Rotorcraft with a single-axis tilt swashplate

Abstract

A rotorcraft design that incorporates a single-axis tilt swashplate assembly is disclosed. The swashplate assembly tilts about a single horizontal axis. The simplified swashplate assembly of the disclosed rotorcraft design allows for a lighter assembly with fewer moving parts. Multiple rotor drive assemblies incorporating the simplified swashplate assembly are supported by a flight body that allows for modular attachment of mission panels to allow for quick reconfiguration of the rotorcraft for various specific applications. The simplified swashplate assembly is particularly suited for aerial unmanned vehicles (UAVs) or drones.

Description

DESCRIPTIONROTORCRAFT WITH A SINGLE- AXIS TILT SWASHPLATECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 617,642 filed on January 4, 2024, entitled “ROTORCRAFT WITH A SINGLE- AXIS TILT SWASHPLATE,” the entire contents of which is incorporated by reference herein in its entirety.TECHNICAL FIELD

[0002] The disclosure relates generally to rotorcraft design. In particular, this disclosure relates to a single-axis swashplate for rotorcraft, which provides for reduced complexity. This disclosure further relates to a modular rotorcraft design, which allows for swapping of one or more parts.BACKGROUND

[0003] Traditional rotorcraft use a swashplate to control the pitch of the rotor blades, which in turn controls the motion of the rotorcraft. Traditional swashplates are able to tilt about two horizontal axes, which allows for the swashplates to tilt in all directions.SUMMARY

[0004] Disclosed herein is a rotorcraft design that incorporates a single-axis tilt swashplate assembly, which tilts about a single horizontal axis. The simplified swashplate assembly of the disclosed rotorcraft design allows for a lighter assembly with fewer moving pails and a more dependable linkage geometry, creating a lower failure rate and safer flight. The simplified swashplate assembly is particularly suited for aerial unmanned vehicles (UAVs) or drones.

[0005] In a first embodiment, a single-axis tilt swashplate assembly for a rotorcraft is disclosed. The swashplate assembly includes a lower swashplate. The swashplate assemblyfurther includes an upper swashplate. The swashplate assembly further includes a first control arm positioned along an outer perimeter of the lower swashplate. The swashplate assembly further includes a second control arm positioned along the outer perimeter of the lower swashplate opposite the first control arm. The swashplate assembly is configured to tilt about a single horizontal axis that runs between the first control arm and the second control arm equidistant from the first and second control arms.

[0006] In an embodiment of the single-axis tilt swashplate assembly disclosed herein, the first control arm is mechanically coupled to a first servo and the second control arm is mechanically coupled to a second servo. The servos cause the control arms to move vertically such that the swashplate assembly tilts about the single horizontal axis.

[0007] In an embodiment of the single-axis tilt swashplate assembly disclosed herein, the first control arm and the second control arm are each mechanically coupled to the lower swashplate by a one-degree-of-freedom (1DOF) joint.

[0008] In another embodiment, a rotor drive assembly is disclosed. The rotor drive assembly includes a single-axis tilt swashplate assembly. The rotor drive assembly further includes a pair of servos mechanically coupled to the swashplate assembly. The rotor drive assembly further includes a rotor assembly. The rotor drive assembly further includes a motor for driving the rotor assembly. The rotor drive assembly further includes a drive shaft that couples the motor to the rotor assembly.

[0009] In an embodiment of the rotor drive assembly disclosed herein, the motor is positioned below and directly in line with swashplate assembly.

[0010] In another embodiment, a rotorcraft is disclosed. The rotorcraft includes two or more rotor drive assemblies. Each rotor drive assembly comprises a single-axis tilt swashplate assembly. The rotorcraft further includes a flight body supporting the rotor drive assemblies.

[0011] In an embodiment of the rotorcraft disclosed herein, the rotorcraft further includes a flight controller communicatively coupled to the rotor drive assemblies to control flight of the rotorcraft.

