CN111891344B

CN111891344B - Tandem type tiltable rotor aircraft

Info

Publication number: CN111891344B
Application number: CN202010806674.6A
Authority: CN
Inventors: 杨守利
Original assignee: Tianjin Air Technology Co ltd
Current assignee: Tianjin Air Technology Co ltd
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2021-10-22
Anticipated expiration: 2040-08-12
Also published as: CN111891344A

Abstract

The utility model discloses a but tandem tilt rotor craft, include: the device comprises a frame, wings, a driving mechanism and an operating mechanism; the rack comprises a longitudinal supporting rod, and two ends of the longitudinal supporting rod are respectively connected with a driving mechanism; the wings are detachably arranged on the longitudinal supporting rods; the driving mechanism comprises two rotor wing assemblies and a tilting device, the rotor wing assemblies are connected with the tilting device through connecting pieces, and the tilting device drives the rotor wing assemblies to tilt transversely or longitudinally; the control mechanism is connected with the driving mechanism and controls the driving mechanism to move. Two sets of rotor assemblies are connected respectively at the both ends of frame, and the rotor assembly promotes through the device that verts and takes place transversely or vertically to vert to realize the nimble flight of aircraft.

Description

Tandem type tiltable rotor aircraft

Technical Field

The present disclosure relates to a tandem tileable rotor aircraft.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

At present, several flying motorcycle type aircrafts at home and abroad comprise an X-shaped bracket, wherein an electric power combination (a motor and a propeller) or an upper electric power combination and a lower electric power combination (two motors and two propellers) are respectively arranged at four endpoints. A seat is installed above the X-bracket intersection, on which a person can ride. The whole machine body generates an inclination angle to realize front-back left-right flying by simultaneously adjusting the rotating speeds of the front motor and the rear motor or the left motor and the right motor, and the turning is realized by generating a rotating speed difference to generate a torsion force by simultaneously adjusting the rotating speeds of the opposite angle motors. The inventor finds that the aircraft has the defects that the gravity center is higher than the whole aircraft body, the flight stability is poor, the safety is poor, the action reaction time is relatively long, and the flight action is not sensitive enough in the research and development process.

At present, the domestic flying vehicle similar to the scheme is provided with a cabin below the central point of the X axis, and the rest structures and control modes are consistent with the scheme. The inventor finds in the development process that although the aircraft solves the problems of center of gravity and safety, the aircraft also has the defects of relatively long action response time and insensitive flying action. Foreign countries also have aircrafts which form a circular big bracket through a net bracket or a plurality of Y-shaped structures. An electric power device is arranged at each intersection, the control mode is similar to the scheme, and the front-back left-right flying and turning flying are realized by simultaneously regulating and controlling a plurality of rotating speeds. The inventor finds that the aircraft has the defects of being too complex in structure, relatively long in flight action response time and not sensitive enough in flight action in the research and development process.

Foreign countries also have an aircraft with two front and rear rotors, wherein a seat is arranged in the middle part of the connection of the two rotors, and a driver rides on the seat and controls the advancing and the direction by arranging a control surface above or below the rotors. The structure has higher gravity center, poor stability and low safety factor. The efficiency of the control surface for controlling the advancing and the direction to influence the lift force has relatively long reaction time.

Disclosure of Invention

In order to solve the problem, the utility model provides a tilt-rotor aircraft of column, connect two sets of first rotor subassemblies respectively at the both ends of frame, first rotor subassembly promotes through first tilting device and takes place transversely or vertically to vert to realize the nimble flight of aircraft.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

a tandem tiltrotor aircraft comprising: the device comprises a frame, wings, a driving mechanism and an operating mechanism;

the rack comprises a longitudinal supporting rod, and two ends of the longitudinal supporting rod are respectively connected with a driving mechanism;

the wings are detachably arranged on the longitudinal supporting rods;

the driving mechanism comprises two first rotor wing assemblies and a first tilting device, the first rotor wing assemblies are connected with the first tilting device through connecting pieces, and the first tilting device drives the first rotor wing assemblies to tilt transversely or longitudinally;

the control mechanism is connected with the driving mechanism and controls the driving mechanism to move.

Compared with the prior art, the beneficial effect of this disclosure is:

1. the aircraft provided by the disclosure has the advantages of simple structure, small and light fuselage, capability of flying in a narrow space and convenience in loading; rotor through rocker control frame both ends is transversely verted simultaneously, or vertically verts simultaneously, or one end takes place transversely to vert, and the other end takes place vertically to vert, controls the flight direction of aircraft through the direction of verting of both ends rotor, and the flight is nimble, and flight action reaction is sensitive timely, easily controls.

2. The aircraft is provided with the conveniently-detached wings, whether the wings are installed or not can be selected according to flight tasks, and the aircraft is convenient and flexible to use. When the wings are installed, the aircraft lift force is mainly provided by the wings, the flight time is prolonged greatly under the condition that the wings are not arranged, the flight distance is far, and the aircraft is suitable for long-distance flight tasks.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic diagram of an overall configuration of a tiltrotor tandem VTOL aerial vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a tiltable rotor wing tandem VTOL aerial vehicle drive mechanism according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of an overall structure of a tandem VTOL aerial vehicle with two tiltable rotors according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an overall configuration of a triple-tiltrotor tandem VTOL aerial vehicle according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of an overall configuration of a four-tileable-rotor tandem VTOL aerial vehicle according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of an overall configuration of a four-tileable-rotor tandem VTOL aerial vehicle according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural view of a five-tileable-rotor tandem VTOL aircraft drive mechanism according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of an overall configuration of a five-tileable-rotor tandem VTOL aerial vehicle according to an embodiment of the present disclosure;

fig. 9 is a schematic view of a detachable wing installation structure according to the disclosure.

