Tilting single rotor mechanism, tilting coaxial dual rotor mechanism and tilting rotor drone

Abstract

The utility model belongs to the technical field of unmanned plane, and relates to a tilting single-rotor mechanism, a tilting coaxial double-rotor mechanism and a tilting rotor unmanned plane. The tilting joint of the tilting single-rotor mechanism and the tilting coaxial double-rotor mechanism adopts a steering engine to directly drive a tilting support, completes the tilting adjustment of a rotor assembly, is simple and reliable, has the advantages of high reliability, strong mobility and low power loss, and can solve the technical problems of the sudden drop of lift efficiency, insufficient stability of a traditional fixed-inclination rotor during high-speed flight, poor reliability of a mechanical variable-pitch mechanism, limited control flexibility, complex mechanical structure of an overall tilting scheme, and the like, which further leads to large power loss and obvious weight increase. The utility model is suitable for the rotor unmanned plane scene of high-speed flight, stable hovering and flexible control demand, such as logistics transportation, aerial photography, emergency rescue and the like. The tilting rotor unmanned plane contains the above-mentioned tilting rotor mechanism, has the advantages of few number of joints, obvious lightweight advantage, strong mobility and low power loss.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially is a kind of tilting single-rotor mechanism, tilting coaxial double-rotor mechanism and tilting rotor unmanned plane. BACKGROUND

[0002] At present, the tilting rotor design of rotor unmanned plane mainly includes fixed angle of inclination rotor, mechanical variable pitch rotor and overall tilting rotor. Among them, the fixed angle of inclination rotor scheme realizes attitude adjustment by multi-rotor differential speed, although simple structure, but high-speed lift asymmetry, easy to cause aerodynamic efficiency to drop suddenly to lead to insufficient stability;Mechanical variable pitch rotor scheme adjusts lift by changing blade angle of attack, although fast response, but mechanical wear is serious, poor reliability;Overall tilting rotor scheme is to tilt the entire motor group to change the direction of thrust, although controllability is strong, but power loss is big and weight increases obviously.

[0003] With the in-depth application of unmanned plane in logistics, inspection and other fields, the traditional rotor control scheme cannot meet the needs of high speed, high mobility, high reliability and low loss of unmanned plane. SUMMARY

[0004] The utility model aims at providing a kind of tilting single-rotor mechanism, tilting coaxial double-rotor mechanism and tilting rotor unmanned plane, and tilting single-rotor mechanism and tilting coaxial double-rotor mechanism all adopt brand-new rotor control scheme, with the advantages of high reliability, strong mobility and low power loss, to solve the problems existing in the prior art.

[0005] To achieve the above object, the utility model provides the following scheme: On the one hand, the utility model provides a kind of tilting single-rotor mechanism, comprising: Support seat, for being connected with unmanned plane arm; Tilting joint, the tilting joint is set one, it includes tilting drive and the tilting support connected in the output end of the tilting drive, the tilting drive is set on the support seat, for outputting tilting torque; Rotor assembly, including rotor drive and the rotor connected in the output end of the rotor drive, the rotor drive is fixed on the tilting support, and the rotor assembly can be tilted relative to the support seat under the drive of the tilting drive.

[0006] Preferably, the tilting drive is double-shaft steering gear, and the tilting support is connected with the output end of the double-shaft steering gear on both sides simultaneously;Or, the tilting drive includes two single-shaft steering gears arranged symmetrically, and the output ends of the two single-shaft steering gears are opposite and connected with the tilting support simultaneously.

[0007] Preferably, the tilting bracket is a U-shaped bracket, two side arm ends of the U-shaped bracket are respectively connected with two output ends of the tilting drive, and the rotor drive is fixed on a cross arm of the U-shaped bracket; and the cross arm is connected between the two side arms.

[0008] Preferably, a tilting limiting component is assembled between the tilting bracket and the bracket seat to limit the tilting angle of the tilting bracket.

[0009] In another aspect, the utility model provides a kind of tilting coaxial double-rotor mechanism, including bracket seat, tilting joint and two groups of rotor components, wherein: The bracket seat is used to be connected with the arm of unmanned aerial vehicle; Any one group of rotor components includes rotor drive and rotor connected to the output end of the rotor drive; The tilting joint is provided with one, including tilting drive and tilting bracket connected to the output end of the tilting drive, the tilting drive is arranged on the bracket seat, and the rotor drives of the two groups of rotor components are symmetrically fixed at two ends of the tilting bracket, and the tilting drive is used to output tilting torque to drive the two groups of rotor components to be synchronously tilted at 180 ° center symmetry;Or, the tilting joint is symmetrically provided with two on the bracket seat, any one of the tilting joints includes tilting drive and tilting bracket connected to the output end of the tilting drive, and one group of rotor components is arranged on the tilting bracket of the two tilting joints respectively, and the two tilting joints can drive the two groups of rotor components to be synchronously tilted at 180 ° center symmetry.

[0010] Preferably, when the tilting joint is provided with one: The tilting drive is a double-shaft steering machine, and the tilting bracket is connected with two side output ends of the double-shaft steering machine at the same time;Or, the tilting drive includes two symmetrically arranged single-shaft steering machines, the output ends of the two single-shaft steering machines are opposite and connected with the tilting bracket at the same time; The tilting bracket is an integral rectangular frame, the integral rectangular frame is sleeved outside the bracket seat, and two side middle parts of the integral rectangular frame are respectively connected with two output ends of the tilting drive.