[0012] In an embodiment of the rotorcraft disclosed herein, the rotorcraft further includes a wireless receiver communicatively coupled to the flight controller for receiving user input from a remote device to control the flight controller.

[0013] In an embodiment of the rotorcraft disclosed herein, the rotorcraft further includes a power source electronically coupled to the rotor drive assemblies for powering the rotor drive assemblies.

[0014] In an embodiment of the rotorcraft disclosed herein, the rotorcraft further includes a first gyro for stabilizing flight of the rotorcraft in a first direction. The rotorcraft may further include a second gyro for stabilizing flight of the rotorcraft in a second direction different from the first direction.

[0015] In an embodiment of the rotorcraft disclosed herein, the rotorcraft further includes a power source for powering the rotorcraft.

[0016] In an embodiment of the rotorcraft disclosed herein, the flight body includes a boom connecting the rotor drive assemblies.

[0017] In an embodiment of the rotorcraft disclosed herein, the flight body is configured to accept one or more modular attachments.BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present embodiments are illustrated by way of example and are not intended to be limited by the figures of the accompanying drawings.

[0019] FIG. 1A depicts a perspective view of an embodiment of a single-axis tilt swashplate assembly.

[0020] FIG. IB depicts a top view of the embodiment of the single-axis tilt swashplate assembly shown in FIG. 1A.

[0021] FIG. 2 depicts an embodiment of a rotor drive assembly that incorporates a single-axis tilt swashplate assembly.

[0022] FIG. 3 depicts an embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body.

[0023] FIG. 4A depicts a front view of an embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body configured as a lifting body for efficient fast forward flight.

[0024] FIG. 4B depicts a top view of the embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body shown in FIG. 4A.

[0025] FIG. 4C depicts a front view of an embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body shown in FIG. 4A, with optional flaps added to the flight body.

[0026] FIGS. 5A-5C depict a transition of a rotorcraft from vertical takeoff to forward flight using rotor drive assemblies with the single-axis tilt swashplate assembly described herein.

[0027] FIGS. 5D-5F depict multiple configurations of the optional flaps on the flight body for high angle-of-attack lift.

[0028] FIG. 6 depicts an embodiment of a single-axis tilt swashplate assembly linked to a flap for increased tail control.

[0029] FIG. 7 depicts an example of a removable modular wing unit for assembly with the flight body of a rotorcraft in accordance with the subject matter disclosed herein.

[0030] FIG. 8A depicts a front view of an embodiment of a rotorcraft with a removable modular winglet that includes a battery for providing additional power to the rotorcraft.

[0031] FIG. 8B depicts a side view of an embodiment of a rotorcraft with a removable modular winglet that includes a battery for providing additional power to the rotorcraft.

[0032] FIG. 9 depicts a side view of an embodiment of a rotorcraft with a third additional rotor drive assembly connected to a flight body for increased heavy lift.

[0033] FIG. 10 depicts a top view of an embodiment of a rotorcraft with two additional rotor drive assemblies connected to a flight body for increased heavy lift and increased rotorcraft control.DETAILED DESCRIPTION

[0034] The following description and figures are illustrative and are not to be construed as limiting. Numerous specific details are described to provide a thorough understanding of the disclosure. In certain instances, however, well-known or conventional details are not described in order to avoid obscuring the description. References to “one embodiment” or “an embodiment” in the present disclosure may be (but are not necessarily) references to the same embodiment, and such references mean at least one of the embodiments.

[0035] The following reference numerals are used herein:

[0036] FIG. 1A depicts a perspective view of an embodiment of a single-axis tilt swashplate assembly.