Wherein: 11. longitudinal support rod, 12, vertical support rod, 14, seat, 15, rocker, 16, landing gear, 17, oblique-pull support rod, 18, mounting rack, 110, first motor mounting seat, 111, first motor, 112, first rotor, 113, first transverse tilting shaft, 114, first transverse tilting bearing, 116, first transverse tilting steering gear, 117, first longitudinal tilting steering gear, 118, first base, 119, first base cover, 21, first longitudinal support rod, 22, second longitudinal support rod, 23, wing, 25, vertical support rod, 26, mounting rack, 27, seat, 28, rocker, 29, landing gear, 211, first motor, 212, first rotor, 213, first transverse shaft, 214, first transverse tilting bearing, 215, first tilting belt pulley, 216, first steering gear, 217, first rudder, 31, longitudinal support rod, 32, seat vertical support rod, 33. mounting rack, 34, seat, 35, rocker, 36, landing gear, 37, diagonal bracing rod, 310, first upper electrode, 311, first lower motor, 312, first upper rotor, 313, first lower rotor, 314, first motor mount, 315, first longitudinal tilting mount, 316, first transverse tilting steering engine, 317, first longitudinal tilting steering engine, 318, first transverse tilting link, 319, first longitudinal tilting link, 3110, first tilting base, 41, longitudinal bracing rod, 42, vertical bracing rod, 43, mounting rack, 410, first upper motor, 411, first lower motor, 412, first upper rotor, 413, first lower rotor, 414, first motor mount, 415, first transverse tilting ring, 416, first transverse tilting, 417, first longitudinal tilting steering engine, 418, first transverse tilting link, 419, first longitudinal tilting link, 4110, first tilting base, 51. the wing-mounted device comprises a longitudinal support rod, 52, a first longitudinal inclined rocker arm, 53, a second longitudinal inclined rocker arm, 54, a first longitudinal inclined connecting rod, 55, a second longitudinal inclined connecting rod, 56, a rocker arm, 57, a first swing arm, 58, a second swing arm, 59, a torsion switch, 91, a wing mounting seat, 92, a connecting ring, 93 and a shaft pin.

The specific implementation mode is as follows:

the present disclosure is further described with reference to the following drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.

In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.

A tandem tiltrotor aircraft comprising: the device comprises a frame, wings, a driving mechanism and a control mechanism;

the wings are detachably arranged on the longitudinal support rods, one wing can be arranged in the middle of the longitudinal support rods, the front parts and the rear parts of the longitudinal support rods can be respectively provided with one wing, and the wings can be prefabricated with an elevation angle;

the control mechanism comprises a rocker and a flight controller;

the driving mechanism comprises two first rotor wing assemblies and a tilting device, the first rotor wing assemblies are connected with the tilting device through connecting pieces, and the tilting device drives the first rotor wing assemblies to tilt transversely or longitudinally;

the rocker is arranged on the rack and connected with the flight controller, the flight controller is connected with the driving mechanism, and the control rocker can trigger the flight control to send an instruction to the driving mechanism to control the driving mechanism to move.

The present disclosure lists a plurality of embodiments, and the core content thereof is that the tilting device in the rack and the driving mechanism of the tandem type drives the rotor to tilt transversely or longitudinally, wherein the tilting device can be directly driven by a hydraulic device, an electric worm, an electric lead screw, a steering engine, a gear, a servo motor, etc., or drive the rotor to tilt by means of a link drive, a swing arm, a transmission shaft, or a belt drive, etc. Each embodiment is equipped with a flight controller, referred to as flight control.

The tilting device has different structures in different implementation methods, and the driving mechanism is described in detail in five embodiments.

The machine frame structure in different embodiments is the same, and all include, longitudinal support pole, vertical support pole and wing, vertical support pole's one end and longitudinal support pole are connected, and the other end is connected with the mounting bracket, and the mounting bracket is connected with longitudinal support pole through drawing the bracing piece to one side, installs the seat on the mounting bracket, and the undercarriage is installed to the mounting bracket bottom, sets up the wing mount pad on the longitudinal support pole, sets up the go-between on the wing, and the wing mount pad passes through pivot hub connection with the go-between, installs the wing on longitudinal support pole, and the pivot is torn open, and the wing is dismantled from longitudinal support pole.

Wherein, the personnel sit on the seat as the benchmark, and the direction that the people faced is preceding, and the direction of dorsad is the back, and personnel's left hand is the left side, and personnel's right hand is the right side, and personnel's overhead direction is top and upper portion, and personnel's underfoot direction is bottom and lower part.

Example 1

In the embodiment, a tandem tiltable rotor craft is disclosed, the rotor of which can tilt transversely or longitudinally, and the tiltable rotor craft comprises a frame, a first driving mechanism and a second driving mechanism which are symmetrically arranged at two ends of the frame in a front-back manner, and a rocker for operating the craft. As shown in fig. 1 and 2.

The frame comprises a longitudinal support rod 11 and two vertical support rods 12 which are inclined relative to each other; the tops of the two vertical support rods 12 are arranged at two sides of the middle rear position of the longitudinal support rod 11; the sub-unit connection of two vertical support rods 12 has mounting bracket 18, is equipped with the seat 14 of taking the handrail on mounting bracket 18, and the seat 14 right side seat handrail front end of taking the handrail is provided with the rocker 15 that is used for controlling the aircraft, installs undercarriage 16 under the mounting bracket 18, and the mounting bracket 18 front portion is connected with two respectively to draw the bracing piece 17 to one side, and two draw the both sides at vertical bracing piece about one-third position to one side are installed to the bracing piece 17 upper end to one side.

The rocker of the aircraft is provided with an accelerator switch which can be pushed up and pressed down by a thumb, the rocker can also be pushed forward, pulled backward, pushed leftward, pushed rightward, twisted leftward and twisted rightward, and different operation modes can trigger flight control to send different control instructions.

First actuating mechanism and second actuating mechanism structure are the same, all include two sets of first rotor subassemblies, first rotor subassembly structure is the same, all include the motor, rotor with motor output shaft, two first rotor subassemblies pass through the motor mount pad and are connected, the device of verting is connected with the motor mount pad, promote the rotor and take place transversely or vertically to vert, the device of verting wherein, including the steering wheel that transversely verts and the steering wheel that vertically verts, the output shaft and the horizontal hub connection that verts of the steering wheel transversely verts, transversely vert axle and motor mount pad intermediate junction, when the steering wheel that transversely verts is rotatory, drive the motor mount pad through the axle of transversely verting and take place transversely to vert, the output shaft and the motor mount pad fixed connection of the steering wheel that vertically verts, when the steering wheel that vertically verts is rotatory, drive the motor mount pad and take place to vertically vert. The following describes a specific structure.

