Tilt device and design method therefor, and aircraft

Abstract

Disclosed in the present application are a tilt device and a design method therefor, and an aircraft. The tilt device is applied to an aircraft having a first plane, and a propeller mechanism of the aircraft has a rotation axis. The tilt device comprises a base, a transmission mechanism, and a tilt electric motor, wherein the transmission mechanism is detachably connected to the base and is configured to connect to the propeller mechanism, and the transmission mechanism has a tilt axis for the rotation axis to tilt relative to the first plane; and the tilt electric motor is arranged on the base and is in driving connection with the transmission mechanism. The rotation axis has a first tilt interval, and during a process in which the rotation axis tilts within the first tilt interval, the variation tendency of reduction ratio of the transmission mechanism is consistent with the variation tendency of torque borne by the tilt device; and during the process in which the rotation axis tilts within the first tilt interval, the difference between the maximum value and the minimum value of the reduction ratio of the transmission mechanism is less than or equal to 3, and / or, the ratio of the maximum value of the reduction ratio of the transmission mechanism to the minimum value of same is less than or equal to 3.

Description

Tilt device, design method thereof, and aircraft

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202311119161.8 filed on September 1, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of aircraft technology, and in particular to a tilting device, a design method thereof, and an aircraft. Background Art

[0004] In the related art, an aircraft includes a tilt mechanism and a propeller mechanism drivingly connected to the tilt mechanism. The tilt mechanism is used to tilt the propeller mechanism, thereby providing the aircraft with flight power. For example, during vertical takeoff and landing, the propeller mechanism's rotation axis extends in the vertical direction, providing the aircraft with takeoff and landing power. During level flight, the tilt mechanism tilts the propeller mechanism so that the propeller mechanism's rotation axis extends in the horizontal direction, providing the aircraft with flight power.

[0005] During the tilting process of the rotation axis, the torque applied to the tilt mechanism changes, and the output torque of the tilt motor of the tilt mechanism increases as the torque increases. This results in a large fluctuation in the output torque of the tilt motor, which in turn shortens the service life of the tilt motor. Therefore, the present application proposes an aircraft that aims to minimize the fluctuation in the output torque of the tilt motor, thereby extending the service life of the tilt motor.

[0006] Summary of the Invention

[0007] The main purpose of the present application is to provide a tilting device, which aims to reduce the variation range of the output torque of the tilting motor, thereby increasing the service life of the tilting motor.

[0008] To achieve the above-mentioned objectives, the tilting device proposed in the present application is applied to an aircraft, wherein the aircraft has a first plane defined by the front-back direction and the left-right direction of the aircraft, the aircraft includes a propeller mechanism, the propeller mechanism has a rotation axis, and the tilting device includes:

[0009] base;

[0010] a transmission mechanism detachably connected to the base, the transmission mechanism being used for connection to a propeller mechanism, the transmission mechanism having a tilting axis for tilting the rotation axis relative to the first plane; and

[0011] A tilting motor is provided on the base, and the tilting motor is drivingly connected to the transmission mechanism;

[0012] The rotation axis has a first tilting range, and during the process of the rotation axis tilting in the first tilting range, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque applied to the tilting device, so as to reduce the change amplitude of the output torque of the tilting motor, wherein the vector direction of the torque is the axial direction of the tilting axis;

[0013] During the process of the rotation axis tilting in the first tilting range, the difference between the maximum and minimum values ​​of the reduction ratio of the transmission mechanism is less than or equal to 3, and / or the ratio of the maximum and minimum values ​​of the reduction ratio of the transmission mechanism is less than or equal to 3.

[0014] In one embodiment, the torque comes from gravity, tension, overturning moment, and gyroscopic moment of the propeller mechanism.

[0015] In one embodiment, the torque comes from the torque of the airflow in the external environment acting on the tilting device when the aircraft is flying.

[0016] In one embodiment, the torque comes from the gravity of the transmission mechanism.

[0017] In one embodiment, when the torque acting on the tilting device reaches a maximum value, the rotation axis is located in the first tilting range.

[0018] In one embodiment, the first tilting interval allows the rotation axis to tilt in an angle range of 30° to 50°.

[0019] When the rotation axis is tilted in the first tilting range, the reduction ratio of the transmission mechanism is in a range of 1-4.

[0020] During the process of the rotation axis tilting along the first tilting direction, the rotation axis may pass through the horizontal flight tilting position, the first tilting position, the second tilting position, and the vertical flight tilting position in sequence. The rotation axis has a second tilting interval from the horizontal flight tilting position to the first tilting position, the first tilting interval from the first tilting position to the second tilting position, and a third tilting interval from the second tilting position to the vertical flight tilting position. During the process of the rotation axis tilting along the first tilting direction to the second tilting interval, the reduction ratio of the transmission mechanism gradually decreases. During the process of the rotation axis tilting along the first tilting direction to the third tilting interval, the reduction ratio of the transmission mechanism gradually increases.

[0021] During the process of the rotation axis tilting in the second tilting range, the maximum value of the reduction ratio of the transmission mechanism is in the range of 5-20.

[0022] When the rotation axis is tilted in the third tilting interval, the maximum value of the reduction ratio of the transmission mechanism is in the range of 6 to 20.

[0023] In one embodiment, the third tilting range allows the rotation axis to tilt at an angle ranging from 10° to 20°.

[0024] During the process of the rotation axis tilting in the first tilting range along the first tilting direction, the reduction ratio of the transmission mechanism gradually increases. During the process of the rotation axis tilting in the first tilting range, the maximum value of the reduction ratio of the transmission mechanism is A. During the process of the rotation axis tilting in the second tilting range, the maximum value of the reduction ratio of the transmission mechanism is B, and B is greater than A.

[0025] During the process of the rotation axis tilting from the level flight tilt position to the second tilt position, the torque acting on the tilting device gradually increases. The rotation axis can pass through the level flight tilt position, the third tilt position, and the first tilt position in sequence. The first tilt interval includes a fourth tilt interval from the level flight tilt position to the third tilt position, and a fifth tilt interval from the third tilt position to the first tilt position. During the process of the rotation axis tilting in the fourth tilt interval along the first tilt direction, the change in the reduction ratio of the transmission mechanism per unit tilt angle is C. During the process of the rotation axis tilting in the fifth tilt interval along the first tilt direction, the change in the reduction ratio of the transmission mechanism per unit tilt angle is D, and C is greater than D.

[0026] In one embodiment, the angle at which the rotation axis can be tilted in the fourth tilting interval is smaller than the angle at which the rotation axis can be tilted in the fifth tilting interval.

[0027] In one embodiment, the fourth tilting interval allows the rotation axis to tilt at an angle ranging from 0° to 5°, and the fifth tilting interval allows the rotation axis to tilt at an angle ranging from 5° to 40°.

[0028] In one embodiment, the transmission mechanism includes a connecting rod mechanism provided on the base, the connecting rod mechanism has the tilting axis, and the tilting motor controls the rotation axis to tilt around the tilting axis relative to the first plane through the connecting rod mechanism.