[0011] Preferably, when the tilting joint is symmetrically provided with two on the bracket seat: The tilting drive is a double-shaft steering machine, and the tilting bracket is connected with two side output ends of the double-shaft steering machine at the same time;Or, the tilting drive includes two symmetrically arranged single-shaft steering machines, the output ends of the two single-shaft steering machines are opposite and connected with the tilting bracket at the same time; Any one of the tilting brackets is a U-shaped bracket, two side arm ends of the U-shaped bracket are connected with two output ends of the tilting drive respectively, the tilting drive is fixed on a cross arm of the U-shaped bracket, and the cross arm is connected between the two side arms.

[0012] Preferably, two tilting joints share one tilting drive.

[0013] Preferably, a tilting limiting component is arranged between any one of the tilting brackets and the bracket seat to limit the tilting angle of the tilting bracket.

[0014] In another aspect, the utility model provides a tilting rotor unmanned aerial vehicle, its arm end part is equipped with rotor mechanism, any one of the rotor mechanism adopts above -mentioned tilting single rotor mechanism, or, any one of the rotor mechanism adopts above -mentioned tilting coaxial double rotor mechanism, or, part the rotor mechanism adopts above -mentioned tilting single rotor mechanism, and the remaining rotor mechanism adopts above -mentioned tilting coaxial double rotor mechanism.

[0015] Preferably, the bracket seat of the tilting single rotor mechanism is a hollow straight arm structure or a hollow crank arm structure, and the bracket seat of the tilting coaxial double rotor mechanism is a hollow straight arm structure or a hollow crank arm structure.

[0016] Compared with the prior art, the utility model has the following technical effects: The tilting single rotor mechanism directly drives the tilting bracket by using a steering wheel, completes the tilting adjustment of the rotor assembly, has the advantages of high reliability, strong mobility and low power loss, can solve the problems of the sudden drop of lift efficiency, insufficient stability of the traditional fixed-inclination rotor during high-speed flight, poor reliability of the mechanical variable-pitch mechanism, limited control flexibility, complex mechanical structure of the overall tilting scheme, and the like, and is suitable for the tilting rotor unmanned aerial vehicle scene with the requirements of high-speed flight, stable hovering and flexible control, such as logistics transportation, aerial photography, emergency rescue and the like.

[0017] The tilting coaxial double rotor mechanism directly drives the tilting bracket by using a steering wheel, completes the tilting adjustment of the rotor assembly, has the advantages of high reliability, strong mobility and low power loss, can solve the problems of the sudden drop of lift efficiency, insufficient stability of the traditional fixed-inclination rotor during high-speed flight, poor reliability of the mechanical variable-pitch mechanism, limited control flexibility, complex mechanical structure of the overall tilting scheme, and the like, and is suitable for the tilting rotor unmanned aerial vehicle scene with the requirements of high-speed flight, stable hovering and flexible control, such as logistics transportation, aerial photography, emergency rescue and the like.

[0018] The tilt-rotor unmanned aerial vehicle disclosed by the utility model contains at least one of the above-mentioned tilt-coaxial double-rotor mechanism and tilt-single-rotor mechanism, has the advantages of less number of related parts, obvious lightweight advantage, strong maneuverability and low power loss. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art.

[0020] Figure 1 The structural schematic view of the tilt-single-rotor mechanism (the support seat adopts the hollow crank arm structure) disclosed by the utility model embodiment is shown in the figure. Figure 2 The top view of the tilt-single-rotor mechanism disclosed by the utility model embodiment is shown in the figure. Figure 3 The front view of the tilt-single-rotor mechanism disclosed by the utility model embodiment is shown in the figure. Figure 4 The structural schematic view of the tilt-single-rotor mechanism with the support seat crank arm reversely arranged disclosed by the utility model embodiment is shown in the figure. Figure 5 The structural schematic view of the tilt-single-rotor mechanism is shown in the figure. Figure 1 The structural schematic view of the tilt-limiting assembly in the tilt-single-rotor mechanism is shown in the figure. Figure 6 The structural schematic view of the tilt-coaxial double-rotor mechanism (the support seat adopts the hollow straight arm structure) disclosed by the utility model embodiment is shown in the figure. Figure 7 The front view of the tilt-coaxial double-rotor mechanism disclosed by the utility model embodiment is shown in the figure. Figure 8 The top view of the tilt-coaxial double-rotor mechanism disclosed by the utility model embodiment is shown in the figure. Figure 9 The structural schematic view of the tilt-coaxial double-rotor mechanism is shown in the figure. Figure 6 The structural schematic view of the tilt-limiting assembly in the tilt-coaxial double-rotor mechanism is shown in the figure.