The first driving mechanism is composed of a first motor mounting base 110, two first motors 111, two first rotors 112, a first transverse tilting shaft 113, two first transverse tilting bearings 114, a first transverse tilting steering engine 116, a first longitudinal tilting steering engine 117, a first base 118 and a first base cover 119.

One end of the first transverse tilting shaft 113 passes through two first transverse tilting bearings 114 and is connected with an output shaft of the first transverse tilting steering engine 116; the other end of the first transverse tilting shaft 113 is provided with a notch, two sides of the notch are provided with shaft holes, the middle of the first motor mounting seat 110 is arranged in the notch of the first transverse tilting shaft 113, and the output shaft of the first longitudinal tilting steering engine 117 passes through the shaft holes on two sides of the first transverse tilting shaft 113 and is fixedly connected with the motor mounting seat 110.

The two first motors 111 are vertically and symmetrically arranged on the first motor mounting base 110 respectively; the two first rotors 112 are respectively installed on the output shafts of the two first motors 111; mounting grooves matched with the two first transverse tilting bearings 114 and the first transverse tilting steering engine 116 are formed in the inner sides of the first base 118 and the first base cover 119; the two first transverse tilting bearings 114 and the first transverse tilting steering engine 116 are respectively installed in installation grooves of the first base 118; the first base cover 119 is fastened to the first base 118 by screws to form a whole, and is inserted into the front end of the longitudinal support bar 11 and fastened by screws.

The second driving mechanism is composed of a second motor mounting seat, two second motors, two second rotors, a second transverse tilting shaft, two second transverse tilting bearings, a second transverse tilting steering engine, a second longitudinal tilting steering engine, a second base and a second base cover.

One end of the second transverse tilting shaft passes through the two second transverse tilting bearings and is connected with an output shaft of the second transverse tilting steering engine; the other end of the second transverse tilting shaft is provided with a notch and shaft holes on two sides, the middle of the second motor mounting seat is arranged in the notch of the second transverse tilting shaft, the output shaft of the second longitudinal tilting steering engine penetrates through the shaft holes on two sides of the second transverse tilting shaft and the motor mounting seat to be fixedly connected.

The two second motors are vertically symmetrically and respectively arranged on the second motor mounting seats; the two second rotors are respectively arranged on output shafts of the two second motors; mounting grooves matched with the two second transverse tilting bearings and the second transverse tilting steering engine are formed in the inner sides of the second base and the second base cover; the two second transverse tilting bearings and the second transverse tilting steering engine are respectively arranged in the mounting grooves of the second base; the second base cover is fastened with the second base through screws to form a whole, and is fastened through screws after being inserted into the rear end of the longitudinal support rod 11.

In this embodiment, the steering wheel that transversely verts drives the motor mount pad and takes place transversely to vert, and then makes the rotor take place transversely to vert, and the steering wheel that vertically verts drives the motor mount pad and takes place vertically to vert, and then makes the rotor take place vertically to vert.

When driving, after a driver sits on the seat, the power switch is started and the accelerator switch on the rocker is gradually pushed upwards, the front rotor and the rear rotor start to rotate, and at the moment, the rotating surfaces of the rotors face upwards and are parallel to the ground. After the aircraft reaches a certain rotating speed, the aircraft flies off the ground, and after the aircraft flies to a certain height, a little throttle is withdrawn to ensure that the upward lift force of the rotor wing is equal to the total amount of the aircraft, so that the aircraft can be in a hovering state.

When the aircraft flies at present, a rocker is pushed forward to trigger flight control, the flight control transmits an instruction to two longitudinal tilting steering engines, the longitudinal tilting steering engines drive front and rear two groups of rotors to tilt forward, the rotor surfaces tilt forward, and the original upward lift force is decomposed into a forward pulling force; the original upward lift force is divided into a part of lift force to be reduced, the aircraft can fall high, and in order to keep the flight height unchanged, the flight control can reach a command of increasing the rotating speed while the rotor wing tilts so as to compensate the divided lift force; the aircraft flies forwards under the action of forward tension, the larger the tilting angle of the rotor wing is, the larger the tension is, and the faster the flying speed is; and by pulling the rocker backwards on the same principle, the rotor wing surface can incline backwards, and the aircraft flies backwards.

When the aircraft flies sideways, the rocker is pushed leftwards to trigger flight control, a flight control instruction is transmitted to the transverse tilting steering engines, the two transverse tilting steering engines drive the rotor wings to tilt leftwards, the two groups of rotor wing surfaces tilt leftwards, and the original upward lifting force is resolved into a leftward pulling force; the original upward lift force is divided into a part of lift force to be reduced, the aircraft can fall high, and in order to keep the flight height unchanged, the flight control can reach a command of increasing the rotating speed while the rotor wing tilts so as to compensate the divided lift force; the aircraft flies leftwards under the action of leftward tension, the larger the tilting angle of the rotor wing is, the larger the tension is, and the faster the flying speed is; by pulling the rocker to the right according to the same principle, the rotor wing surface can incline to the right, and the aircraft flies to the right.

When the aircraft flies obliquely, the rocker is pushed to the left front, the rocker triggers flight control, and a flight control instruction is transmitted to the transverse tilting steering engine and the longitudinal tilting steering engine; the transverse tilting steering engine drives the rotor wing to tilt leftwards, the rotor wing surface tilts leftwards, and the original upward lifting force is resolved into a leftward pulling force; meanwhile, the longitudinal tilting steering engine drives the rotor wing to tilt forwards, the rotor wing surface tilts forwards, and the original upward lifting force is decomposed into a forward pulling force; the inclination direction of the rotor wing surface of each rotor wing is about 45 degrees towards the left front; the original upward lift force is divided into three parts, one part is also upward lift force, the other part is leftward pull force, the other part is forward pull force, the lift force of the divided two parts is reduced, the aircraft can fall high, and in order to keep the flight height unchanged, the flight control can be controlled to be down to increase the rotating speed to compensate the divided lift force; the aircraft flies forwards and leftwards under the action of left and forward pulling forces, if the left and forward tilt angles of the rotor wing are the same, the aircraft flies towards the direction of 45 degrees, if the left is larger than the forward tilt angle, the left pulling force is larger than the forward pulling force, the flight direction of the aircraft is deviated to the left, and otherwise, the aircraft is deviated to the front.