[0029] During the process of the rotation axis tilting in the first tilting interval, the change trend of the reduction ratio of the connecting rod mechanism is consistent with the change trend of the torque applied to the tilting device, wherein the vector direction of the torque is the axial direction of the tilting axis.

[0030] In one embodiment, the connecting rod mechanism includes a propeller motor mount rotatably connected to the base, a connecting rod connected to the propeller motor mount, and a rocker connected to the connecting rod, the tilt motor is drive-connected to the rocker, the propeller mechanism includes a propeller motor having the rotation axis, the propeller motor is provided on the propeller motor mount, and the motor mount has the tilt axis.

[0031] In one embodiment, the tilting device further includes an adapter seat provided on the base, and the base is rotatably connected to the propeller motor mounting seat through the adapter seat.

[0032] During the process of the rotation axis tilting along the first tilt direction, the rotation axis can pass through the horizontal flight tilt position and the vertical flight tilt position in sequence. The propeller motor mounting seat has a first stop portion, and the adapter seat has a second stop portion opposite to the first stop portion in the first tilt direction. When the rotation axis tilts to the vertical flight tilt position, the first stop portion abuts against the second stop portion.

[0033] During the process of the rotation axis tilting along the second tilting direction, the rotation axis can pass through the vertical flight tilting position and the horizontal flight tilting position in sequence. The connecting rod has a third stop portion, and the rocker has a fourth stop portion opposite to the third stop portion in the second tilting direction. When the rotation axis tilts to the horizontal flight tilting position, the third stop portion abuts against the fourth stop portion.

[0034] In one embodiment, the propeller motor mounting seat includes a mounting seat body for mounting the propeller motor, and a plurality of supporting lugs connected to the mounting seat body, wherein the supporting lugs are rotatably connected to the base, and the supporting lugs have the tilt axis.

[0035] In one embodiment, the tilting device further includes an angle sensor for monitoring the tilting angle of the propeller motor mounting base.

[0036] In one embodiment, the tilting device further includes a worm driven by the tilting motor, a worm wheel matched with the worm, and a first rotating shaft connecting the worm wheel and the rocker, wherein the first rotating shaft is rotatably connected to the base.

[0037] In one embodiment, the tilting device further includes two rotating shaft support seats provided on the base, one end of the first rotating shaft is rotatably connected to one of the rotating shaft support seats, and the other end of the first rotating shaft is rotatably connected to the other rotating shaft support seat.

[0038] In one embodiment, the tilting device further includes two worm support seats provided on the base, one end of the worm is rotatably connected to one of the worm support seats, and the other end of the worm is rotatably connected to the other of the worm support seats.

[0039] In one embodiment, the tilt motor is connected to the worm through a speed reducer.

[0040] In one embodiment, the tilt motor is drivingly connected to the worm through a coupling.

[0041] In one embodiment, the worm is configured to self-lock with the worm wheel so that the worm wheel cannot drive the worm.

[0042] In one embodiment, the worm and the worm wheel are self-locked by a brake pad.

[0043] In one embodiment, the first rotating shaft is parallel to the base, and the worm is disposed between the worm wheel and the base.

[0044] In one embodiment, the first rotating shaft is parallel to the base, and the length direction of the worm is the direction from the base toward the worm wheel.

[0045] In one embodiment, the propeller motor mount includes a mount body for mounting the propeller motor, two supporting lugs connected to the mount body, and a reinforcement member, wherein the supporting lugs are rotatably connected to the base, and one side of the two supporting lugs is connected to the reinforcement member.

[0046] In one embodiment, the supporting lug is rotatably connected to the connecting rod.

[0047] The present application also provides an aircraft, which includes the aforementioned tilting device.

[0048] The present application also provides a design method for a tilting device, which is used to design the aforementioned tilting device, and the design method for a tilting device comprises the following steps:

[0049] Obtaining a torque variation curve applied to the tilting device during the tilting of the rotation axis;

[0050] A reduction ratio change curve of the transmission mechanism is obtained based on a preset correspondence between torque and reduction ratio and the torque change curve; in the preset correspondence between torque and reduction ratio, in a first tilting interval, a change trend of the torque change curve is consistent with a change trend of the reduction ratio change curve;

[0051] The transmission mechanism is designed according to the reduction ratio variation curve.

[0052] In the technical solution of this application, a tilting device is applied to an aircraft, which includes a tilting device and a propeller mechanism. The tilting device includes a base, a transmission mechanism detachably connected to the base, and a tilting motor mounted on the base, the tilting motor being drivably connected to the transmission mechanism. The propeller mechanism is connected to the transmission mechanism, so that the tilting motor drives the propeller mechanism by driving the transmission mechanism. Furthermore, the transmission mechanism is detachably connected to the base, facilitating removal for repair or complete replacement of the transmission mechanism in the event of damage. The propeller mechanism has a rotation axis, which is understood to be the rotation axis of the propeller motor of the propeller mechanism. The transmission mechanism has a tilting axis for tilting the rotation axis relative to a first plane of the aircraft. Driven by the tilting motor, the rotation axis can tilt about the tilting axis relative to the first plane. The first plane is defined by the fore-aft and left-right directions of the aircraft. The rotation axis has a first tilting range. Specifically, the first tilting range is the area swept by the rotation axis during tilting. During the tilting of the rotation axis within the first tilting range, the transmission mechanism's reduction ratio changes in a trend that aligns with the changing trend of the torque applied to the tilt mechanism, thereby minimizing the variation in the tilt motor's output torque, where the torque vector is axially directed along the tilt axis. Specifically, as the rotation axis tilts within the first tilting range, as the torque applied to the tilt mechanism increases, the transmission mechanism's reduction ratio also increases, and as the torque applied to the tilt mechanism decreases, the transmission mechanism's reduction ratio also decreases. This minimizes the variation in the tilt motor's output torque, thereby extending the lifespan of the tilt motor. Furthermore, a smaller torque variation makes it easier to avoid the aircraft's natural frequency, thereby reducing system resonance. Furthermore, during the tilting of the rotation axis within the first tilting range, the difference between the maximum and minimum values ​​of the transmission mechanism's reduction ratio is less than or equal to 3, and / or the ratio of the maximum to minimum values ​​of the transmission mechanism's reduction ratio is less than or equal to 3. This minimizes the variation in the reduction ratio, ensuring smoother operation of the transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0054] FIG1 is a schematic structural diagram of an embodiment of a tilting device of the present application, wherein the rotation axis of the tilting device is located in a vertical flight tilting position;

[0055] FIG2 is a schematic structural diagram of the tilting device in FIG1 from another perspective;

[0056] FIG3 is a schematic structural diagram of the tilting device in FIG1 from another perspective;

[0057] FIG4 is a schematic structural diagram of the tilting device in FIG1 from another perspective;

[0058] FIG5 is a schematic structural diagram of the tilting device in FIG1 , wherein the rotation axis of the tilting device is located in a level flight tilting position;

[0059] FIG6 is a FF cross-sectional view of the tilting device in FIG5 ;

[0060] FIG7 is a schematic structural diagram of another embodiment of the tilting device of the present application;

[0061] FIG8 is a schematic structural diagram of another embodiment of the tilting device of the present application;

[0062] FIG9 is a schematic structural diagram of the tilting device in FIG8 from another perspective;

[0063] FIG10 is a schematic structural diagram of the tilting device in FIG8 from another perspective;

[0064] FIG11 is a diagram showing the relationship between the torque applied to the tilting device and the reduction ratio of the transmission mechanism with respect to the tilting angle;

[0065] FIG12 is a design flow chart of the tilting device.