[0037] Referring to FIG. 1A, the single-axis tilt swashplate assembly 100 comprises a lower swashplate 102 and an upper swashplate 104. The lower swashplate 102 does not rotate about the vertical axis. The lower swashplate 102 tilts about a single tilt axis, as shown in FIG. 1A. The upper swashplate 104 tilts about the vertical axis and tilts in concert with the lower swashplate 102. The swashplate assembly 100 comprises a plurality of blade grip linkage joints 110. The blade grip linkage joints 110 may be ball joints or other types of joints, such as straight or bar joints. In the embodiment shown in FIG. 1A, there are four blade grip linkage joints 110. In other embodiments, the swashplate assembly 100 may include two blade grip linkage joints 110 or three blade grip linkage joints 110, depending on the configuration of the rotors used. For example, the number of blade grip linkage joints 110 corresponds to the number of blades being used. The number of blades being used may depend on the particular application, such as, for example, a heavy-lift rotorcraft, a long-range rotorcraft, and the like. Additionally, one of the blade grip linkage joints 110 may further be used as a rotation mechanism, to keep the upper swashplate 104 in rotational synchronization with the rotors (which themselves are driven by a drive shaft). For clarity, lower swashplate 102 does not rotate, whereas upper swashplate 104 rotates independent from lower swashplate 102.

[0038] The swashplate assembly 100 includes control arms 106 and 108. Control arms 106 and 108 are positioned opposite one another along an outer perimeter of the lower swashplate 102. The swashplate assembly 100 is configured to tilt about a single horizontal axis that runs between control arm 106 and control arm 108, equidistant from both control arms.

[0039] Control arm 106 and control arm 108 are each mechanically coupled to a servo (as shown in more detail in FIG. 2). Control arm 106 is coupled to a first servo, and control arm 108 is mechanically coupled to a second servo. The servos cause the control arms to move verticallysuch that the swashplate assembly tilts about the single horizontal axis. The single-axis tilt nature of the swashplate assembly allows for the use of only two servos, as opposed to three or more servos in the traditional swashplate design. As can be seen from FIG. 1 A, the single-axis tilt nature of the swashplate assembly further allows for a more robust design of control arms 106 / 108 because they only need to support tilt along a single axis. This more robust design of control arms 106 / 108 provides a stronger swashplate design that allows for stronger lift by the rotorcraft.

[0040] FIG. IB depicts a top view of the embodiment of the single-axis tilt swashplate assembly shown in FIG. 1A.

[0041] FIG. 2 depicts an embodiment of a rotor drive assembly that incorporates a single-axis tilt swashplate assembly.

[0042] Referring to FIG. 2, rotor drive assembly 200 includes a motor 202 and a rotor assembly 206, with a drive shaft connecting motor 202 and rotor assembly 206. As motor 202 turns, it turns drive shaft 204, which turns rotor assembly 206. Rotor assembly 206 includes one or more blade grips 208. Blades (not shown in FIG. 2) may be attached to blade grips 208.

[0043] In an embodiment, motor 202 is configured in a direct-drive configuration with rotor assembly 206. In other embodiments, motor 202 may be positioned elsewhere on the rotorcraft, with the drive shaft using a gear assembly to drive the rotor shaft, as is well known in the ail. Motor 202 may be an electric motor, such as an alternating current (AC) motor or a direct current (DC) motor. Motor 202 may be a gas-powered motor.

[0044] Rotor drive assembly 200 further includes servos 212. Each servo 212 is mechanically coupled to a control arm of the swashplate assembly by servo linkage 214 and servo joint 216. The control arms may be mechanically coupled to the lower swashplate by a one-degree-of- freedom (1DOF) joint. In other embodiments, the control arms may be mechanically coupled tothe lower swashplate by a pushrod or similar design. The single-axis tilt swashplate design described herein eliminates the need for ball joints and allows for the use of pushrods, which provide for a variety of more secure connection types between the lower swashplate and the servos. These more secure connections enabled by the swashplate design described herein are more suitable for commercial transport, where heavy lifting requirements are higher and more common, than is allowed by traditional swashplate designs. In yet other embodiments, the control arms may be mechanically coupled by ball joints for multiple degrees of freedom, where the application is suitable for multiple degrees of freedom.