The rocker is pushed to the right place ahead to the same principle, and the rotor face can incline to the right place ahead, and the aircraft flies to the right place ahead.

When the aircraft flies in a turning way, the rocker is pushed forwards and is twisted leftwards, the rocker triggers flight control, and a flight control instruction is transmitted to the transverse tilting steering engine and the longitudinal tilting steering engine; the longitudinal tilting steering engine drives the rotor wing to tilt forwards, the rotor wing surface tilts forwards, and the original upward lift force is decomposed into a forward pulling force; when a transverse tilting steering engine of the front rotor wing group receives an instruction, the front rotor wing group is driven to tilt leftwards, and the rotor wing surface tilts leftwards; the rear rotor wing group transverse tilting steering engine receives an instruction of driving the rotor wing group to tilt rightwards, and the rotor wing surface tilts rightwards; the aircraft flies forwards under the action of forward pulling force, and simultaneously flies forwards and turns under the action of forward and backward two thrusts in opposite directions; similarly, the flight control will command increased speed when the rotor tilts to compensate for lift and maintain the flight altitude constant.

On the same principle, when the rocker is pushed forwards and is twisted to the right, the aircraft flies forwards and turns to the right.

Example 2

In this embodiment, a tandem tiltable rotor craft is disclosed, in which the rotor of the craft can tilt laterally, and the structure of the craft is shown in fig. 3, and the craft includes a rack, a first driving mechanism and a second driving mechanism which are symmetrically arranged at two ends of the rack, and a rocker for operating the craft.

The seat in this embodiment, the rocker structure is the same with embodiment 1, first rotor subassembly is the same with the first rotor subassembly structure in embodiment 1, and two first rotor subassemblies pass through the motor mount pad and connect, the device that verts is connected with the motor mount pad, promote the rotor and take place transversely to vert, the device that verts wherein, including transversely vert the steering wheel and transversely vert the axle, it is rotatory that the steering wheel that transversely verts passes through belt transmission and drives the axle that transversely verts, transversely vert axle and motor mount pad fixed connection, when transversely verting the axle rotatory, the motor mount pad takes place rotatoryly, and then drive the rotor and take place transversely to vert, concrete structure is as follows.

The frame comprises a first longitudinal support bar 21, a second longitudinal support bar 22, two opposite inclined vertical support bars 25 and a wing 23.

The first longitudinal support rod 21 and the second longitudinal support rod 22 respectively clamp the left side and the right side of the first transverse tilting shaft and the bearing and the second transverse tilting shaft and the bearing, and the wing 23 is installed in the middle position above the first longitudinal support rod 21 and the second longitudinal support rod 22 through an installation frame and is preset with a large elevation angle.

The upper ends of the two vertical support rods 25 are respectively arranged at the rear parts of the first longitudinal support rod 21 and the second longitudinal support rod 22; the lower parts of the two vertical supporting rods 25 are connected with mounting racks 26; a seat 27 with armrests is mounted on the mounting frame 26, a rocker 28 for operating the aircraft is arranged at the front end of the right armrest of the seat 27, and a landing gear 29 is arranged at the lower part of the mounting frame 26; the front end of the mounting rack 26 is connected with two diagonal support rods, and the upper ends of the two diagonal support rods are respectively arranged at the front parts of the first longitudinal support rod 21 and the second longitudinal support rod 22.

The first driving mechanism is composed of a first motor mounting base 210, two first motors 211, two first rotors 212, a first transverse tilting shaft 213, two first transverse tilting bearings 214, a first tilting belt pulley 215, a first steering engine 216 and a first rudder engine base 217.

Two first transverse tilting bearings 214 are arranged at the front end and the middle part in a gap between the first longitudinal support rod 21 and the second longitudinal support rod 22 in tandem, the front end of a first transverse tilting shaft 213 is fixedly connected with the first motor mounting seat 210, and the rear end of the first transverse tilting shaft passes through the two first transverse tilting bearings 214 and is provided with a first tilting belt pulley 215; the first steering engine 216 is mounted on the first steering engine base 217; a driving belt pulley is mounted on an output shaft of the first steering engine 216, and a belt is connected between the driving belt pulley and the first tilting belt pulley 215; the first rudder mount 217 is mounted above the first and second longitudinal support bars 21, 22.

The second driving mechanism is composed of a second motor mounting seat, two second motors, two second rotors, a second transverse tilting shaft, two second transverse tilting bearings, a second tilting belt wheel, a second steering engine and a second steering engine seat.

Two second transverse tilting bearings are arranged in the middle and the rear end of a gap between the first longitudinal support rod 21 and the second longitudinal support rod 22 in tandem, one end of the second transverse tilting shaft is fixedly connected with the first motor mounting seat, and the other end of the second transverse tilting shaft penetrates through the two second transverse tilting bearings and is provided with a second tilting belt pulley; the second steering engine is arranged on the second steering engine base; an output shaft of the second steering engine is provided with a driving belt pulley, and a belt is connected between the driving belt pulley and the second tilting belt pulley; the second steering engine seat is arranged on the first longitudinal support rod 21 and the second longitudinal support rod 22.

The steering wheel is rotatory, and it is rotatory to drive the driving pulley, and then it is rotatory to drive the belt pulley that verts, and the belt pulley is rotatory to be driven and transversely verts the rotation of axle, and then drives the motor mount pad and take place the transverse rotation for the rotor takes place to transversely vert.

Example 3

In this embodiment, a tandem tiltrotor aircraft is provided, in which rotors of the aircraft can tilt transversely or longitudinally, and which includes a frame, a first driving mechanism and a second driving mechanism disposed symmetrically at two ends of the frame, and a rocker for operating the aircraft. As shown in fig. 4.