[0066] Description of Figure Numbers:

[0067] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0069] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship and movement status between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0070] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection or electrical connection; it can mean direct connection, indirect connection through an intermediate medium, or abutment; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0071] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0072] In the related art, an aircraft includes a tilt mechanism and a propeller mechanism drivingly connected to the tilt mechanism. The tilt mechanism is used to tilt the propeller mechanism, thereby providing the aircraft with flight power. For example, during vertical takeoff and landing, the propeller mechanism's rotation axis extends in the vertical direction, providing the aircraft with takeoff and landing power. During level flight, the tilt mechanism tilts the propeller mechanism so that the propeller mechanism's rotation axis extends in the horizontal direction, providing the aircraft with flight power.

[0073] During the tilting process of the rotation axis, the torque applied to the tilt device changes. As the torque increases, the output torque of the tilt motor of the tilt device increases. This results in a large fluctuation in the output torque of the tilt motor, which in turn shortens the service life of the tilt motor. Therefore, the present application proposes a tilt device that minimizes the fluctuation in the output torque of the tilt motor, thereby extending the service life of the tilt motor.

[0074] Referring to Figures 1 to 8, in one embodiment of the present application, a tilting device 100 is applied to an aircraft, which includes the tilting device 100 and a propeller mechanism. The tilting device 100 includes a base 200, a transmission mechanism disposed on the base 200, and a tilting motor 800 disposed on the base 200. The tilting motor 800 is drivably connected to the transmission mechanism. The propeller mechanism is connected to the transmission mechanism, so that the tilting motor 800 drives the transmission mechanism to tilt the propeller mechanism. Furthermore, the transmission mechanism is detachably connected to the base 200, facilitating removal for repair or complete replacement of the transmission mechanism in the event of damage. The propeller mechanism has a rotation axis, which is understood to be the rotation axis of the propeller motor 900 of the propeller mechanism. The transmission mechanism has a tilting axis for tilting the rotation axis relative to a first plane of the aircraft. Driven by the tilting motor 800, the rotation axis can tilt about the tilting axis relative to the first plane. The first plane is defined by the fore-aft and left-right directions of the aircraft. The rotation axis has a first tilt range. Specifically, the first tilt range is the area swept by the rotation axis during the tilting process. During the process of the rotation axis tilting in the first tilt range, the change trend of the transmission mechanism's reduction ratio is consistent with the change trend of the torque applied to the tilt device 100, thereby reducing the amplitude of the change in the output torque of the tilt motor 800, wherein the vector direction of the torque is the axial direction of the tilt axis. In other words, during the process of the rotation axis tilting in the first tilt range, when the torque applied to the tilt device 100 increases, the reduction ratio of the transmission mechanism also increases, and when the torque applied to the tilt device 100 decreases, the reduction ratio of the transmission mechanism also decreases. In this way, the amplitude of the change in the output torque of the tilt motor 800 can be reduced, thereby increasing the service life of the tilt motor 800. In addition, the torque with a smaller amplitude of change is more likely to avoid the natural frequency of the aircraft, thereby reducing the occurrence of system resonance. Furthermore, during the process of the rotation axis tilting within the first tilting range, the difference between the maximum and minimum values ​​of the reduction ratio of the transmission mechanism is less than or equal to 3, and / or the ratio of the maximum to minimum values ​​of the reduction ratio of the transmission mechanism is less than or equal to 3. In this way, the reduction ratio does not vary too much, thereby ensuring smooth operation of the transmission mechanism.

[0075] It should be noted that “to reduce the variation range of the output torque of the tilt motor 800 ” means to make the variation range of the output torque of the tilt motor 800 smaller than a preset variation range.

[0076] When the rotation axis tilts in the first tilting range, the difference between the maximum and minimum reduction ratios of the transmission mechanism is less than or equal to 1.5, so that the reduction ratio does not change too much, allowing the transmission mechanism to operate more smoothly.

[0077] In one embodiment, the maximum unit angle of rotation of the rotation axis driven by the tilt motor 800 is less than or equal to 0.1°. This improves the operating accuracy of the tilt device 100. However, the present design is not limited to this. In other embodiments, the maximum unit angle of rotation of the rotation axis is less than or equal to 1°.

[0078] There are many sources of torque, but all can ultimately be converted into torque on the tilt mechanism 100. In one embodiment, the torque comes from the gravity, tension, overturning moment, and gyroscopic moment of the propeller mechanism. The gravity, tension, overturning moment, and gyroscopic moment of the propeller mechanism can be obtained from the flight envelope. In one embodiment, the torque comes from the torque of the external airflow acting on the tilt mechanism 100 during flight. The torque of the airflow acting on the tilt mechanism 100 can be obtained from the flight envelope. In one embodiment, the torque comes from the gravity of the transmission mechanism.

[0079] In related art, when the torque applied to the tilt mechanism 100 reaches its maximum value, the output torque of the tilt motor 800 also reaches its maximum value. Consequently, a higher-powered tilt motor 800 is selected based on this maximum output torque, which results in higher production costs for the aircraft. To reduce the power required by the tilt motor 800 and thereby lower production costs, in one embodiment, when the torque applied to the tilt mechanism 100 reaches its maximum value, the rotation axis is positioned within a first tilt range. Thus, within the first range, when the torque applied to the tilt mechanism 100 reaches its maximum value, the reduction ratio of the transmission mechanism reaches its maximum value, resulting in a lower output torque of the tilt motor 800 and, consequently, a lower power consumption of the tilt motor 800, thereby reducing production costs for the aircraft.

[0080] In one embodiment, the first tilting interval allows the rotation axis to tilt at an angle ranging from 30° to 50°. Thus, the angle available for the rotation axis to tilt in the first tilting interval accounts for a large proportion of the maximum tiltable angle of the rotation axis. This minimizes the variation in torque output by the tilt motor 800 throughout the entire rotation axis tilting process, thereby extending the service life of the tilt motor 800. However, the present design is not limited to this embodiment; in other embodiments, the angle available for the rotation axis to tilt in the first tilting interval ranges from 0° to 90°.