[0021] In the figure, 100 is a tilt-single-rotor mechanism, and 200 is a tilt-coaxial double-rotor mechanism. 1 is a support seat, 11 is a rectangular mounting frame, 12 is a columnar connecting plug, and 13 is a locking block. 2 is a tilt joint, 21 is a tilt drive, and 22 is a tilt support. 3 is a rotor assembly, 31 is a rotor drive, and 32 is a rotor. 4 is a tilt-limiting assembly, 41 is a limiting rod, and 42 is a limiting block. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] One of the objectives of this invention is to provide a tilting single-rotor mechanism that adopts a novel rotor control scheme, which has the advantages of high reliability, strong maneuverability, and low power loss, in order to solve the problems existing in the prior art.

[0024] Another objective of this invention is to provide a tilting coaxial dual-rotor mechanism that adopts a novel rotor control scheme and has the advantages of high reliability, high maneuverability, and low power loss, thereby solving the problems existing in the prior art.

[0025] Another objective of this utility model is to provide a tilt-rotor unmanned aerial vehicle (UAV) comprising at least one of the above-mentioned tilt-coaxial dual-rotor mechanism and tilt-sing single-rotor mechanism.

[0026] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Example 1 like Figures 1-4 As shown, this embodiment proposes a tilting single-rotor mechanism 100, which includes a support base 1, a tilting joint 2, and a rotor assembly 3. The support base 1 is used to connect to the arm of a UAV. One tilting joint 2 is provided, and this joint includes a tilting drive 21 and a tilting bracket 22 connected to the output end of the tilting drive 21. The tilting drive 21 is mounted on the support base 1 and outputs tilting torque, thereby driving the tilting bracket 22 to rotate relative to the support base 1. The rotor assembly 3 includes a rotor drive 31 and a rotor 32 connected to the output end of the rotor drive 31. The rotor drive 31 is fixed to the tilting bracket 22, and the rotor assembly 3 can tilt relative to the support base 1 under the drive of the tilting drive 21. In the rotor assembly 3, the rotor drive 31 can drive the rotor 32 to rotate, providing lift for the UAV. This is a conventional functional structure in the art and will not be described in detail here.

[0028] In some feasible embodiments, the tilting drive 21 is directly connected with the tilting bracket 22, and can directly drive the rotor assembly 3 to tilt, having the advantage of structural simplification. Among them, the tilting drive 21 is preferably a rudder, having the advantages of lightweight and low cost. Specifically, the rudder can be a double-shaft rudder, which can synchronously transmit the power of the motor to the two output ends, realize the same angle and torque output, and the tilting bracket 22 is simultaneously connected with the two output ends of the double-shaft rudder, so as to realize stable driving of the tilting bracket 22 and improve the reliability of the tilting adjustment of the rotor assembly 3. In addition to the double-shaft rudder, a mode of arranging two single-shaft rudders symmetrically can also be used to realize synchronous output of the two sides of the tilting drive 21, and the output ends of the two single-shaft rudders are opposite and simultaneously connected with the tilting bracket 22.

[0029] Considering that the double-shaft rudder has less number of components and smaller volume than the arrangement of two single-shaft rudders, the tilting drive 21 is preferably a double-shaft rudder to meet the requirements of lightweight and compactness. The double-shaft rudder can be fixed on the bracket seat 1 by clamping, bolting, welding or the like.

[0030] Based on the above-mentioned double-sided power output mode of the tilting drive 21, the tilting bracket 22 is preferably a U-shaped bracket, as shown in Figure 1 The two arm ends of the U-shaped bracket are respectively connected with the two output ends of the tilting drive 21, the rotor drive 31 is fixed on the cross arm of the U-shaped bracket, and the cross arm is connected between the two arms. The U-shaped bracket can be an integrally formed bracket structure, that is, the cross arm and the two arms are integrally formed, or can be an assembled bracket structure, that is, the cross arm and the two arms are connected by assembly to form the U-shaped bracket, and the connection between the cross arm and the two arms includes but is not limited to welding, bolting and other connection means known to those skilled in the art.

[0031] As shown in Figure 1 and Figure 3 Preferably, the end portions of the two output shafts of the double-shaft rudder are coaxially provided with flanges, and the flanges can be fixed on the output shafts of the double-shaft rudder by welding, key connection or the like. The two arms of the U-shaped bracket (i.e. the tilting bracket 22) are located outside the flanges on both sides of the double-shaft rudder and are fixed with the flanges by bolts. When the double-shaft rudder outputs power, the output ends drive the flanges to rotate synchronously, and the flanges drive the U-shaped bracket (i.e. the tilting bracket 22) to rotate synchronously, thereby realizing the function of the tilting joint 2 driving the rotor assembly 3 to tilt and adjust.

[0032] As shown in Figure 1 and Figure 3 The rotor drive 31 is preferably an electric motor, and the motor housing is fixed on the outside of the cross arm of the aforementioned U-shaped bracket by bolting or welding, so as to ensure that the rotor drive 31 tilts synchronously with the U-shaped bracket. In the tilting single-rotor mechanism 100, the entire rotor assembly 3 is generally installed on the top of the tilting joint 2.

[0033] The rotor drive 31 preferably uses a brushless motor. The rotor diameter to motor power ratio is 1:1.2. The rotor diameter refers to the length of the connecting line segment between the outermost ends of the two blades in the rotor 32, and this connecting line segment passes through the center of the rotor 32. The rotor diameter is a definition known to those skilled in the art and will not be elaborated further.