[0045] If both servos 212 drive servo linkages 214 up, then the entire swashplate assembly is driven up, causing positive collective pitch. The positive collective pitch increases lift, which causes rotor assembly 206 to ascend. If both servos 212 drive servo linkages 214 down, then the entire swashplate assembly is driven down, causing negative collective pitch. The negative collective pitch decreases lift, which causes rotor assembly 206 to descend. If one servo 212 drives servo linkage 214 up while the other servo 212 drives the other servo linkage 214 down, then that causes a tilt of the rotor blades through blade grip linkages 210, which leads to either forward motion or rearward motion, depending on the direction of the tilt.

[0046] FIG. 3 depicts an embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body.

[0047] Referring to FIG. 3, rotorcraft 300 includes two rotor drive assemblies that work in concert to cause the rotorcraft to fly as desired. Each rotor drive assembly comprises a single-axis tilt swashplate assembly. In various embodiments, the rotorcraft may have multiple rotors driven by a single motor. In other embodiments, the rotorcraft may have multiple motors driving a single rotor, for example, to add additional power.

[0048] To accomplish flight, both swashplate assemblies move in concert. The rotor drive assemblies are incorporated into and / or supported by flight body 308. The rotor drive assemblies cause the blades (not shown in FIG. 3) of each rotor drive assembly to counter-rotate with respect to one another. Rotorcraft 300 includes flight controller 302. In an embodiment, rotorcraft 300 includes a horizontal gyro 304 and / or a vertical gyro 306. Horizontal gyro 304 and vertical gyro 306 are positioned on different axes of flight body 308. Horizontal gyro 304 and vertical gyro 306 are communicatively coupled to flight controller 302. Flight controller 302 is communicatively coupled to the motors in each rotor drive assembly, respectively. Flight controller 302 is communicatively coupled to each of the servos in each rotor drive assembly, respectively. Flight controller 302 ensures that the two swashplates move in concert to accomplish the desired flight maneuvers.

[0049] Rotorcraft 300 may include one or more power sources 312 to power the rotorcraft. Power sources 312 may be rechargeable batteries, such as lithium-ion batteries. Power sources 312 may further include solar cells and / or solar recharging systems that charge the batteries. Power sources 312 may further include one or more wireless chargers to allow for a docked charging configuration.

[0050] Rotorcraft 300 may include a wireless receiver 314 communicatively coupled to the flight controller 302. Wireless receiver 314 may include one or more wireless transceiver chips, and may operate using satellite communication, cellular communication (e.g., LTE, 5G, and the like), long-range communication (referred to as LoRa), wireless networking (e.g., IEEE 802.11), global positioning satellites (e.g., GPS) or other positioning systems, and / or one or more proprietary communication protocols for encrypted communications. Wireless receiver 314 receives control and / or data signals from one or more wireless transmitters being operated by auser, who may be on the ground many miles away from the rotorcraft, or they may be in the air in another aerial vehicle. The control signals received by wireless receiver 314 include signals that provide instructions to the flight controller, such as destination, altitude, course, and / or real-time steering inputs.

[0051] Flight controller 302 may be one or more processors configured to operate the rotorcraft. Flight controller 302 receives input from, among other things, wireless receiver 314, gyros 304 and 306, a GPS receiver, an altimeter, or the like, and sends control signals to the motor(s) 202 and servos 212 to cause the rotors to work together to fly the rotorcraft. Flight controller 302 controls cyclic pitch and collective pitch by adjusting the servos to create the desired lift and / or pitch. Flight controller 302 may further control external flaps that change the aerodynamic properties of the rotorcraft during flight, such as flaps 410 and 412 (discussed in the context of FIGS. 4A-4C and FIG. 5). The processor(s) that make up flight controller 302 may include one or more general-purpose processors, or it may include an application-specific integrated circuit (ASIC) designed for flight control. Flight controller 302 may further receive signals from one or more payloads of the rotorcraft that are communicatively coupled to flight controller 302 for a specific flight.