The structure of the embodiment is the same as that of the first rotor assembly in embodiment 1, and the two first rotor assemblies are connected through the motor mounting seat, the structure is shown in fig. 1, the tilting device is connected with the motor mounting seat, the rotor is pushed to tilt transversely or longitudinally, wherein the structure for driving the rotor wing to transversely tilt in the tilting device is the same as that of the embodiment 1, as shown in fig. 1, the transverse tilting steering engine is connected with the transverse tilting shaft, the transverse tilting shaft is fixedly connected with the motor mounting seat, the transverse tilting steering engine rotates to drive the motor mounting seat to rotate, so that the rotor wing transversely tilts, and the difference from the embodiment 1 is that, in this embodiment, thrust unit does not set up the steering wheel that verts vertically again, but through forming the connecting rod structure between motor mount pad and rocker, controls the rocker, drives the motor mount pad and takes place vertical rotation to make the rotor take place vertically to vert.

The frame structure in this embodiment is the same as that in embodiment 1, and the positions of the rockers are different, so the frame structure will not be discussed in detail, and the structures of the first driving mechanism and the second driving mechanism will be described in detail with reference to fig. 1.

The first driving mechanism is composed of a first motor mounting base 110, two first motors 111, two first rotors 112, a first transverse tilting shaft 113, two first transverse tilting bearings 114, a first transverse tilting steering engine 116, a first base 118, a first base cover 119, a first longitudinal tilting rocker arm 52, a first longitudinal tilting connecting rod 54 and a first swing arm 57.

One end of the first transverse tilting shaft 113 passes through two first transverse tilting bearings 114 and is connected with an output shaft of the first transverse tilting steering engine 116; the other end of the first transverse tilting shaft 113 has a gap, and the middle part of the first motor mounting base 110 is arranged in the gap of the first transverse tilting shaft 113.

The two first motors 111 are vertically and symmetrically arranged on the first motor mounting base 110 respectively; the two first rotors 112 are respectively installed on the output shafts of the two first motors 111; mounting grooves matched with the two first transverse tilting bearings 114 and the first transverse tilting steering engine 116 are formed in the inner sides of the first base 118 and the first base cover 119; the two first transverse tilting bearings 114 and the first transverse tilting steering engine 116 are respectively installed in installation grooves of the first base 118; the first base cover 119 is integrally fastened to the first base 118 by screws, and is inserted into the front end of the first longitudinally inclined rocker arm 32 and fastened by screws.

The rear end of the first longitudinal inclined rocker arm 32 is connected with the longitudinal support rod 31 through a shaft pin, the lower part of the rear end of the first longitudinal inclined rocker arm 32 is further provided with a first swing arm 37, the first swing arm 37 is connected with the first longitudinal inclined connecting rod 34 through the shaft pin, and the other end of the first longitudinal inclined connecting rod 34 is connected with the rocker 36 through the shaft pin.

The second driving mechanism is composed of a second motor mounting seat, two second motors, two second rotors, a second transverse tilting shaft, two second transverse tilting bearings, a second transverse tilting steering engine, a second base cover, a second longitudinal tilting rocker arm 33, a second longitudinal tilting connecting rod 35 and a second swing arm 38.

One end of the second transverse tilting shaft passes through the two second transverse tilting bearings and is connected with an output shaft of the second transverse tilting steering engine; the other end of the second transverse tilting shaft is provided with a notch, and the middle part of the second motor mounting seat is arranged in the notch of the second transverse tilting shaft.

The two second motors are vertically and symmetrically arranged on the second motor mounting seats respectively; the two second rotors are respectively arranged on output shafts of the two second motors; mounting grooves matched with the two second transverse tilting bearings and the second transverse tilting steering engine are formed in the inner sides of the second base and the second base cover; the two second transverse tilting bearings and the second transverse tilting steering engine are respectively arranged in the mounting grooves of the second base; the second base cover is fastened to the second base by screws to form a whole, and is inserted into the rear end of the second longitudinal tilting rocker arm 33 and then fastened by screws.

The front end of the second longitudinal inclined rocker arm 33 is connected with the longitudinal support rod 31 through a shaft pin, the lower part of the front end of the second longitudinal inclined rocker arm 33 is also provided with a second swing arm 38, the second swing arm 38 is connected with a second longitudinal inclined connecting rod 35 through a shaft pin, the other end of the second longitudinal inclined connecting rod 35 is connected with a rocker 36 through a shaft pin

A steering wheel that is used for controlling rocker 36 of aircraft is electron and mechanical combination, drives two sets of rotors slopes around driving when promoting around, and handle department is equipped with the twist switch simultaneously, and the twist switch is in the meso position at ordinary times, can control the inside steering wheel of first actuating mechanism and second actuating mechanism and rotate when controlling the wrench movement, and the steering wheel drives two sets of rotors and transversely verts and make the aircraft realize turning.

The aircraft in this embodiment has the same control principle as in embodiment 1.

Example 4

In this embodiment, a tandem tiltrotor aircraft is provided, in which the rotors of the aircraft can tilt transversely or longitudinally, and the aircraft comprises a frame, a first driving mechanism and a second driving mechanism which are symmetrically arranged at the two ends of the frame in a front-back manner, and a rocker for operating the aircraft, and the structure is as shown in fig. 5 and 6.

The structure of the frame is the same as that of the frame in embodiment 1, and the first rotor assemblies in the driving mechanism are the same in structure and all comprise a motor and a rotor connected with the motor, but the structure of the connection between the two first rotor assemblies and the structure of the pushing device are different.

In this embodiment, the two sets of first rotor assemblies are: the upper rotor wing assembly comprises a lower motor and an upper rotor wing connected with an output shaft of the lower motor; the lower rotor wing assembly comprises an upper motor and a lower rotor wing connected with an output shaft of the upper motor; the lower rotor wing is positioned at the lower part of the upper rotor wing, the lower motor is positioned at the lower part of the upper motor, the output shaft of the upper motor is of a hollow structure, the output shaft of the lower motor penetrates through the output shaft of the upper motor and then is connected with the upper rotor wing, the upper motor and the lower motor are both installed on a motor installation seat, the motor installation seat is connected with a tilting device, the tilting device comprises a transverse tilting steering engine and a longitudinal tilting steering engine, the transverse tilting steering engine is connected with the motor installation seat, the motor installation seat is driven to transversely rotate, so that the rotor wing transversely tilts, the transverse tilting steering engine is installed on the longitudinal tilting seat, the longitudinal tilting seat is longitudinally hinged with the motor installation seat, the longitudinal tilting steering engine is connected with the longitudinal tilting seat, the longitudinal tilting seat is driven to longitudinally tilt, when the longitudinal tilting seat tilts, the upper structure of the longitudinal tilting seat is driven to rotate together, so that the rotor wing is driven to longitudinally tilt, the longitudinal tilting seat is transversely hinged with the tilting seat, the base that verts is installed on longitudinal support pole, and concrete structure is as follows.