[0034] In some feasible implementations, to further improve the reliability of the tilt joint 2, a tilt limiting component 4 can be installed between the tilt support 22 and the support base 1 to limit the tilt angle of the tilt support 22 and ensure rotor control performance. Specifically, such as Figure 5 As shown, the side arm end of the tilting bracket 22 is longer than the bottom of the bracket base 1. The tilting limiting assembly 4 includes a limiting rod 41 and a limiting block 42. The limiting block 42 is fixed to the bottom of the bracket base 1, and the limiting rod 41 is located at the side arm end of the tilting bracket 22. The limiting rod 41 is perpendicular to the side arm of the tilting bracket 22 and extends to the bottom of the bracket base 1. When the tilting drive 21 drives the tilting bracket 22 to rotate to a certain angle, the limiting rod 41 will contact the limiting block 42, and the limiting block 42 will restrict the movement of the limiting rod 41, thereby achieving the purpose of limiting the rotation of the tilting bracket 22.

[0035] In some feasible implementations, a pair of limiting blocks 42 can be configured in the tilt limiting assembly 4. The two limiting blocks 42 are located on both sides of the limiting rod 41, and the limiting rod 41 is rotated and limited on both sides by the two limiting blocks 42, resulting in higher limiting accuracy and reliability. Alternatively, depending on the flight performance and requirements of the UAV, only one limiting block 42 can be configured in each set of tilt limiting assemblies 4 (this method is suitable for cases where only unidirectional rotor tilting is required). The limiting rod 41 can be rotated and limited on one side by this limiting block 42 to meet the requirements. In practical applications, tilt limiting assemblies 4 with different numbers of limiting blocks can be configured according to the needs of the UAV.

[0036] like Figure 5 As shown, this is a structure where only one side of the tilting bracket 22 has a tilting limiting component 4. To further improve tilting reliability, a set of the aforementioned tilting limiting components 4 can be respectively arranged between the ends of the two arms of the tilting bracket 22 and the bracket base 1. Preferably, the two sets of tilting limiting components 4 have the same structure and are arranged symmetrically. The limiting rods 41 of the two sets of tilting limiting components 4 can be arranged independently or connected as one unit, that is, the two ends of the same limiting rod 41 serve as the limiting rod components of the two sets of tilting limiting components 4 respectively.

[0037] In some feasible implementations, the limiting block 42 can be fixed to the support base 1 by bolts, welding, or integral molding with the support base 1, and it protrudes from the bottom surface of the support base 1. The limiting rod 41 can be welded to the end of the side arm of the tilting support 22, or it can be integrally molded with the tilting support 22. Alternatively, the limiting rod 41 can be directly made of bolts or screws, with threaded holes provided at the end of the side arm of the tilting support 22, and the limiting rod 41 can be fastened to the end of the side arm of the tilting support 22 by threaded connection.

[0038] In some feasible implementations, a dual-axis servo can drive the rotor assembly 3 to rotate within a range of 0 to 90 degrees, and the tilt limiting assembly 4 can limit the tilt of the rotor assembly 3 to 90 degrees. Here, the 0-degree state refers to the state where the rotation axis of the rotor 32 is perpendicular to the rectangular mounting bracket 11 of the hollow support, as shown in the reference... Figure 3 and Figure 4 The tilting bracket 22 is driven to flip outward by the dual-axis servo motor until the limit rod 41 contacts the limit block 42 to achieve the limit. At this time, the rotation axis of the rotor 32 is parallel to the rectangular mounting bracket 11 of the hollow bracket, thus completing the tilting of the rotor assembly 3 from 0 degrees to 90 degrees. The rotor assembly 3 rotates from the vertical state to the horizontal state.

[0039] Some feasible implementation methods, such as Figure 1 , Figure 3 and Figure 5 As shown, the preferred bracket 1 adopts a hollow bracket, which can meet the installation requirements of the tilt drive while ensuring the overall lightweight of the tilt mechanism, thus guaranteeing the flight performance of the UAV. This hollow bracket includes a rectangular mounting frame 11 and a columnar connecting plug 12 integrally formed with the rectangular mounting frame 11. The columnar connecting plug 12 is used to fix the bracket 1 to the end of the UAV arm. (Reference) Figure 3 and Figure 5 The rectangular mounting bracket 11 is a cuboid hollow frame, with its top, bottom, and two sides for the servo output end to extend out being hollowed out. The dual-axis servo is embedded inside the rectangular mounting bracket 11 and is clearance-fitted to the inner wall of the rectangular mounting bracket 11. The two can be reinforced by welding, bonding, or bolting to achieve the integration and compactness of the entire tilting mechanism. The columnar connector 12 has hollowed-out weight-reduction holes on its outer wall for insertion into the end of the UAV arm. Specifically, as shown... Figure 5 As shown, the end of the cylindrical connector 12 away from the rectangular mounting bracket 11 has an opening groove along its axial direction. The end of this opening groove extends through the end of the cylindrical connector 12 away from the rectangular mounting bracket 11, giving this end a certain expansion and contraction reset elasticity, making the assembly and disassembly of the cylindrical connector 12 on the UAV arm quicker and more flexible. Locking blocks 13 protruding from the outer surface of the cylindrical connector 12 are provided on both sides of the opening groove.Figure 3 and Figure 5 As shown, both locking blocks 13 have threaded holes. After the cylindrical connector 12 is inserted into the end of the drone arm, the locking blocks 13 can be tightened by screwing screws into the threaded holes, thus securing the cylindrical connector 12 to the drone arm and completing the installation and fixation of the rotor mechanism on the drone arm. When it is necessary to remove the bracket 1, the screws on the two locking blocks 13 can be unscrewed to open the two locking blocks 13, thereby allowing the rotor mechanism to be easily removed from the drone arm.