[0052] In accordance with an embodiment disclosed herein, flight body 308 of rotorcraft 300 is a modular design that allows various mission panels 310 to be removably attached to flight body 308. Flight body 308 may include common connection interfaces and / or standardized connections to be used by mission panels 310. Such mission panels may include, for example, short wings, long wings, winglets, cargo containers or baskets for heavy-lift applications, or additional batteries to enable longer-range flight of the rotorcraft.

[0053] The single-axis tilt swashplate assembly described herein, along with the rotorcraft that incorporates such swashplate assemblies, offer numerous advantages over existing rotorcraft. For example, the simplified swashplate has fewer moving parts, and those parts are stronger because they are not required to move in multiple directions, which allows for stronger linkages between parts. Additionally, the simplified swashplate is lighter because it requires fewer servos and fewer linkages, which is beneficial for flying vehicles, such as rotorcraft.

[0054] The rotorcraft disclosed herein can operate as a helicopter-type aircraft or an airplanetype aircraft. The rotorcraft disclosed herein is a vertical takeoff and landing (VTOL) system. In one embodiment, a rotorcraft as disclosed herein is configured to takeoff vertically and rotate both rotor assemblies forward to turn the rotorcraft into an airplane- style flight configuration.

[0055] FIG. 4A depicts a front view of an embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body configured as a lifting body for efficient fast forward flight.

[0056] Referring to FIG. 4A, flight body 408 comprises a boom that connects the two rotor drive assemblies. The boom of flight body 408 creates a lifting body for efficient fast forward flight (FFF). Flight body 408 allows for the rotorcraft to take off vertically in a VTOL configuration and roll forward into a forward-flight position. The length of the boom may vary depending on the desired amount of lift. Longer rotor blades provide additional lift capabilities. The boom should be at least approximately twice as long as each rotor blade to allow for the rotors to properly counter-rotate. In an embodiment, flight body 408 may optionally include flaps 410 and 412 (as shown in FIG. 4C). Flaps 410 and 412 may pivot about their connection with flight body 408.

[0057] FIG. 4B depicts a top view of the embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body shown in FIG. 4A. To achieve forward flight of the rotorcraft shown in FIG. 4B, servos 212b and 212d work in concert to tilt the rearward side of the corresponding swashplates in the upward direction, while servos 212a and 212c work in concert to tilt the forward side of the corresponding swashplates in the downward direction. Thus, but swashplates will achieve a forward tilt in concert, and the forward tilt of both rotor assemblies causes the rotorcraft to tilt and fly in the forward direction (depicted in FIG. 4B).

[0058] As shown in FIG. 4B, servos 212a and 212b (for the left-side rotor assembly) and servos 212c and 212d (for the right-side rotor assembly) are positioned in a forward / rearward configuration with respect to the swashplate and the flight direction of the rotorcraft. Servo 212a is mechanically coupled to lower swashplate 102 using pushrod 416a. Servo 212b is mechanically coupled to lower swashplate 102 using pushrod 416b. Servo 212c is mechanically coupled to lower swashplate 102 using pushrod 416c. Servo 212d is mechanically coupled to lower swashplate 102 using pushrod 416d. In other embodiments, the servos may be positioned to the left and / or right of the swashplate assembly (i.e., 90 degrees relative to the forward / rearward flight directions). In either case, the pushrod configuration enabled by the single-axis tilt swashplate assembly provides for fewer points of failure and stronger connections that enable additional lift capabilities, as discussed herein.

[0059] FIG. 4C depicts a front view of an embodiment of a rotorcraft with two rotor drive assemblies incorporated into a flight body shown in FIG. 4A, with optional flaps added to the flight body. Flaps 410 and 412 may be used to assist with the rolling of the rotorcraft into forward flight, and then to assist with forward flight once in the forward-flight position.