The frame comprises a longitudinal support bar 41 and two vertical support bars 42 which are mutually inclined; the tops of the two vertical support rods 42 are arranged at two sides of the middle rear position of the longitudinal support rod 41; two vertical support rod 42 sub-unit connection have the mounting bracket 43, are equipped with undercarriage 46 under the mounting bracket 43, and mounting bracket 43 forward-mounted has two to draw the bracing piece 47 to one side, and the mounting bracket has the seat 44 of taking the handrail on the mounting bracket 43, and seat 44 right side handrail the place ahead is equipped with the rocker 45 that is used for controlling the aircraft.

The first driving mechanism comprises a first upper motor 410, a first lower motor 411, a first upper rotor 412, a first lower rotor 413, a first motor mounting seat 414, a first longitudinal tilting seat 415, a first transverse tilting steering engine 416, a first longitudinal tilting steering engine 417, a first transverse tilting connecting rod 418, a first longitudinal tilting connecting rod 419 and a first tilting base 4110.

The first lower rotor 413 is mounted on an output shaft of the first upper motor 410, the first upper motor 410 is a hollow shaft with a bearing built therein, an output shaft of the first lower motor 411 passes through the bearing in the output shaft of the first upper motor 410 and is extended by a certain length, and the first upper rotor 412 is mounted on the output shaft of the first lower motor 411; the first upper motor 410 is mounted on the upper portion of the first motor mounting seat 414, and the first lower motor 411 is mounted on the lower portion of the first motor mounting seat 414.

One of them limit of horizontal both sides of first motor mount pad 414 stretches out a bulb, and the bulb is connected with first horizontal tilting connecting rod 418, and the other end of first horizontal tilting connecting rod 418 is connected with the swing arm of first horizontal tilting steering wheel 416, and first horizontal tilting steering wheel 416 installs at first vertical tilting mount 415 side.

The lower part of the first motor mounting seat 414 is longitudinally provided with two shaft holes which are connected with two shaft holes at the upper part of the first longitudinal tilting seat 415 through shaft pins, the lower part of the first longitudinal tilting seat 415 is transversely provided with two shaft holes which are connected with two shaft holes of the first tilting base 4110 through shaft pins, the first motor mounting seat 414 rotates relative to the first longitudinal tilting seat, and the first tilting base 4110 is mounted on the front end of the longitudinal support rod 41; a bulb head extends out of the front of the first longitudinal tilting seat 415 and is connected with a first longitudinal tilting connecting rod 419, the other end of the first longitudinal tilting connecting rod 419 is connected with a swing arm of a first longitudinal tilting steering engine 417, and the first longitudinal tilting steering engine 417 is installed on a front panel of the longitudinal supporting rod 41.

The second actuating mechanism comprises a second upper motor, a second lower motor, a second upper rotor, a second lower rotor, a second motor mounting seat, a second longitudinal tilting seat, a second transverse tilting steering engine, a second longitudinal tilting steering engine, a second transverse tilting connecting rod, a second longitudinal tilting connecting rod and a second tilting base.

The second lower rotor wing is arranged on an output shaft of a second upper motor, a bearing is arranged in the second upper motor which is a hollow shaft, an output shaft of the second lower motor penetrates through the bearing in the output shaft of the second upper motor and is extended by a certain length, and the second upper rotor wing is arranged on the output shaft of the second lower motor; the second upper motor is arranged on the upper portion of the second motor mounting seat, and the second lower motor is arranged on the lower portion of the second motor mounting seat.

One of them limit of the horizontal both sides of second motor mount pad stretches out a bulb, and the bulb is connected with the horizontal tilting connecting rod of second, and the other end of the horizontal tilting connecting rod of second is connected with the swing arm of the horizontal tilting steering wheel of second, and the horizontal tilting steering wheel of second is installed and is vertically tilted the swivel base side at the second.

The lower part of the second motor mounting seat is longitudinally provided with two shaft holes which are connected with two shaft holes at the upper part of the second longitudinal tilting seat through shaft pins, the lower part of the second longitudinal tilting seat is transversely provided with two shaft holes which are connected with two shaft holes of the second tilting base through shaft pins, the second motor mounting seat can rotate relative to the second longitudinal tilting seat, and the second tilting base is mounted on the rear end of the longitudinal supporting rod; a bulb extending out of the back of the second longitudinal tilting seat is connected with a second longitudinal tilting connecting rod, the other end of the second longitudinal tilting connecting rod is connected with a swing arm of a second longitudinal tilting steering engine, and the second longitudinal tilting steering engine is installed on a rear panel of the longitudinal supporting rod.

The principle of control of the aircraft in flight in this embodiment is the same as in embodiment 1.

Example 5

In this embodiment, a tandem tiltrotor aircraft is provided, in which the rotors of the aircraft can tilt transversely or longitudinally, and the aircraft comprises a frame, a first driving mechanism and a second driving mechanism which are symmetrically arranged at the two ends of the frame in a front-back manner, and a rocker for operating the aircraft, and the structure is as shown in fig. 7 and 8.

The frame, a chair, the rocker structure is the same with embodiment 4 frame construction, two first rotor subassemblies are the same with embodiment 4's structure, the difference lies in, the device that verts is structural, the device that verts, include, the steering wheel that transversely verts and the steering wheel that vertically verts, the steering wheel that vertically verts links to each other with the motor mount pad, vertical verting takes place for the driving motor mount pad, and then make the rotor take place vertically to vert, the steering wheel that transversely verts is connected with the ring that transversely verts, the horizontal ring that verts of drive takes place transversely to vert, horizontal ring and motor mount pad transverse connection of inclining, and both rotate relatively, when horizontal ring that verts takes place transversely to vert, the driving motor mount pad takes place transversely to vert, horizontal ring and the base that verts are vertically articulated, the base that verts is installed on longitudinal support pole, concrete structure is as follows.