[0040] The locking block 13 is preferably integrally formed with the columnar connector 12, which can make the overall structural strength of the bracket 1 higher.

[0041] In some feasible embodiments, the rectangular mounting bracket 11 and the columnar connector 12 can be arranged coaxially or at an angle to each other. Specifically, when the rectangular mounting bracket 11 and the columnar connector 12 are arranged coaxially, the bracket base 1 is as follows: Figure 6 The hollowed-out straight arm structure shown, when the rectangular mounting bracket 11 and the axis of the columnar connector 12 are arranged at an angle, the bracket base 1 as a whole is as shown. Figure 1 The hollowed-out crank arm structure shown in the image helps to reduce the overall size of the drone, making it smaller and lighter.

[0042] In some feasible implementations, the bracket 1 preferably adopts an aluminum alloy hollow structure.

[0043] The tilting single-rotor mechanism 100 can be configured with a hollowed-out crank arm structure or a hollowed-out straight arm structure according to the needs of the UAV. For example... Figure 1 The diagram shown is a schematic of the support base 1 of the tilting single rotor mechanism 100, which adopts a hollowed-out crank arm structure.

[0044] The aforementioned tilting single-rotor mechanism 100 is mainly installed in unmanned aerial vehicles (UAVs). Both the rotor drive 31 and the tilt drive 21 are communicatively connected to the UAV's flight control system. The flight control system integrates a gyroscope and a servo controller, and existing technologies can be referenced; details will not be elaborated further.

[0045] The tilting joint of the tilting single rotor mechanism 100 mentioned above adopts a very simple mechanism: the servo motor directly drives the tilting bracket to complete the tilting adjustment of the rotor assembly. The mechanism is simple and reliable, and the torsional stiffness is ≥500N·m / rad.

[0046] This technology is primarily applicable to tiltrotor drone scenarios requiring high-speed flight, stable hovering, and flexible control, such as logistics transportation, aerial photography, and emergency rescue. The working process and principle are as follows: The UAV flight control system drives servos based on attitude data, and the servos synchronously adjust the rotor tilt angle. When flying forward, the front rotor tilts backward and the rear rotor tilts forward, creating a pitching moment that improves aerodynamic efficiency.

[0047] It is important to note that: S1: Calibrate the zero-point position of each joint before takeoff; S2: During flight, the flight control automatically allocates the tilt angle of each rotor (this is common knowledge to those skilled in the art); S3: In manual mode, the tilt direction of each tilt joint can be directly controlled via the joystick.

[0048] Compared with existing technologies, the technical advantages of this solution are as follows: 1) The rotor tilting mechanism increases the maximum flight speed by more than 40%; 2) Enhanced dynamic stability and improved crosswind resistance by 35%; 3) Simplify the mechanical structure, reduce the overall weight by 15% and lower energy consumption; 4) Supports precise control with six degrees of freedom. With the support base of the crank arm structure, the turning radius can be reduced by 50%.

[0049] In summary, the tilting single rotor mechanism 100 proposed in this solution can solve the technical problems of traditional fixed tilt rotors during high-speed flight, such as a sharp drop in lift efficiency, insufficient stability, poor reliability of mechanical pitch mechanism, limited control flexibility, and complex mechanical structure of overall tilting scheme, which leads to large power loss and significant weight increase.

[0050] Example 2 like Figure 4 As shown, this embodiment proposes a tilting single-rotor mechanism 100, which differs from Embodiment 1 only in that the support base 1 adopts a hollowed-out crank arm structure with the crank arm direction opposite to that of Embodiment 1. The two crank arm-type tilting single-rotor mechanisms 100 of Embodiments 1 and 2 can be symmetrically installed in a UAV, such as front-to-back symmetrical or left-to-right symmetrical installation.

[0051] Example 3 This embodiment proposes a tilting single-rotor mechanism 100, which differs from embodiments 1 and 2 only in that: the support base 1 adopts the following... Figure 6 The hollowed-out straight arm structure shown is illustrated. The tilting principle of the rotor assembly 3 in this mechanism is the same as in embodiments 1 and 2, and will not be described in detail here.