[0060] FIGS. 5A-5C depict a transition of a rotorcraft from vertical takeoff to forward flight using rotor drive assemblies with the single-axis tilt swashplate assembly described herein.

[0061] Referring to FIGS. 5A-5C, a rotorcraft includes a rotor assembly 200, which includes the single-axis tilt swashplate assembly described herein. The single-axis tilt swashplate assembly enables the ability of a rotorcraft to transition from vertical take-off (shown in FIG. 5A) to a forward-flight position (shown in FIG. 5C). The single-axis tilt swashplate assembly tilts about the only horizontal tilt axis. The horizontal tilt axis runs perpendicular to the forward / rearward direction. By tilting about the horizontal tilt axis, the swashplate causes the rotorcraft to rotate forward (as shown in FIG. 5B).

[0062] FIGS. 5D-5F depict multiple configurations of the optional flaps on the flight body for high angle-of-attack lift.

[0063] Referring to FIGS. 5D-5F, flaps 410 and 412 (shown as optional in FIG. 4C) are configured to improve high angle-of-attack (AOA) lift. High AOA lift allows hybrid forward flight where the rotors are still supplying a portion of the lift that would not be possible with strict forward flight because of stalling issues. As shown in FIGS. 5D-5F, flaps 410 and 412 pivot with respect to flight body 408 to assist in changing the angle of flight of the rotorcraft.

[0064] FIG. 6 depicts an embodiment of a single-axis tilt swashplate assembly linked to a flap for increased tail control.

[0065] Referring to FIG. 6, external flap 602 is mechanically linked to lower swashplate 102, for example, by linkage 604. In one embodiment, linkage 604 may include a control wheel that controls the movement of external flap 602. As shown in FIG. 6, as the lower swashplate 602 tilts (as a result of the movement of the servos), the tail control linkage 604 translates that movement to external flap 602. In another embodiment, tail control linkage may be mechanically coupled tothe servos rather than the lower swashplate. The movement of external flap 602 provides increased control to the body of the rotorcraft.

[0066] FIG. 7 depicts an example of a removable modular wing unit for assembly with the flight body of a rotorcraft in accordance with the subject matter disclosed herein.

[0067] Referring to FIG. 7, wing unit 702 is a removable modular wing unit that can be added to the flight body of a rotorcraft for specific missions and / or flight characteristics. Wing unit 702 provides for long-range flight when the rotorcraft rotates into the forward-flight position. In an embodiment, wing unit 702 may include storage for an additional battery 708 for providing additional power to the rotorcraft for long-range forward flight. Wing unit 702 may include a built-in flap 704 and built-in flap controls 706 for intelligence, surveillance, and reconnaissance (ISR) flights.

[0068] FIG. 8A depicts a front view of an embodiment of a rotorcraft with a removable modular winglet that includes a battery for providing additional power to the rotorcraft.

[0069] Referring to FIG. 8A, winglet 802 may be removably attached to the rotor drive assembly in line with the rotor shaft. In one embodiment, winglet 802 may include an additional battery for providing additional power to the rotorcraft.

[0070] FIG. 8B depicts a side view of an embodiment of a rotorcraft with a removable modular winglet that includes a battery for providing additional power to the rotorcraft.

[0071] FIG. 9 depicts a side view of an embodiment of a rotorcraft with a third additional rotor drive assembly connected to a flight body for increased heavy lift.

[0072] Referring to FIG. 9, the twin-rotor rotorcraft shown, for example, in FIG. 3 may further include an additional rotorcraft assembly 902 for increased heavy lift. In one embodiment, additional rotorcraft assembly 902 does not include cyclic control, but rather only includecollective pitch to provide additional lift, to further simplify the design. For example, additional rotorcraft assembly 902 may be fixed pitch.

[0073] FIG. 10 depicts a top view of an embodiment of a rotorcraft with two additional rotor drive assemblies connected to a flight body for increased heavy lift and for increased rotorcraft control.

