CN113353252A

CN113353252A - Tilting three-rotor aircraft and working method thereof

Info

Publication number: CN113353252A
Application number: CN202110849368.5A
Authority: CN
Inventors: 张鑫; 李宜恒; 杨超; 刘娜
Original assignee: Zero Gravity Nanjing Aircraft Industry Co ltd
Current assignee: Zero Gravity Nanjing Aircraft Industry Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2021-09-07

Abstract

The invention discloses a tilting three-rotor aircraft, which adopts the technical scheme that the tilting three-rotor aircraft comprises an aircraft system and a landing system, wherein the aircraft system comprises an aircraft body, and a course stabilizer, a tilting system and a rotor system which are arranged on the aircraft body; course stabilizer sets up in the fuselage and deviates from one side of the system that rises and falls, the system that verts including the rotor that verts drive arrangement and set up along fuselage bilateral symmetry, the rotor that verts in both sides is through the synchronous motion of verting of the drive arrangement control, the rotor system includes preceding rotor structure and rotor thrust unit, rotor thrust unit sets up in the front end of fuselage, preceding rotor structure one side is articulated with the tip before the fuselage, rotor thrust unit is used for controlling preceding rotor structure around rotating with the articulated department of fuselage. The aircraft has the advantages that the rotor wing layout is reasonable, the tilting stability is improved, the flight resistance during high-speed flight is reduced, and the effect of improving the flight stability is achieved.

Description

Tilting three-rotor aircraft and working method thereof

Technical Field

The invention relates to the technical field of multi-axis aircrafts, in particular to a tilting three-rotor aircraft and a working method thereof.

Background

The unmanned aerial vehicle is a novel multifunctional flight platform, has high intelligent degree of flight operation, can independently fly and pick up images according to a preset air route, provides remote sensing monitoring data and low-altitude video monitoring in real time, and has the characteristics of strong maneuverability, safety, convenience, low cost and the like. The unmanned aerial vehicle can complete such operations as entertainment, transmission, transportation, investigation, rescue, inspection, security protection, patrol, military mission and the like by carrying different task devices, thereby being widely applied to various fields of production, life, scientific research, national defense and the like.

The existing multi-axis tilting flying unmanned aerial vehicle basically adjusts the flying attitude only by changing the rotating speed of a rotor wing, and the fuselage needs to be tilted during the translational flying, so that the windward area of the fuselage is increased, the flying resistance is increased, the action response of the multi-axis aircraft is slow, the flying speed is low, the maneuverability is poor, the flying stability is poor, and the huge windward area of the fuselage is difficult to safely take off and land under the action of high-speed airflow.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a tilting three-rotor aircraft which has the advantages of reasonable rotor wing layout, improved tilting stability, reduced flight resistance in high-speed flight and improved flight stability.

In order to achieve the purpose, the invention provides the following technical scheme:

a tilting three-rotor aircraft comprises an aircraft system and a landing system, wherein the landing system is used for supporting the sliding running lifting of the aircraft system, and the aircraft system comprises an aircraft body, and a course stabilizer, a tilting system and a rotor system which are arranged on the aircraft body;

course stabilizer sets up in one side that the fuselage deviates from the system of rising and falling, vertical and lateral stability when course stabilizer is used for providing the fuselage flight, the system of verting is including the rotor that verts drive arrangement and set up along fuselage bilateral symmetry, the drive arrangement that verts sets up in the fuselage and is close the rear end of fuselage, both sides the rotor that verts is through the synchronous motion of verting of the drive arrangement control of verting, rotor system includes preceding rotor structure and rotor thrust unit, rotor thrust unit sets up in the front end of fuselage, preceding rotor structure one side is articulated with tip before the fuselage, rotor thrust unit is used for controlling preceding rotor structure around rotating with the articulated department of fuselage.

As a further improvement of the invention, the course stabilizer comprises a plurality of connecting tail wings, wing grooves are symmetrically formed in the tail end of the machine body along the axis direction of the machine body, the connecting tail wings are inserted into the wing grooves, and the connecting tail wings are in magnetic connection with the machine body.

As a further improvement of the invention, the connecting tail wing on the fuselage is arranged in a V shape.

As a further improvement of the invention, the tilt rotor comprises a rotor support, a rotor motor, a blade and a tilt rotor shell, wherein the rotor motor is arranged on the rotor support, the blade is coaxially connected with an output shaft of the rotor motor, the tilt rotor shell is covered with the rotor support and the rotor motor, and the tilt rotor shell is further provided with a rotor end cover.

As a further improvement of the present invention, the tilting driving device includes a conveying roller, a power mechanism, a transmission mechanism and a transmission arm, the conveying roller is disposed in the fuselage, a tilting driving housing is disposed in the fuselage, the power mechanism and the transmission mechanism are both disposed in the tilting driving housing, the transmission arm is disposed in the conveying roller in a penetrating manner, two ends of the transmission arm are respectively connected to the tilting rotors respectively disposed at two sides of the fuselage, the transmission arm is connected to the power mechanism through the transmission mechanism, and the power mechanism is configured to provide tilting power for driving the tilting rotors to rotate, so that the power mechanism drives the transmission arm to rotate along the axis of the conveying roller through the transmission mechanism to drive the tilting rotors to tilt along the axis of the conveying roller.