[0052] Example 4 like Figure 6 As shown, this embodiment proposes a tilting coaxial dual-rotor mechanism 200, which is basically the same in structure as the tilting single-rotor mechanism 100. The difference is that the tilting single-rotor mechanism 100 arranges one set of rotor components 3, while the tilting coaxial dual-rotor mechanism 200 of this embodiment arranges two sets of rotor components 3 coaxially. This makes the tilting joint 2 of this embodiment different from that of the tilting single-rotor mechanism 100, as detailed below: (i) When one tilt joint 2 is provided: it includes a tilt drive 21 and a tilt bracket 22 connected to the output end of the tilt drive 21. The tilt drive 21 is mounted on the bracket base 1. The rotor drives 31 of the two sets of rotor assemblies 3 are symmetrically fixed at both ends of the same tilt bracket 22. The tilt drive 21 is used to output tilt torque to drive the two sets of rotor assemblies 3 to tilt synchronously with 180° center symmetry. Based on this single joint structure, the tilt drive 21 can directly adopt a dual-axis servo. The tilt bracket 22 is simultaneously connected to the output ends on both sides of the dual-axis servo. The connection method is described in Embodiment 1 and will not be repeated here. In addition, the tilt drive 21 may also include two symmetrically arranged single-axis servos. The output ends of the two single-axis servos are opposite to each other and are simultaneously connected to the tilt bracket 22. The tilt bracket 22 is preferably an integral rectangular frame. The integral rectangular frame is fitted outside the bracket base 1. The middle parts of the two sides of the integral rectangular frame are respectively connected to the output ends on both sides of the tilt drive 21. The connection method is described in Embodiment 1 and will not be repeated here.

[0053] (ii) When two tilt joints 2 are symmetrically arranged on the support base 1: Each tilt joint 2 includes a tilt drive 21 and a tilt support 22 connected to the output end of the tilt drive 21. Each tilt support 22 of the two tilt joints 2 is provided with a set of rotor assemblies 3, which can drive the two sets of rotor assemblies 3 to tilt synchronously with 180° central symmetry. Each tilt drive 21 can directly adopt a dual-axis servo motor, or it can adopt a structure in which two single-axis servos are symmetrically arranged. Based on this dual-joint structure, it is preferred that any tilt support 22 is the U-shaped support disclosed in Embodiment 1. The two arm ends of the U-shaped support are respectively connected to the two output ends of the corresponding tilt drive 21, and the rotor drive 31 is fixed on the cross arm of the U-shaped support.

[0054] Specifically, each of the two tilt joints 2 can be configured with an independent tilt drive 21. Although this provides flexible operation, it also results in a large number of components and significant weight. To ensure the lightweight design of the UAV, this embodiment preferably uses a single tilt drive 21 for the two tilt joints 2 in the aforementioned dual-joint structure. That is, the U-shaped supports of both tilt joints 2 are connected to the same servo motor. This design ensures that the U-shaped supports of the two tilt joints 2 rotate synchronously, which is essentially the same as the effect of using an integrated rectangular frame.

[0055] It should be noted that, such as Figure 6 and Figure 7As shown, both output ends of the dual-axis servo shared by the two tilt joints 2 are fixed with flanges. These flanges can be fixed to the output shaft of the dual-axis servo via welding, keying, or other methods. The two arms of the U-shaped bracket of one tilt joint 2 are located on the upper outer sides of the flanges on both sides of the dual-axis servo and are fixed to the upper part of the flanges with bolts. The two arms of the U-shaped bracket of the other tilt joint 2 are located on the lower outer sides of the flanges on both sides of the dual-axis servo and are fixed to the lower part of the flanges with bolts. Therefore, when the dual-axis servo outputs power, its output end drives the flanges to rotate synchronously. The flanges then drive the U-shaped brackets of the two tilt joints 2 to rotate synchronously, thus realizing the function of tilt joint 2 driving the tilt adjustment of the coaxial dual-rotor assembly.

[0056] In some feasible implementations, to further improve the reliability of the tilt joint 2, a tilt limiting component 4 can be installed between the tilt support 22 and the support base 1 to limit the tilt angle of the tilt support 22 and ensure rotor control performance. Specifically, such as Figure 9 As shown, the tilting limiting assembly 4 includes a limiting rod 41 and a limiting block 42. The limiting block 42 is fixed on the support base 1, and the limiting rod 41 is disposed on the side arm of the tilting support 22. The limiting rod 41 is perpendicular to the side arm of the tilting support 22 and extends to the outside of the support base 1. When the tilting drive 21 drives the tilting support 22 to rotate to a certain angle, the limiting rod 41 will contact the limiting block 42, and the limiting block 42 will restrict the movement of the limiting rod 41, thereby achieving the purpose of limiting the rotation of the tilting support 22.

[0057] In some feasible implementations, a pair of limiting blocks 42 can be configured in the tilt limiting assembly 4. The two limiting blocks 42 are located on both sides of the limiting rod 41, and the limiting rod 41 is rotated and limited on both sides by the two limiting blocks 42, resulting in higher limiting accuracy and reliability. Alternatively, depending on the flight performance and requirements of the UAV, only one limiting block 42 can be configured in each set of tilt limiting assemblies 4 (this method is suitable for cases where only unidirectional rotor tilting is required). The limiting rod 41 can be rotated and limited on one side by this limiting block 42 to meet the requirements. In practical applications, tilt limiting assemblies 4 with different numbers of limiting blocks can be configured according to the needs of the UAV.

[0058] In some feasible implementations, a dual-axis servo can drive two sets of rotor assemblies 3 to rotate within a range of -13 degrees to 13 degrees, and a tilt limiting assembly 4 can limit the tilt of the rotor assembly 3 on both sides. The 0-degree state refers to the state where the rotation axis of the rotor 32 is perpendicular to the rectangular mounting bracket 11 of the hollow support, as shown in the reference... Figure 6 and Figure 7 The tilting bracket 22 can be driven to deflect left and right within a range of 0±13 degrees by a dual-axis servo motor until the limit rod 41 contacts the limit block 42 to achieve the limit.