The rack comprises a longitudinal support rod 51, two vertical support rods 52 which are mutually inclined, a mounting rack 53 connected with the lower part of the vertical support rod 52, and two diagonal support rods 54 connected with the front part of the mounting rack; the tops of the two vertical support rods 52 are arranged at two sides of the middle rear position of the longitudinal support rod 51; the upper ends of the two diagonal bracing rods 54 are arranged at two sides of about one third of the position of the longitudinal bracing rod 51.

First actuating mechanism includes that first motor 510, first motor 511, first rotor 512, first rotor 513 down, first motor mount 514, first horizontal tilting ring 515, first horizontal tilting steering wheel 516, first vertical tilting steering wheel 517, first horizontal tilting connecting rod 518, first vertical tilting connecting rod 519 and first base 5110 that verts constitute of inclining.

The first lower rotor 513 is mounted on an output shaft of the first upper motor 510, a bearing is arranged in the first upper motor 510 as a hollow shaft, an output shaft of the first lower motor 511 passes through the bearing in the output shaft of the first upper motor 510 and extends out by a certain length, and the first upper rotor 512 is mounted on the output shaft of the first lower motor 511; the first upper motor 510 is mounted on the upper portion of the first motor mounting seat 514, and the first lower motor 511 is mounted on the lower portion of the first motor mounting seat 514.

The first transverse tilting ring 515 is provided with four shaft holes in the transverse direction and the longitudinal direction; two transverse symmetrical sides of the first motor mounting seat 514 respectively extend out of a short shaft, one of the short shafts is inserted into one shaft hole of the first transverse tilting ring 515, the other short shaft on the opposite side firstly passes through the first transverse tilting connecting rod 518 and then is inserted into the shaft hole corresponding to the first transverse tilting ring 515, the other end of the first transverse tilting connecting rod 518 is connected with the swing arm of the first transverse tilting steering engine 516, and the first motor mounting seat rotates relative to the first transverse tilting ring by taking the short shaft as a shaft; a bulb extends out of the forward side of the first motor mounting seat 514 and is connected with a first longitudinal tilting connecting rod 519, and the other end of the first longitudinal tilting connecting rod 519 is connected with a swing arm of a first longitudinal tilting steering engine 517; the two symmetrical shaft holes of the first transverse tilting ring 515 in the longitudinal direction respectively correspond to the shaft holes of the first tilting base 5110 and are connected through shaft pins, and the first tilting base is connected with the longitudinal support rod.

The second driving mechanism comprises a second upper motor, a second lower motor, a second upper rotor, a second lower rotor, a second motor mounting seat, a second transverse tilting ring, a second transverse tilting steering engine, a second longitudinal tilting steering engine, a second transverse tilting connecting rod, a second longitudinal tilting connecting rod and a second tilting base.

Four shaft holes are arranged in the transverse direction and the longitudinal direction of the second transverse tilting ring; two short shafts respectively extend out of two transversely symmetrical sides of the second motor mounting seat, one short shaft is inserted into one shaft hole of the second transverse tilting ring, the other short shaft on the opposite side penetrates through the second transverse tilting connecting rod and then is inserted into the corresponding shaft hole of the second transverse tilting ring, the other end of the second transverse tilting connecting rod is connected with a swing arm of a second transverse tilting steering engine, and the second motor mounting seat rotates relative to the second transverse tilting ring by taking the short shaft as a shaft; a bulb extends out of one longitudinal backward side of the second motor mounting seat and is connected with a second longitudinal tilting connecting rod, and the other end of the second longitudinal tilting connecting rod is connected with a swing arm of a second longitudinal tilting steering engine; the shaft holes of two longitudinal symmetries of the second transverse tilting ring are respectively connected with the shaft hole of the second tilting base through a shaft pin, and the second tilting base is fixed on the longitudinal supporting rod.

The first driving mechanism and the second driving mechanism have the same working principle, and the first driving mechanism is taken as an example: when the output shaft of the first transverse tilting steering engine 516 rotates, the swing arm can drive the first transverse tilting connecting rod 518, the first transverse tilting connecting rod 518 drives the first transverse tilting ring 515, and the first transverse tilting ring 515 drives the first motor mounting seat 514 to transversely tilt around a shaft pin inserted into the first tilting base 5110; when the first steering wheel 517 output shaft that vertically verts was rotatory, the swing arm can drive first connecting rod 519 that vertically verts, and first connecting rod 519 that vertically verts drives first motor mount pad 514 and vertically verts around two minor axes that stretch out.

The aircraft of this embodiment has the same control principle in flight as in embodiment 1.

In order to adapt to different flight tasks, the detachable wings are arranged on the rack, when the aircraft flies in a long distance, the wings are arranged on the rack, and the rear lifting force of the wings is mainly provided by the wings, so that the flight time is greatly prolonged and the flight distance is far, and the aircraft is suitable for the long-distance flight tasks under the condition that no wings are arranged. When the aircraft flies in a narrow space, the wings are detached from the rack, the aircraft can take off and fly in a narrow place when the wings are not installed, the aircraft can fly flexibly and freely, can fly along with stopping, and is suitable for flying in complex terrain areas such as cities.

The wings convenient to detach can be used for determining whether the wings are installed according to flight task requirements, so that the aircraft is wider in adaptability and more convenient to use.