[0081] In one embodiment, when the rotation axis is tilted in the first tilting range, the reduction ratio of the transmission mechanism ranges from 1 to 4. Thus, a lower reduction ratio facilitates a quick response of the transmission mechanism, thereby facilitating the rotation axis to quickly reach the desired tilting position.

[0082] In one embodiment, during the process of tilting the rotation axis along the first tilt direction, the rotation axis may sequentially pass through a level flight tilt position, a first tilt position, a second tilt position, and a vertical flight tilt position. When the rotation axis is tilted to the level flight tilt position, the propeller mechanism can provide power for the aircraft to fly level. When the rotation axis is tilted to the vertical flight tilt position, the propeller mechanism can provide power for the aircraft to ascend and descend. Without loss of generality, when the rotation axis is in the level flight tilt position, the angle between the rotation axis and the first plane is 0°, with an error of 5° allowed in actual circumstances. When the rotation axis is in the vertical flight tilt position, the angle between the rotation axis and the first plane is 90°, with an error of 5° allowed in actual circumstances. The rotation axis has a second tilt range from the level flight tilt position to the first tilt position, a first tilt range from the first tilt position to the second tilt position, and a third tilt range from the second tilt position to the vertical flight tilt position. As the rotation axis tilts in the second tilt range along the first tilt direction, the transmission mechanism's reduction ratio gradually decreases. Specifically, as the rotation axis tilts in the second tilt range from the vertical flight tilt position to the horizontal flight tilt position, the transmission mechanism's reduction ratio gradually increases. Within the second tilt range, the transmission mechanism's reduction ratio reaches its maximum value in the horizontal flight tilt position. It can be understood that a larger reduction ratio results in a smaller tilt angle for the same number of rotations of the output shaft of the tilt motor 800. This facilitates more precise control of the rotation axis to the horizontal flight tilt position. As the rotation axis tilts in the third tilt range along the first tilt direction, the transmission mechanism's reduction ratio gradually increases. Thus, within the third tilt range, the transmission mechanism's reduction ratio reaches its maximum value in the vertical flight tilt position. This facilitates more precise control of the rotation axis to the vertical flight tilt position.

[0083] Specifically, referring to Figure 11, the value of the tilting angle is the x-axis, the value of the reduction ratio is the y1-axis, and the reduction ratio line is G. In this image, the reduction ratio of the transmission mechanism in the second tilting interval is represented by an image in the range of 0 to b, the reduction ratio of the transmission mechanism in the first tilting interval is represented by an image in the range of b to c, and the reduction ratio of the transmission mechanism in the third tilting interval is represented by an image in the range of c to d.

[0084] However, the present design is not limited to this. In other embodiments, the tilt angle of the rotation axis in the first tilt range is the maximum tilt angle of the rotation axis. In this way, the torque output by the tilt motor 800 varies minimally throughout the entire process of tilting the rotation axis, thereby extending the service life of the tilt motor 800.

[0085] In one embodiment, during the process of the rotation axis tilting in the second tilting range, the maximum reduction ratio of the transmission mechanism ranges from 5 to 20. Thus, a larger reduction ratio is conducive to more accurately controlling the rotation axis to reach the level flight tilting position.

[0086] In one embodiment, during the process of the rotation axis tilting in the third tilting interval, the maximum reduction ratio of the transmission mechanism ranges from 6 to 20. Thus, a larger reduction ratio is conducive to more precise control of the rotation axis to reach the vertical flight tilting position.

[0087] In one embodiment, the third tilt interval allows the rotation axis to tilt at an angle ranging from 10° to 20°. This allows the rotation axis to tilt at a smaller angle in the third tilt interval relative to the maximum tilt angle of the rotation axis, freeing up more space for the first tilt interval. This allows the rotation axis to tilt at a larger angle in the first tilt interval relative to the maximum tilt angle of the rotation axis. This minimizes the variation in torque output by the tilt motor 800 during rotation axis tilting, thereby extending the service life of the tilt motor 800.

[0088] In one embodiment, as the rotation axis tilts in the first tilting range along the first tilting direction, the reduction ratio of the transmission mechanism gradually increases. During the rotation axis's tilting in the first tilting range, the maximum reduction ratio of the transmission mechanism is A. During the rotation axis's tilting in the second tilting range, the maximum reduction ratio of the transmission mechanism is B, where B is greater than A. Furthermore, as the rotation axis tilts in the third tilting range along the first tilting direction, the reduction ratio of the transmission mechanism gradually increases. Here, the maximum reduction ratio of the transmission mechanism during the rotation axis's tilting in the third tilting range is defined as E. Consequently, E is greater than A. In this way, when the rotation axis is close to the horizontal flight tilt position and the vertical flight tilt position, the transmission mechanism has a larger reduction ratio, and when the rotation axis is tilted in the first tilt range, the transmission mechanism has a smaller reduction ratio, so that the tilt device 100 can control the rotation axis in the horizontal flight tilt position and the vertical flight tilt position more accurately, and the tilt device 100 can make the rotation axis pass through the first tilt range more quickly, so that the rotation axis can reach the horizontal flight tilt position and the vertical flight tilt position more quickly.

[0089] It is worth mentioning that in one embodiment, during the process of the rotation axis tilting from the level flight tilt position to the second tilt position, the torque applied to the tilt device 100 gradually increases. It can be understood that during the process of the rotation axis tilting in the second tilt interval, the change trend of the reduction ratio of the transmission mechanism is different from the change trend of the torque applied to the tilt device 100. This is to enable the tilt device 100 to achieve more precise control of the rotation axis when it is close to the level flight tilt position. Of course, in other embodiments, in order to make the change amplitude of the torque output by the tilt motor 800 smaller during the tilting of the rotation axis, the change trend of the reduction ratio of the transmission mechanism can be consistent with the change trend of the torque applied to the tilt device 100 during the tilting of the rotation axis in the second tilt interval. Specifically, refer to Figure 11, with the value of the tilt angle as the x-axis, the value of the torque applied to the tilt mechanism as the y2-axis, and the line of the torque as M.

[0090] In addition, in one embodiment, the torque applied to the tilt device 100 gradually decreases during the process of the rotation axis tilting from the second tilt position to the vertical flight tilt position. It can be understood that during the process of the rotation axis tilting in the third tilt interval, the change trend of the reduction ratio of the transmission mechanism is different from the change trend of the torque applied to the tilt device 100. This is to enable the tilt device 100 to achieve more precise control of the rotation axis when approaching the horizontal flight tilt position. Of course, in other embodiments, in order to reduce the change amplitude of the torque output by the tilt motor 800 during the tilting of the rotation axis, the change trend of the reduction ratio of the transmission mechanism can be consistent with the change trend of the torque applied to the tilt device 100 during the tilting of the rotation axis in the third tilt interval.