[0059] like Figure 9As shown, the two tilting brackets 22 are connected to the same dual-axis servo motor and always tilt synchronously. In this case, a tilting limit component 4 can be arranged on one side of only one tilting bracket 22 to meet the rotation limit requirements. However, in order to further improve the tilting reliability, a set of the aforementioned tilting limit components 4 can also be arranged between the two arm ends of each tilting bracket 22 and the bracket base 1.

[0060] The arrangement of the limiting block 42 and the limiting rod 41 in the tilting limiting assembly 4 can be found in Embodiment 1, and will not be repeated here.

[0061] Some feasible implementation methods, such as Figure 6 , 7 Figure 9 shows a schematic diagram of the support base 1 of the tilting coaxial dual-rotor mechanism 200, which adopts a hollow straight arm structure. In actual needs, the hollow straight arm structure can be replaced with a structure such as... Figure 1 The hollowed-out crank arm structure shown in the figure.

[0062] In some feasible implementations, the bracket 1 preferably adopts an aluminum alloy hollow structure.

[0063] The hollowed-out crank structure helps to shorten the overall size of the drone, making it smaller and lighter.

[0064] The tilt joint of the aforementioned tilt coaxial dual rotor mechanism 200 adopts a minimalist mechanism: the servo motor directly drives the tilt support to complete the tilt adjustment of the coaxial rotor assembly. The mechanism is simple and reliable, with a torsional stiffness ≥500 N·m / rad.

[0065] This technology is primarily applicable to tiltrotor drone scenarios requiring high-speed flight, stable hovering, and flexible control, such as logistics transportation, aerial photography, and emergency rescue. The working process and principle are as follows: The UAV flight control system drives servos based on attitude data, and the servos synchronously adjust the rotor tilt angle. When flying forward, the front rotor tilts backward and the rear rotor tilts forward, creating a pitching moment that improves aerodynamic efficiency.

[0066] It is important to note that: S1: Calibrate the zero-point position of each joint before takeoff; S2: During flight, the flight control automatically allocates the tilt angle of each rotor (this is common knowledge to those skilled in the art); S3: In manual mode, the tilt direction of each tilt joint can be directly controlled via the joystick.

[0067] Compared with existing technologies, the technical advantages of this solution are as follows: 1) The rotor tilting mechanism increases the maximum flight speed by more than 40%; 2) Enhanced dynamic stability and improved crosswind resistance by 35%; 3) Simplify the mechanical structure, reduce the overall weight by 15% and lower energy consumption; 4) Supports precise control with six degrees of freedom. With the support base of the crank arm structure, the turning radius can be reduced by 50%.

[0068] In summary, the tilting coaxial dual rotor mechanism 200 proposed in this solution can solve the technical problems of traditional fixed tilt rotors during high-speed flight, such as a sharp drop in lift efficiency, insufficient stability, poor reliability of mechanical pitch mechanism, limited control flexibility, and complex mechanical structure of overall tilting scheme, which leads to large power loss and significant weight increase.

[0069] Example 5 This embodiment proposes a tilt-rotor unmanned aerial vehicle (UAV) with a rotor mechanism at the end of its arm. Any one of the rotor mechanisms is a tilt-rotor single-rotor mechanism 100; or, any one of the rotor mechanisms is a tilt-coaxial dual-rotor mechanism 200; or, some rotor mechanisms are tilt-rotor single-rotor mechanisms 100, and the remaining rotor mechanisms are tilt-coaxial dual-rotor mechanisms 200.

[0070] Tiltrotor drones include, but are not limited to, quadcopter and hexacopter drones. Taking a hexacopter tiltrotor drone as an example, it employs two sets of tilt-coaxial dual-rotor mechanisms (200) and four sets of tilt-sing single-rotor mechanisms (100). Each rotor tilt mechanism tilts independently through its own tilt joint. Compared to the increased weight and energy consumption caused by complex mechanical structures, this solution reduces the number of joints, achieving lightweight and energy-efficient drone operation. Furthermore, this hexacopter tiltrotor drone achieves multi-degree-of-freedom thrust vector control through six sets of rotor tilt mechanisms equipped with two-dimensional tilt joints. The flight control system adjusts the tilt angle of each rotor based on real-time flight conditions, enabling the drone to compensate for lift asymmetry through rotor tilt during high-speed flight, while reducing the mechanical losses of traditional variable-pitch mechanisms. Tests show that this hexacopter tiltrotor drone can increase cruise speed by 40% and improve crosswind resistance by 35%.

[0071] For the tilting single-rotor mechanism 100 or tilting coaxial dual-rotor mechanism 200 installed on the left and right sides of the tilting rotor drone, the external volume of the drone can be reduced by using a crank-type bracket to improve the flexibility and controllability of the drone.