[0074] Referring to FIG. 10, the twin-rotor rotorcraft shown, for example, in FIG. 3 may further include additional rotorcraft assemblies 1002 and 1004 for increased heavy lift. In one embodiment, as shown in FIG. 10, additional rotorcraft assemblies 1004 and 1004 may further include single-axis tilt swashplate assemblies, as described herein, to provide additional control of the rotorcraft in concert with the other swashplate assemblies. In one embodiment, additional rotorcraft assemblies 1002 and 1004 do not include cyclic control, but rather only include collective pitch to provide additional lift, to further simplify the design. For example, additional rotorcraft assemblies 1002 and 1004 may be fixed pitch.

[0075] As will be appreciated by one skilled in the art, aspects of the technology described herein may be embodied as a system, method or computer program product. Accordingly, aspects of the technology may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, aspects of the technology may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0076] Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readablestorage medium (including, but not limited to, non-transitory computer readable storage media). A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0077] A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0078] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0079] Computer program code for carrying out operations for aspects of the technology described herein may be written in any combination of one or more programming languages, including object oriented and / or procedural programming languages. Programming languages may include, but are not limited to: Ruby®, JavaScript®, Java®, Python®, PHP, C, C++, C#, Objective-C®, Go®, Scala®, Swift®, Kotlin®, OCaml®, or the like. The program code may execute entirely on the user’s computer, partly on the user’s computer, as a stand-alone software package, partly on the user’s computer, and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user’s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0080] Aspects of the technology described herein refer to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to various embodiments. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0081] These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0082] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or otherdevices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0083] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0084] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the technology described herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardwarebased systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0085] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Thus, for example, reference to “a user” can include a plurality of such users, and so forth. It will be further understood that the terms “comprises” and / or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0086] The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description provided herein has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the specific form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. The embodiment was chosen and described in order to best explain the principles described herein and the practical application of those principles, and to enable others of ordinary skill in the ail to understand the technology for various embodiments with various modifications as are suited to the particular use contemplated.

[0087] The descriptions of the various embodiments of the technology disclosed herein have been presented for purposes of illustration, but these descriptions are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of theembodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

CLAIMSWhat is claimed is:

1. A single-axis tilt swashplate assembly for a rotorcraft, comprising: a lower swashplate; an upper swashplate; a first control arm positioned along an outer perimeter of the lower swashplate; and a second control arm positioned along the outer perimeter of the lower swashplate opposite the first control arm; wherein the swashplate assembly is configured to tilt about a single horizontal tilt axis that runs between the first control arm and the second control arm equidistant from the first and second control arms.

2. The single-axis tilt swashplate assembly of claim 1, wherein the first control arm is mechanically coupled to a first servo and the second control arm is mechanically coupled to a second servo, wherein the servos cause the control arms to move vertically such that the swashplate assembly tilts about the single horizontal tilt axis.

3. The single-axis tilt swashplate assembly of claim 1, wherein the first control arm and the second control arm are each mechanically coupled to the lower swashplate by a one- degree-of-freedom (1D0F) joint.

4. The single-axis tilt swashplate assembly of claim 1 , wherein the first control arm and the second control arm are each mechanically coupled to the lower swashplate by a pushrod.

5. A rotor drive assembly, comprising: a single-axis tilt swashplate assembly configured to tilt about only one horizontal tilt axis; a pair of servos mechanically coupled to the swashplate assembly by a respective pair of control arms; a rotor assembly; a motor for driving the rotor assembly; and a drive shaft that couples the motor to the rotor assembly, wherein the single-axis tilt swashplate assembly is positioned around the drive shaft between the motor and the rotor assembly.

6. The rotor drive assembly of claim 5, wherein the motor is positioned below and directly in line with swashplate assembly.

7. The rotor drive assembly of claim 5, wherein the servos are configured to cause the control arms to move vertically such that the swashplate assembly tilts about the only one horizontal tilt axis.