[0091] In one embodiment, during the process of the rotation axis tilting from the level flight tilt position to the second tilt position, the torque exerted on the tilt device 100 gradually increases, and the rotation axis can pass through the level flight tilt position, the third tilt position, and the first tilt position in sequence. The first tilt interval includes the fourth tilt interval from the level flight tilt position to the third tilt position, and the fifth tilt interval from the third tilt position to the first tilt position. During the process of the rotation axis tilting in the fourth tilt interval along the first tilt direction, the change in the reduction ratio of the transmission mechanism per unit tilt angle is C. During the process of the rotation axis tilting in the fifth tilt interval along the first tilt direction, the change in the reduction ratio of the transmission mechanism per unit tilt angle is D, and C>D. Referring to Figure 11, with the tilt angle as the x-axis, the reduction ratio as the y1-axis, and the reduction ratio line as G, the transmission mechanism's reduction ratio in the fourth tilt range is plotted between 0 and a, while the transmission mechanism's reduction ratio in the fifth tilt range is plotted between a and b. It can be seen that the reduction ratio line is steeper in the fourth tilt range, while it is shallower in the fifth tilt range. This allows the reduction ratio to drop quickly to a lower value during the tilting of the rotation axis from the horizontal to the vertical flight tilt position. This allows the transmission mechanism's reduction ratio to be lower when subjected to lower torque, resulting in a smaller average change in the torque output by the tilt motor 800 during the tilting of the rotation axis. Furthermore, the reduction ratio line in the fifth tilt range is shallower, providing a smooth transition between the fourth and first tilt ranges and reducing the complexity of transmission mechanism design.

[0092] In one embodiment, the angle available for the axis of rotation to tilt in the fourth tilt range is smaller than the angle available for the axis of rotation in the fifth tilt range. This helps further increase the value of C and further reduce the value of D. This allows the reduction ratio to drop more quickly to a lower value during the tilting of the axis of rotation from the horizontal flight tilt position to the vertical flight tilt position. This allows the transmission mechanism to reduce the reduction ratio when the rotating device is subjected to a lower torque, thereby minimizing the change in torque output by the tilt motor 800 during the tilting of the axis of rotation. Furthermore, in this image, the reduction ratio curve for the fifth tilt range is smoother, which helps provide a transition between the fourth and first tilt ranges and reduces the difficulty in designing the transmission mechanism.

[0093] In one embodiment, the fourth tilting range allows the rotation axis to tilt at an angle ranging from 0° to 5°, and the fifth tilting range allows the rotation axis to tilt at an angle ranging from 5° to 40°. This allows the fourth tilting range to have a significantly different size from the fifth tilting range.

[0094] In one embodiment, the transmission mechanism includes a linkage mechanism disposed on the base 200, the linkage mechanism having a tilt axis. The tilt motor 800 controls the tilt of the rotation axis relative to the first plane via the linkage mechanism, and the reduction ratio is the reduction ratio of the linkage mechanism. However, the present design is not limited to this. In other embodiments, the transmission mechanism includes a gear mechanism disposed on the base 200, the gear mechanism having a tilt axis, and the tilt motor 800 controls the tilt of the rotation axis relative to the first plane via the gear mechanism.

[0095] In one embodiment, during the process of the rotation axis tilting within the first tilting range, the change trend of the reduction ratio of the connecting rod mechanism is consistent with the change trend of the torque applied to the tilting device 100, wherein the vector direction of the torque is axial to the tilting axis. In this way, the transmission mechanism can be designed by designing the connecting rod mechanism.

[0096] In one embodiment, the linkage mechanism includes a propeller motor mount 310 rotatably connected to the base 200, a connecting rod 330 connected to the propeller motor mount 310, and a rocker 340 connected to the connecting rod 330. The tilt motor 800 is drivingly connected to the rocker 340. The propeller mechanism includes a propeller motor 900 having a rotation axis. The propeller motor 900 is mounted on the propeller motor mount 310, and the propeller motor mount 310 has a tilt axis. In this way, the tilt motor 800 can drive the rocker 340 to rotate, which in turn drives the connecting rod 330 to move, which in turn drives the propeller motor mount 310 to move, thereby driving the propeller motor 900 mounted on the propeller motor mount 310 to tilt.

[0097] In one embodiment, the tilting device 100 further includes an adapter 400 disposed on the base 200, through which the base 200 is rotatably connected to the propeller motor mounting bracket 310. This reduces the difficulty of manufacturing the base 200. Of course, in other embodiments, the propeller motor mounting bracket 310 can also be directly rotatably connected to the base 200, thereby reducing the number of assembly steps for the tilting device 100.

[0098] In one embodiment, as the rotation axis tilts along the first tilt direction, it may sequentially pass through a horizontal flight tilt position and a vertical flight tilt position. The propeller motor mount 310 has a first stop, and the adapter 400 has a second stop 410 that opposes the first stop in the first tilt direction. When the rotation axis tilts to the vertical flight tilt position, the first stop abuts the second stop 410. This prevents the rotation axis from continuing to tilt along the first tilt direction and exceeding the vertical flight tilt position if the tilt motor 800 loses control, thereby reducing the risk of aircraft accidents.

[0099] In one embodiment, during the process of tilting the rotation axis in the second tilt direction, the rotation axis may sequentially pass through the vertical flight tilt position and the horizontal flight tilt position. The connecting rod 330 has a third stop, and the rocker arm 340 has a fourth stop opposite the third stop in the second tilt direction. When the rotation axis tilts to the horizontal flight tilt position, the third stop abuts the fourth stop. This prevents the rotation axis from continuing to tilt in the second tilt direction beyond the horizontal flight tilt position if the tilt motor 800 loses control, thereby reducing the risk of aircraft accidents.

[0100] As shown in Figures 8 to 10, in one embodiment, the tilt mechanism 100 can use a dual-shaft transmission to drive the propeller mechanism for tilting. The tilt motor 800 is connected to the propeller motor mount 310 via two rockers 340 and two connecting rods 330. Specifically, each end of the first rotating shaft 600 is provided with a rocker 340 and a connecting rod 330 connected to the rocker 340. This increases the minimum structural cross-section of the tilt mechanism 100 required to resist bending moments during the entire tilting process, thereby improving the bending strength and rigidity of the tilt mechanism 100 when driving the propeller motor 900 for tilting. In this embodiment, the two supporting lugs 312 are fixedly connected to the mounting seat body 311, one end of the connecting rod 330 is rotatably connected to the rocker 340, and the end of the connecting rod 330 away from the rocker 340 is rotatably connected to the supporting lug 312. The connecting rod 330 drives the supporting lug 312 to tilt around the adapter 400, thereby driving the propeller motor mounting seat 310 to tilt, and one side of the two supporting lugs 312 are connected to the reinforcement 350, thereby further improving the overall structural strength of the tilting device 100.

[0101] In one embodiment, the tilt mechanism 100 can use a single-axis transmission to drive the propeller mechanism for tilt. In this transmission mode, the tilt motor 800 and the propeller motor mounting bracket 310 can also be driven and connected via a Y-shaped rocker (not shown) and two connecting rods 330. Specifically, the first rotating shaft 600 is driven and connected to the Y-shaped rocker, and the Y-shaped rocker is connected to the two connecting rods 330 in the direction away from the first rotating shaft 600. This can increase the overall stiffness of the tilt mechanism 100 when driving the propeller motor 900 for tilting.