[0072] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of this invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0073] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A tilting single-rotor mechanism, characterized in that, include: Support base (1), used to connect to the drone arm; A tilting joint (2) is provided, which includes a tilting drive (21) and a tilting bracket (22) connected to the output end of the tilting drive (21). The tilting drive (21) is provided on the bracket seat (1) and is used to output tilting torque. The rotor assembly (3) includes a rotor drive (31) and a rotor (32) connected to the output end of the rotor drive (31). The rotor drive (31) is fixed on the tilting bracket (22). The rotor assembly (3) is able to tilt relative to the bracket seat (1) under the drive of the tilting drive (21).

2. The tilting single-rotor mechanism according to claim 1, characterized in that, The tilt drive (21) is a dual-axis servo motor, and the tilt bracket (22) is simultaneously connected to the output ends on both sides of the dual-axis servo motor; or, the tilt drive (21) includes two symmetrically arranged single-axis servos, the output ends of the two single-axis servos are opposite to each other, and are simultaneously connected to the tilt bracket (22). The tilting bracket (22) is a U-shaped bracket. The ends of the two arms of the U-shaped bracket are respectively connected to the two output ends of the tilting drive (21). The rotor drive (31) is fixed on the horizontal arm of the U-shaped bracket. The horizontal arm is connected between the two side arms.

3. The tilting single-rotor mechanism according to claim 1 or 2, characterized in that, A tilting limit assembly (4) is fitted between the tilting bracket (22) and the bracket base (1) to limit the tilting angle of the tilting bracket (22).

4. A tilting coaxial dual-rotor mechanism, characterized in that, Includes a support base (1), a tilting joint (2), and two sets of rotor assemblies (3), wherein: The bracket (1) is used to connect to the arm of the drone; Each set of rotor assemblies (3) includes a rotor drive (31) and a rotor (32) connected to the output end of the rotor drive (31). One tilt joint (2) is provided, which includes a tilt drive (21) and a tilt bracket (22) connected to the output end of the tilt drive (21). The tilt drive (21) is provided on the bracket base (1). The rotor drives (31) of the two sets of rotor assemblies (3) are symmetrically fixed at both ends of the tilt bracket (22). The tilt drive (21) is used to output tilt torque to drive the two sets of rotor assemblies (3) to tilt synchronously with 180° center symmetry. Alternatively, two tilt joints (2) are symmetrically provided on the bracket base (1). Each tilt joint (2) includes a tilt drive (21) and a tilt bracket (22) connected to the output end of the tilt drive (21). A set of rotor assemblies (3) is provided on the tilt bracket (22) of the two tilt joints (2). The two tilt joints (2) can drive the two sets of rotor assemblies (3) to tilt synchronously with 180° center symmetry.

5. The tilting coaxial dual-rotor mechanism according to claim 4, characterized in that, When one tilting joint (2) is provided: The tilt drive (21) is a dual-axis servo motor, and the tilt bracket (22) is simultaneously connected to the output ends on both sides of the dual-axis servo motor; or, the tilt drive (21) includes two symmetrically arranged single-axis servos, the output ends of the two single-axis servos are opposite to each other, and are simultaneously connected to the tilt bracket (22). The tilting bracket (22) is an integral rectangular frame, which is fitted onto the outside of the bracket base (1). The middle parts of both sides of the integral rectangular frame are respectively connected to the two output ends of the tilting drive (21).

6. The tilting coaxial dual-rotor mechanism according to claim 4, characterized in that, When two tilting joints (2) are symmetrically arranged on the support base (1): The tilt drive (21) is a dual-axis servo motor, and the tilt bracket (22) is simultaneously connected to the output ends on both sides of the dual-axis servo motor; or, the tilt drive (21) includes two symmetrically arranged single-axis servos, the output ends of the two single-axis servos are opposite to each other, and are simultaneously connected to the tilt bracket (22). Any of the tilting brackets (22) is a U-shaped bracket. The ends of the two arms of the U-shaped bracket are respectively connected to the two output ends of the corresponding tilting drive (21). The rotor drive (31) is fixed on the cross arm of the U-shaped bracket, and the cross arm is connected between the two side arms.

7. The tilting coaxial dual-rotor mechanism according to claim 6, characterized in that, The two tilt joints (2) share one tilt drive (21).

8. The tilting coaxial dual-rotor mechanism according to any one of claims 4 to 7, characterized in that, Each of the tilting brackets (22) and the bracket base (1) is equipped with a tilting limiting component (4) to limit the tilting angle of the tilting bracket (22).

9. A tilt-rotor unmanned aerial vehicle (UAV) with a rotor mechanism at the end of its arm, characterized in that, All of the rotor mechanisms described herein employ the tilting single rotor mechanism as described in any one of claims 1 to 3; or, all of the rotor mechanisms described herein employ the tilting coaxial dual rotor mechanism as described in any one of claims 4 to 8; or, some of the rotor mechanisms employ the tilting single rotor mechanism as described in any one of claims 1 to 3, and the remaining rotor mechanisms employ the tilting coaxial dual rotor mechanism as described in any one of claims 4 to 8.

10. The tiltrotor unmanned aerial vehicle according to claim 9, characterized in that, The support base (1) of the tilting single rotor mechanism is a hollow straight arm structure or a hollow crank arm structure; the support base (1) of the tilting coaxial dual rotor mechanism is a hollow straight arm structure or a hollow crank arm structure.

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