All the embodiments are provided with the wings which are convenient to disassemble and assemble, the wings can be one and are arranged in the middle of the longitudinal support rod, as shown in figure 3, and the wings can be arranged at the front part and the rear part of the extended longitudinal support rod respectively. Referring to fig. 9, the detachable connection structure of the wing is described, a wing mounting seat 91 with a groove-shaped structure is mounted on the longitudinal support rod, two shaft holes are respectively arranged at the left part and the right part of the wing mounting seat 91, two connection rings 92 with shaft holes are respectively arranged at the front edge and the rear edge of the middle part of the wing 23, the shaft holes on the connection rings 92 are matched with the shaft holes of the wing mounting seat 91, shaft pins 93 are inserted into the shaft holes of the wing mounting seat 91 and the shaft holes of the connection rings 92, so that the wings 23 are mounted on the longitudinal support rods, the shaft pins 93 are pulled out, so that the wings 23 are dismounted from the longitudinal support rods, one wing or both wings can be mounted by using the mounting structure, the wings are detachably arranged relative to the longitudinal support rods, so that the mounting and the dismounting of the wings are facilitated, the aircraft can select whether to install the wings or not according to the task to be executed, and the application range of the aircraft is widened. The wing in embodiment 2 can preset a larger elevation angle, when flying forward, the wing leans against the rotation speed difference of the rotors at the front end and the rear end, the flying posture inclines forwards at a high speed and a low speed, when the wing just takes off, the aircraft has a low forward inclination angle, when the wing elevation angle is larger, relatively larger lift force can be provided, when the aircraft is cruising and flying, the speed is higher, the aircraft has a larger forward inclination angle, the elevation angle of the wing is pressed down, and because the speed is high, the aircraft also generates larger lift force, and because the elevation angle is reduced, the resistance is reduced, when the speed is reduced, the forward inclination angle of the aircraft is gradually reduced, and the elevation angle on the wing is gradually increased and plays a role in braking.

The steering engines in all embodiments can replace a hydraulic device, an electric worm, an electric lead screw, a gear, a servo motor and the like to drive the rotor wing to tilt, and the principle is the same as that of the steering engine.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims

1. A tandem tiltrotor aircraft, comprising: the device comprises a frame, wings, a driving mechanism and an operating mechanism;

the wings are detachably arranged on the longitudinal supporting rods;

the control mechanism is connected with the driving mechanism and controls the driving mechanism to move;

the two first rotor wing assemblies have the same structure, each first rotor wing assembly comprises a motor and a rotor wing connected with an output shaft of the motor, and the two motors are arranged at two ends of the motor mounting seat;

the first tilting device comprises a transverse tilting steering engine and a longitudinal tilting steering engine, wherein an output shaft of the transverse tilting steering engine is connected with a motor mounting seat, the motor mounting seat is driven to transversely tilt, an output shaft of the longitudinal tilting steering engine is connected with the motor mounting seat, the motor mounting seat is driven to longitudinally tilt, the transverse tilting steering engine is installed in a base, and the base is connected with a longitudinal support rod.

2. The tandem tiltable rotor craft according to claim 1, wherein said frame further comprises a vertical support rod, one end of said vertical support rod is connected to said vertical support rod, the other end of said vertical support rod is connected to a mounting frame, said mounting frame is connected to said vertical support rod via a diagonal support rod, a seat is mounted on said mounting frame, and an undercarriage is mounted on the lower portion of said mounting frame;

the wing installation seat is arranged on the longitudinal support rod, the connecting ring is arranged on the wing, the connecting ring is connected with the wing installation seat through a shaft pin, the wing is installed on the longitudinal support rod, the shaft pin is removed, and the wing is detached.

3. A tandem tiltrotor aircraft according to claim 2, wherein said steering mechanism comprises a rocker and a flight controller; the rocker is arranged on the rack and connected with the flight controller, the flight controller is connected with the driving mechanism, and the control rocker can trigger the flight controller to send an instruction to the driving mechanism to control the driving mechanism to move.

4. The tandem tilt-rotor aircraft according to claim 1, wherein the first tilt device is replaced with a second tilt device, the second tilt device comprises a transverse tilt steering engine and a transverse tilt shaft, the transverse tilt steering engine drives the transverse tilt shaft to rotate through belt transmission, the transverse tilt shaft is fixedly connected with the motor mounting seat, when the transverse tilt shaft rotates, the motor mounting seat rotates transversely, the transverse tilt steering engine is mounted on the rudder base, and the rudder base is connected with the longitudinal support rod.

5. The tandem tiltable rotor craft of claim 1, wherein the first tilting device is replaced by a third tilting device, the third tilting device comprises an output shaft of a transverse tilting steering engine and a motor mounting seat which are fixedly connected to drive the motor mounting seat to transversely tilt, the transverse tilting steering engine is installed in the base, the base is connected with a longitudinal tilting rocker arm, the longitudinal tilting rocker arm is hinged to the longitudinal support rod, the longitudinal tilting rocker arm is vertically connected with a swing arm, the swing arm is hinged to one end of a longitudinal tilting connecting rod, the other end of the longitudinal tilting connecting rod is hinged to a rocker, and the rocker is connected with the longitudinal support rod.

6. A tandem tiltable rotor aircraft according to claim 1, wherein two first rotor assemblies are replaced by two second rotor assemblies, respectively an upper rotor assembly and a lower rotor assembly, the upper rotor assembly comprising a lower motor and an upper rotor connected to an output shaft of the lower motor; the lower rotor wing assembly comprises an upper motor and a lower rotor wing connected with an output shaft of the upper motor; the output shaft of the upper motor is of a hollow structure, the output shaft of the lower motor penetrates through the output shaft of the upper motor and then is connected with the upper rotary wing, and the upper motor and the lower motor are both mounted on the motor mounting seat.

7. The tandem tiltable rotor craft of claim 6, wherein the first tilting device is replaced by a fourth tilting device, said fourth tilting device comprises a transverse tilting steering engine and a longitudinal tilting steering engine, the transverse tilting steering engine is connected to the motor mounting seat, the driving motor mounting seat rotates transversely, the transverse tilting steering engine is mounted on the longitudinal tilting seat, the longitudinal tilting seat is hinged to the motor mounting seat, the longitudinal tilting steering engine is connected to the longitudinal tilting seat, the driving longitudinal tilting seat tilts longitudinally, the longitudinal tilting seat is hinged to the tilting seat, and the tilting seat is mounted on the longitudinal support rod.

8. The tandem tilting rotor aircraft according to claim 6, wherein the first tilting device is replaced by a fifth tilting device, the fifth tilting device comprises a transverse tilting steering engine and a longitudinal tilting steering engine, the longitudinal tilting steering engine is connected with a motor mounting seat, the driving motor mounting seat is longitudinally tilted, the motor mounting seat is connected with a transverse tilting ring, the motor mounting seat and the transverse tilting ring rotate longitudinally relative to each other, the transverse tilting steering engine is connected with the transverse tilting ring, the transverse tilting ring is driven to transversely tilt, the transverse tilting ring is hinged to the tilting base in the longitudinal direction, and the tilting base is mounted on the longitudinal supporting rod.