[0102] As shown in Figures 8 and 10, in one embodiment, during the process of the rotation axis tilting along the first tilt direction, the rotation axis may sequentially pass through the horizontal flight tilt position and the vertical flight tilt position. The mounting seat body 311 in the propeller motor mounting seat 310 serves as a first stop, and the base 200 is provided with a second stop 410 that opposes the first stop in the first tilt direction. When the rotation axis tilts to the vertical flight tilt position, the first stop abuts the second stop 410. This prevents the rotation axis from continuing to tilt in the first tilt direction and exceeding the vertical flight tilt position if the tilt motor 800 loses control, thereby reducing the risk of aircraft accidents.

[0103] In one embodiment, the propeller motor mount 310 includes a mount body 311 for mounting the propeller motor 900, and a plurality of support lugs 312 connected to the mount body 311. The support lugs 312 are rotatably connected to the base 200 and have a tilt axis. The plurality of support lugs 312 provide a plurality of connection structures between the mount body 311 and the base 200, thereby ensuring a relatively stable rotation of the mount body 311.

[0104] In one embodiment, the tilting device 100 also includes an angle sensor 700 for monitoring the tilting angle of the propeller motor mounting seat 310. In this way, the tilting angle of the rotation axis can be monitored by monitoring the tilting angle of the motor mounting seat, so as to monitor the angle change of the rotation axis in real time. The angle sensor 700 can also be connected to the flight tube computer to provide data support for the aircraft's control of the tilting device 100 and subsequent mechanism optimization. Further, in one embodiment, the tilting device 100 also includes a sensor support seat 710 provided on the base 200, and the angle sensor 700 is provided on the sensor support seat 710. The angle sensor 700 is connected to the propeller motor mounting seat 310 via an adapter. However, the present design is not limited to this. In other embodiments, the angle sensor 700 can also be configured as a contactless angle sensor 700.

[0105] In one embodiment, the tilt device 100 further includes a worm 520 drivingly connected to the tilt motor 800, a worm gear 510 mating with the worm 520, and a first rotating shaft 600 connecting the worm gear 510 and the rocker 340. The first rotating shaft 600 is rotatably connected to the base 200. In this manner, the tilt motor 800 can reduce the force transmitted by the propeller mechanism during tilting via the worm gear 520, thereby preventing excessive force on the output shaft of the tilt motor 800 and extending the service life of the tilt motor 800.

[0106] In one embodiment, the tilt device 100 further includes two rotational shaft supports 610 disposed on the base 200. One end of the first rotational shaft 600 is rotatably connected to one rotational shaft support 610, while the other end of the first rotational shaft 600 is rotatably connected to the other rotational shaft support 610. In this manner, the two rotational shaft supports 610 provide support for the first rotational shaft 600, ensuring more stable rotation of the rotational shaft. Furthermore, the two rotational shaft supports 610 reduce the force applied to the output shaft of the tilt motor 800, thereby extending the service life of the tilt motor 800.

[0107] In another embodiment, the tilting device 100 further includes a tilting motor mounting base 810 for installing the tilting motor 800 and a worm 520 mounting base for installing the worm 520. The tilting motor mounting base 810 and the worm 520 mounting base connect the two rotating shaft support bases 610 to improve the support stiffness of the rotating shaft support base 610.

[0108] In one embodiment, the tilt device 100 further includes two worm support bases 530 disposed on the base 200. One end of the worm 520 is rotatably connected to one worm support base 530, while the other end of the worm 520 is rotatably connected to the other worm support base 530. In this manner, the two worm support bases 530 provide support for the worm 520, ensuring smooth rotation of the worm 520. Furthermore, this reduces the force applied to the output shaft of the tilt motor 800, thereby extending the service life of the tilt motor 800.

[0109] In one embodiment, the tilt motor 800 is connected to the worm 520 via a speed reducer. This can reduce the stress on the worm wheel 510 and the worm 520 and improve the safety margin of the worm wheel 510 and the worm 520.

[0110] In one embodiment, the tilt motor 800 is drivingly connected to the worm 520 via a coupling 820. In this way, the impact caused by the fluctuation of the torque is isolated by the coupling 820, thereby protecting the tilt drive motor.

[0111] In one embodiment, the worm 520 is self-locked with the worm wheel 510, preventing the worm wheel 510 from driving the worm 520. This prevents the worm wheel 510 from driving the worm 520 at any tilt position of the axis of rotation, reducing the force transmitted from the propeller mechanism to the tilt motor 800 during tilting of the axis of rotation, thereby extending the service life of the tilt motor 800. However, the present design is not limited to this. In one embodiment, the worm 520 and worm wheel 510 are self-locked using brake pads.

[0112] The worm 520 can be positioned in a variety of locations. As shown in Figure 6 , in one embodiment, the first rotating shaft 600 is parallel to the base 200, and the worm 520 is positioned between the worm wheel 510 and the base 200. As shown in Figure 7 , in another embodiment, the first rotating shaft 600 is parallel to the base 200, and the length of the worm 520 is oriented from the base 200 toward the worm wheel 510. This allows for easy installation of the worm wheel 510 and worm 520, making maintenance of the worm wheel 510 and worm 520 easier.

[0113] The present application also proposes an aircraft, which includes the aforementioned tilting device. The specific structure of the tilting device refers to the above-mentioned embodiment. Since this aircraft adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0114] 12 , the present application further provides a design method for a tilting device, wherein the design method for a tilting device is used to design the aforementioned tilting device, and the design method for a tilting device comprises the following steps:

[0115] S100: Obtain a torque variation curve applied to the tilting device during the tilting of the rotation axis.

[0116] The torque change curve can be obtained from the flight envelope. The torque may be, but is not limited to, the gravity, tension, overturning moment, gyroscopic moment of the propeller mechanism, the torque of the airflow in the external environment acting on the tilting device during the flight of the aircraft, and the gravity of the transmission mechanism.

[0117] S200: Based on the preset correspondence between torque and reduction ratio and the torque change curve, a reduction ratio change curve for the transmission mechanism is obtained; in the preset correspondence between torque and reduction ratio, within the first tilting interval, the changing trend of the torque change curve is consistent with the changing trend of the reduction ratio change curve. The preset correspondence between torque and reduction ratio can be a formula derived theoretically. It can also be obtained by fitting experimental data. For example, when the variation range of the output torque of the tilting motor is limited, an appropriate reduction ratio is selected at different tilting angles, and then the preset correspondence between torque and reduction ratio is obtained by fitting.

[0118] S300: Designing the transmission mechanism according to the speed reduction ratio variation curve. For example, when the transmission mechanism includes a connecting rod mechanism, the length ratio of each connecting rod of the connecting rod mechanism can be designed according to the speed reduction ratio variation curve.