8. The rotor drive assembly of claim 5, wherein the control arms are each mechanically coupled to the swashplate assembly by a one-degree-of-freedom (1D0F) joint.

9. The rotor drive assembly of claim 5, wherein the control arms are each mechanically coupled to the swashplate assembly by a pushrod.

10. A rotorcraft, comprising; two or more rotor drive assemblies, each rotor drive assembly comprising a single-axis tilt swashplate assembly configured to tilt about only one tilt axis; and a flight body supporting the rotor drive assemblies.

11. The rotorcraft of claim 10, further comprising a flight controller communicatively coupled to the rotor drive assemblies to control flight of the rotorcraft.

12. The rotorcraft of claim 10, further comprising a wireless receiver communicatively coupled to the flight controller for receiving user input from a remote device to control the flight controller.

13. The rotorcraft of claim 10, further comprising a power source electronically coupled to the rotor drive assemblies for powering the rotor drive assemblies.

14. The rotorcraft of claim 10, further comprising a first gyro for stabilizing flight of the rotorcraft in a first direction.

15. The rotorcraft of claim 14, further comprising a second gyro for stabilizing flight of the rotorcraft in a second direction different from the first direction.

16. The rotorcraft of claim 10, further comprising a power source for powering the rotorcraft.

17. The rotorcraft of claim 10, wherein the flight body comprises a boom connecting the rotor drive assemblies.

18. The rotorcraft of claim 10, wherein the flight body is configured to accept one or more modular attachments.

19. The rotorcraft of claim 18, wherein the one or more modular attachments includes a wing for supporting forward flight of the rotorcraft.

20. The rotorcraft of claim 19, wherein the wing includes an additional power source for powering the rotorcraft.

21. The rotorcraft of claim 10, wherein the flight body further comprises one or more external flaps configured to assist the rotorcraft in transitioning from a vertical take-off position to a forward-flight position.

22. A rotorcraft, comprising: three or more rotor drive assemblies,wherein two rotor drive assemblies of the three or more rotor drive assemblies each comprise a single-axis tilt swashplate assembly configured to tilt about only one tilt axis, and wherein at least one rotor drive assembly of the three or more rotor drive assemblies includes a fixed-pitch rotor assembly to provide additional lift capability to the rotorcraft; and a flight body supporting the rotor drive assemblies, wherein the two rotor drive assemblies that each comprise a single-axis tilt swashplate assembly are positioned opposite one another on the flight body, and wherein the at least one rotor drive assembly that includes a fixed-pitch rotor assembly is positioned between the two rotor drive assemblies that each comprise a single-axis tilt swashplate assembly.

23. The rotorcraft of claim 22, further comprising a flight controller communicatively coupled to the rotor drive assemblies to control flight of the rotorcraft.

24. The rotorcraft of claim 22, further comprising a wireless receiver communicatively coupled to the flight controller for receiving user input from a remote device to control the flight controller.

25. The rotorcraft of claim 22, further comprising a power source electronically coupled to the rotor drive assemblies for powering the rotor drive assemblies.

26. The rotorcraft of claim 22, further comprising a first gyro for stabilizing flight of the rotorcraft in a first direction.

27. The rotorcraft of claim 26, further comprising a second gyro for stabilizing flight of the rotorcraft in a second direction different from the first direction.

28. The rotorcraft of claim 22, further comprising a power source for powering the rotorcraft.

29. The rotorcraft of claim 22, wherein the flight body comprises a boom connecting the rotor drive assemblies.

30. The rotorcraft of claim 22, wherein the flight body is configured to accept one or more modular attachments.

31. The rotorcraft of claim 30, wherein the one or more modular attachments includes a wing for supporting forward flight of the rotorcraft.

32. The rotorcraft of claim 31, wherein the wing includes an additional power source for powering the rotorcraft.

33. The rotorcraft of claim 22, wherein the flight body further comprises one or more external flaps configured to assist the rotorcraft in transitioning from a vertical take-off position to a forward-flight position.

Images