaft (14). The outer side of the groove sidewall (603) of the hinge groove is fixedly connected to the corresponding transmission connecting arm (602).

3. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 2, characterized in that: The intermediate hinge shaft (14) is fitted with a tilting bushing (1401) on its outer side, and both ends of the intermediate hinge shaft (14) and the tilting bushing (1401) are positioned by end caps (1402). The end caps (1402) are fixed to the groove sidewall (603) of the hinge groove by end cap bolts (1403).

4. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 1, characterized in that: The first support (7) is provided with a motor fixing part (701) for fixing the tilt motor (13), and a first hinge ear (705) is provided on one side of the motor fixing part (701). The first hinge ear (705) is rotatably connected to the side hinge seat (504) on the corresponding side of the rotor base (5) through a first hinge shaft (703). The second support (8) is provided with a second hinge ear (801) on one side, and the second hinge ear (801) is rotatably connected to the side hinge seat (504) on the corresponding side of the rotor base (5) through a second hinge shaft (803). The first hinge shaft (703) and the second hinge shaft (803) are coaxially arranged.

5. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 4, characterized in that: The first hinge ear (705) is provided with a first limiting platform (702), the second hinge ear (801) is provided with a second limiting platform (802), and the side hinge seat (5044) is provided with hinge seat limiting surfaces (5041) on both sides.

6. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 1, characterized in that: The tilting base (12) has a first connecting platform (1201) on one side and a second connecting platform (1202) on the other side. The first connecting platform (1201) is fixedly connected to the first support (7), and the second connecting platform (1202) is fixedly connected to the second support (8).

7. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 1, characterized in that: The rotor system includes a rotor fairing (1) and a rotor motor (3). The rotor fairing (1) is driven to rotate by the rotor motor (3). Rotor blades (2) are provided on both sides of the rotor fairing (1). The rotor base (5) is fixedly connected to the rotor motor (3).

8. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 7, characterized in that: The rotor base (5) is provided with a rotor pitch mechanism (4). The rotor pitch mechanism (4) includes a movable pitch transmission rod (401). The pitch transmission rod (401) passes through the rotor base (5) and the rotor power motor (3) and is hinged to the end of the blade shaft (11) located in the rotor fairing (1). The front end of the blade shaft (11) is fixedly connected to the rotor blade (2) on the corresponding side.

9. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 8, characterized in that: The rotor pitch mechanism (4) includes a pitch servo (402) and a pitch mounting base (403), wherein the pitch mounting base (403) is fixedly connected to the base end plate (501) of the rotor base (5), the pitch servo (402) is mounted on the pitch mounting base (403), and the pitch transmission rod (401) is driven to move by the pitch servo (402). The base end plate (501) has an intermediate connecting seat (503) in the middle of one end and side hinge seats (504) on both sides of the other end.

10. The high-precision tilting mechanism for a small tilt-rotor UAV according to claim 9, characterized in that: The base end plate (501) is fixedly connected to the rotor power motor (3), and the base end plate (501) is provided with heat dissipation holes (507) and transmission rod through holes (505) for the variable pitch transmission rod (401) to pass through. The base end plate (501) is provided with wiring holes (502) on one side.

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