[0119] Thus, when the transmission mechanism designed by this method is used in a tilting device, a tilting motor with a smaller variation range of output torque can be selected.

[0120] The above description is merely an optional embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the inventive concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An aircraft, characterized in that: The aircraft comprises: A tilting device, comprising a base, a transmission mechanism detachably connected to the base, and a tilting motor disposed on the base, wherein the tilting motor is drivingly connected to the transmission mechanism; and A propeller mechanism connected to the transmission mechanism, the propeller mechanism having a rotation axis, and the transmission mechanism having a tilt axis for the rotation axis to tilt relative to a first plane of the aircraft, wherein the first plane is limited by the front-rear direction and the left-right direction of the aircraft; The rotation axis has a first tilting range. During the process of the rotation axis tilting in the first tilting range, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque applied to the tilting device, so as to reduce the change amplitude of the output torque of the tilting motor, wherein the vector direction of the torque is the axial direction of the tilting axis.

2. The aircraft according to claim 1, characterized in that The torque comes from the gravity, tension, overturning moment, and gyroscopic moment of the propeller mechanism; And / or, the torque comes from the torque of the airflow in the external environment acting on the tilting device when the aircraft is flying; And / or, the torque comes from the gravity of the transmission mechanism.

3. The aircraft according to claim 1, characterized in that When the moment applied to the tilting device reaches a maximum value, the rotation axis is located in the first tilting interval.

4. The aircraft according to claim 1, characterized in that The first tilting interval can provide the rotation axis with an angle range of 30° to 50°; And / or, during the process of the rotation axis tilting in the first tilting interval, the reduction ratio of the transmission mechanism is in the range of 1-4.

5. The aircraft according to claim 1, characterized in that During the process of the rotation axis tilting along the first tilt direction, the rotation axis may sequentially pass through the horizontal flight tilt position, the first tilt position, the second tilt position, and the vertical flight tilt position. The rotation axis has a second tilt interval from the horizontal flight tilt position to the first tilt position, the first tilt interval from the first tilt position to the second tilt position, and a third tilt interval from the second tilt position to the vertical flight tilt position. During the process of the rotation axis tilting along the first tilt direction to the second tilt interval, the reduction ratio of the transmission mechanism gradually decreases. During the process of the rotation axis tilting along the first tilt direction to the third tilt interval, the reduction ratio of the transmission mechanism gradually increases.

6. The aircraft according to claim 5, characterized in that During the process of the rotation axis tilting in the second tilting interval, the maximum value of the reduction ratio of the transmission mechanism is in the range of 5 to 20; and / or, during the process of the rotation axis tilting in the third tilting interval, the maximum value of the reduction ratio of the transmission mechanism is in the range of 6 to 20; And / or, the third tilting interval allows the rotation axis to tilt at an angle ranging from 10° to 20°; And / or, during the process of the rotation axis tilting in the first tilting direction in the first tilting range, the reduction ratio of the transmission mechanism gradually increases, during the process of the rotation axis tilting in the first tilting range, the maximum value of the reduction ratio of the transmission mechanism is A, and during the process of the rotation axis tilting in the second tilting range, the maximum value of the reduction ratio of the transmission mechanism is B, and B is greater than A.

7. The aircraft according to claim 5, characterized in that During the process of the rotation axis tilting from the level flight tilt position to the second tilt position, the torque applied to the tilt device gradually increases. The rotation axis can pass through the level flight tilt position, the third tilt position, and the first tilt position in sequence. The first tilt interval includes a fourth tilt interval from the level flight tilt position to the third tilt position, and a fifth tilt interval from the third tilt position to the first tilt position. During the process of the rotation axis tilting along the first tilt direction to the fourth tilt interval, the change in the reduction ratio of the transmission mechanism per unit tilt angle is C. During the process of the rotation axis tilting along the first tilt direction to the fifth tilt interval, the change in the reduction ratio of the transmission mechanism per unit tilt angle is D, and C is greater than D.

8. The aircraft according to claim 7, characterized in that The angle at which the rotation axis can be tilted in the fourth tilting interval is smaller than the angle at which the rotation axis can be tilted in the fifth tilting interval.

9. The aircraft according to claim 8, characterized in that The fourth tilting interval allows the rotation axis to tilt at an angle ranging from 0° to 5°, and the fifth tilting interval allows the rotation axis to tilt at an angle ranging from 5° to 40°.

10. The aircraft according to claim 1, characterized in that The transmission mechanism includes a connecting rod mechanism disposed on the base, the connecting rod mechanism has the tilting axis, and the tilting motor controls the rotation axis to tilt around the tilting axis relative to the first plane through the connecting rod mechanism.

11. A tilting device, applied to an aircraft, the aircraft having a first plane, the first plane being limited by the front-rear direction and the left-right direction of the aircraft, the aircraft comprising a propeller mechanism, the propeller mechanism having a rotation axis, wherein: The tilting device comprises: Pedestal; a transmission mechanism, detachably connected to the base, the transmission mechanism being used for connection with a propeller mechanism, the transmission mechanism having a tilting axis for tilting the rotation axis relative to the first plane; and A tilting motor is arranged on the base, and the tilting motor is drivingly connected to the transmission mechanism; The rotation axis has a first tilting interval, and during the process of the rotation axis tilting in the first tilting interval, the change trend of the reduction ratio of the transmission mechanism is consistent with the change trend of the torque applied to the tilting device, so as to reduce the change amplitude of the output torque of the tilting motor, wherein the vector direction of the torque is the axial direction of the tilting axis; During the process of the rotation axis tilting in the first tilting interval, the difference between the maximum value and the minimum value of the reduction ratio of the transmission mechanism is less than or equal to 3, and / or the ratio of the maximum value to the minimum value of the reduction ratio of the transmission mechanism is less than or equal to 3; The transmission mechanism includes a connecting rod mechanism disposed on the base, the connecting rod mechanism has the tilting axis, and the tilting motor controls the rotation axis to tilt around the tilting axis relative to the first plane through the connecting rod mechanism.

12. The tilting device according to claim 11, wherein: The torque comes from the gravity, tension, overturning moment, and gyroscopic moment of the propeller mechanism; And / or, the torque comes from the torque of the airflow in the external environment acting on the tilting device when the aircraft is flying; And / or, the torque comes from the gravity of the transmission mechanism.

13. The tilting device according to claim 11, wherein: When the moment applied to the tilting device reaches a maximum value, the rotation axis is located in the first tilting interval.

14. The tilting device according to claim 11, wherein: The first tilting interval can provide the rotation axis with an angle range of 30° to 50°; And / or, during the process of the rotation axis tilting in the first tilting interval, the reduction ratio of the transmission mechanism is in the range of 1-4.

15. The tilting device according to claim 11, wherein: During the process of the rotation axis tilting along the first tilt direction, the rotation axis may sequentially pass through the horizontal flight tilt position, the first tilt position, the second tilt position, and the vertical flight tilt position. The rotation axis has a second tilt interval from the horizontal flight tilt position to the first tilt position, the first tilt interval from the first tilt position to the second tilt position, and a third tilt interval from the second tilt position to the vertical flight tilt position. During the process of the rotation axis tilting along the first tilt direction to the second tilt interval, the reduction ratio of the transmission mechanism gradually decreases. During the process of the rotation axis tilting along the first tilt direction to the third tilt interval, the reduction ratio of the transmission mechanism gradually increases.

16. The tilting device according to claim 15, wherein: During the process of the rotation axis tilting in the second tilting interval, the maximum value of the reduction ratio of the transmission mechanism is in the range of 5 to 20; and / or, during the process of the rotation axis tilting in the third tilting interval, the maximum value of the reduction ratio of the transmission mechanism is in the range of 6 to 20; And / or, the third tilting interval allows the rotation axis to tilt at an angle ranging from 10° to 20°; And / or, during the process of the rotation axis tilting in the first tilting direction in the first tilting range, the reduction ratio of the transmission mechanism gradually increases, during the process of the rotation axis tilting in the first tilting range, the maximum value of the reduction ratio of the transmission mechanism is A, and during the process of the rotation axis tilting in the second tilting range, the maximum value of the reduction ratio of the transmission mechanism is B, and B is greater than A.

17. The tilting device according to claim 15, wherein: During the process of the rotation axis tilting from the level flight tilt position to the second tilt position, the torque applied to the tilt device gradually increases. The rotation axis can pass through the level flight tilt position, the third tilt position, and the first tilt position in sequence. The first tilt interval includes a fourth tilt interval from the level flight tilt position to the third tilt position, and a fifth tilt interval from the third tilt position to the first tilt position. During the process of the rotation axis tilting along the first tilt direction to the fourth tilt interval, the change in the reduction ratio of the transmission mechanism per unit tilt angle is C. During the process of the rotation axis tilting along the first tilt direction to the fifth tilt interval, the change in the reduction ratio of the transmission mechanism per unit tilt angle is D, and C is greater than D.

18. The tilting device according to claim 17, wherein: The angle at which the rotation axis can be tilted in the fourth tilting interval is smaller than the angle at which the rotation axis can be tilted in the fifth tilting interval.

19. The tilting device according to claim 18, wherein: The fourth tilting interval allows the rotation axis to tilt at an angle ranging from 0° to 5°, and the fifth tilting interval allows the rotation axis to tilt at an angle ranging from 5° to 40°.

20. The tilting device according to claim 11, wherein: When the rotation axis is tilted in the first tilting interval, the change trend of the reduction ratio of the connecting rod mechanism is consistent with the change trend of the torque applied to the tilting device, wherein the vector direction of the torque is the axial direction of the tilting axis.

21. The tilting device according to claim 11, wherein: The connecting rod mechanism includes a propeller motor mounting seat rotatably connected to the base, a connecting rod connected to the propeller motor mounting seat, and a rocker connected to the connecting rod, the tilt motor is drive-connected to the rocker, the propeller mechanism includes a propeller motor having the rotation axis, the propeller motor is arranged on the propeller motor mounting seat, and the propeller motor mounting seat has the tilt axis.

22. The tilting device according to claim 21, wherein: The tilting device also includes an adapter seat arranged on the base, and the base is rotatably connected to the propeller motor mounting seat through the adapter seat.

23. The tilting device according to claim 22, wherein: During the process of the rotation axis tilting along the first tilt direction, the rotation axis can pass through the horizontal flight tilt position and the vertical flight tilt position in sequence. The propeller motor mounting seat has a first stop portion, and the adapter seat has a second stop portion opposite to the first stop portion in the first tilt direction. When the rotation axis tilts to the vertical flight tilt position, the first stop portion abuts against the second stop portion.

24. The tilting device according to claim 21, wherein: During the process of the rotation axis tilting along the second tilting direction, the rotation axis may sequentially pass through the vertical flight tilting position and the horizontal flight tilting position, the connecting rod has a third stop portion, the rocker has a fourth stop portion opposite to the third stop portion in the second tilting direction, and when the rotation axis tilts to the horizontal flight tilting position, the third stop portion abuts against the fourth stop portion; And / or, the propeller motor mounting seat comprises a mounting seat body for mounting the propeller motor, and a plurality of supporting lugs connected to the mounting seat body, the supporting lugs are rotatably connected to the base, and the supporting lugs have the tilt axis; And / or, the tilting device further comprises an angle sensor for monitoring the tilting angle of the propeller motor mounting bracket.

25. The tilting device according to claim 21, wherein: The tilting device further comprises a worm connected to the tilting motor, a worm wheel matched with the worm, and a first rotating shaft connecting the worm wheel and the rocker, wherein the first rotating shaft is rotatably connected to the base.

26. The tilting device according to claim 25, wherein: The tilting device further comprises two rotating shaft support seats arranged on the base, one end of the first rotating shaft is rotatably connected to one of the rotating shaft support seats, and the other end of the first rotating shaft is rotatably connected to the other of the rotating shaft support seats; And / or, the tilting device further comprises two worm support seats arranged on the base, one end of the worm is rotatably connected to one of the worm support seats, and the other end of the worm is rotatably connected to the other of the worm support seats; And / or, the tilting motor is connected to the worm through a speed reducer; And / or, the tilting motor is drivingly connected to the worm gear via a coupling.

27. The tilting device according to claim 25, wherein: The worm is used for self-locking with the worm wheel so that the worm wheel cannot drive the worm.

28. The tilting device according to claim 27, wherein: The worm and the worm wheel are self-locked by a brake pad.

29. The tilting device according to claim 25, wherein: The first rotating shaft is parallel to the base, and the worm is arranged between the worm wheel and the base; Alternatively, the first rotating shaft is parallel to the base, and the length direction of the worm is the direction from the base toward the worm wheel.

30. The tilting device according to claim 21, wherein: The propeller motor mounting seat includes a mounting seat body for mounting the propeller motor, two supporting lugs connected to the mounting seat body, and a reinforcement member, wherein the supporting lugs are rotatably connected to the base, and one side of the two supporting lugs is connected to the reinforcement member.

31. The tilting device according to claim 30, wherein: The supporting lug is rotatably connected to the connecting rod.

32. A method for designing a tilting device, for designing a tilting device as claimed in any one of claims 11 to 31, wherein: The design method of the tilting device comprises the following steps: Acquire a torque variation curve of the tilting device during the tilting of the rotation axis; According to the preset corresponding relationship between the torque and the reduction ratio and the torque change curve, a reduction ratio change curve of the transmission mechanism is obtained; in the preset corresponding relationship between the torque and the reduction ratio, in the first tilting interval, the change trend of the torque change curve is consistent with the change trend of the reduction ratio change curve; The transmission mechanism is designed according to the reduction ratio variation curve.

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