As a further improvement of the present invention, the power mechanism includes a driving motor, a driving gear, a transmission shaft, a transition gear and a meshing gear, the driving motor is disposed on the tilting driving housing, the driving gear is coaxially and fixedly connected with the driving motor, a shaft bracket is disposed in the tilting driving housing, the transmission shaft is inserted into the shaft bracket, two ends of the transmission shaft are respectively coaxially connected with the transition gear and the meshing gear, the transition gear is meshed with the driving gear, and the meshing gear is meshed with the transmission mechanism, so that the driving motor transmits a driving force to the transmission mechanism through the transmission shaft and the meshing gear and drives the transmission mechanism to drive the transmission mechanism to rotate the transmission arm.

As a further improvement of the invention, the transmission mechanism comprises a transmission gear, a worm and a worm wheel, the worm is arranged in the tilting drive shell, the worm is arranged in parallel with the transmission shaft, the transmission gear is coaxially and fixedly connected with the worm, the transmission gear is meshed with the meshing gear, the worm wheel is coaxially and fixedly connected with the transmission arm, and the worm is meshed with the worm wheel.

As a further improvement of the invention, the end part of the transmission horn is connected with a synchronous connecting piece, and the transmission horn is connected with the rotor wing bracket through the synchronous connecting piece.

As a further improvement of the present invention, the front rotor structure includes a coaxial double-oar motor, a motor base and a front rotor cover body, the motor base is arranged in the front rotor cover body, and the coaxial double-oar motor is arranged on the motor base;

seted up on the fuselage and impeld the chamber, rotor thrust unit sets up in impeling the intracavity, rotor thrust unit includes mechanical electric push rod, promotion support, mechanical electric push rod is articulated with the chamber wall that impels the chamber, through promoting the leg joint between mechanical electric push rod and the motor cabinet, promote support and motor cabinet fixed connection, it is articulated with mechanical electric push rod's telescopic link tip between the promotion, so that mechanical electric push rod's the telescopic link of controlling mechanical electric push rod drives through promoting the support when stretching out preceding rotor structure verts.

An operation method of the tilting three-rotor aircraft is used for the operation method of the tilting three-rotor aircraft as claimed in claim 9, and comprises the following specific operation methods:

firstly, a preparation step is carried out, the connecting tail wing is inserted into the wing groove and is magnetically connected and fixed with the aircraft body, so that the connecting tail wing forms the course stabilizer structure, the rotor system is controlled to be in a position coaxial with the axis of the aircraft body, the tilt rotor wing is kept in a position coaxial with the rotor system, and the landing and landing system is opened to support the whole aircraft system to be stably located on the ground;

the first mode is as follows:

the whole aircraft system is controlled to run, when the aircraft system runs to meet the requirements of take-off and landing speeds, the tilting rotor wing is controlled to tilt through the tilting driving device to provide ascending power for the aircraft body to lift off, when the aircraft system keeps an aerial cruise flight attitude, the tilting rotor wing is kept coaxial with a front rotor wing structure, the aircraft system can be used for controlling the flight attitude of the aircraft body in the air when the tilting rotor wing is controlled to tilt, and the course stabilizer provides longitudinal and transverse stability under the aerial flight attitude;

when the aircraft system is controlled to land, the tilting rotor wing is controlled to tilt through the tilting driving device to provide descending power when the aircraft body lands, and the landing system provides running support when the aircraft body lands;

and a second mode:

through the drive arrangement that verts drives the rotor that verts extremely with fuselage vertically position impels under rotor thrust unit's the effect front rotor structure rotate extremely with fuselage vertical position, so that the fuselage carries out VTOL or hovers in the air.

The invention has the beneficial effects that:

1: the aircraft body is streamlined, air resistance in the flight process is reduced, flight stability under high-speed flight is improved by arranging the course stabilizer on the aircraft body, the tilting rotor wings stably tilt through the tilting driving device, so that the flight attitude in flight can be changed, the front rotor wing structure can rotate under the action of the rotor wing pushing device, the effect of adjusting the flight attitude and improving the flight stability in the flight process is achieved, the reasonable rotor wing layout is realized, the tilting stability is improved, the flight resistance in high-speed flight is reduced, and the effect of improving the flight stability is achieved;

2: under the effect that can make up the regulation through preceding rotor structure and tilt rotor, the realization possesses the effect of multiple flight control mode, according to the regulation that changes preceding rotor structure and tilt rotor, the realization can VTOL, hover in the air and change the multiple working method of flight gesture.

Drawings

FIG. 1 is a schematic perspective view of a device embodying the present invention;

FIG. 2 is a schematic view of a vertical take-off and landing structure embodying the present invention;

FIG. 3 is a schematic structural view showing a rotor propulsion unit propelling a front rotor structure to rotate;

fig. 4 is a schematic diagram of a tilt drive apparatus embodying a tilt rotor control for tilt.

Reference numerals: 1. a body; 11. a wing groove; 12. a flap; 13. an aileron; 14. a tilt drive housing; 15. a pedestal; 16. a propulsion chamber; 2. a landing gear system; 3. a course stabilizer; 31. connecting a tail wing; 4. a tilt system; 5. a rotor system; 6. a tilt drive device; 61. a conveying roller; 62. a power mechanism; 621. a drive motor; 622. a drive gear; 623. a drive shaft; 624. a transition gear; 625. a meshing gear; 63. a transmission mechanism; 631. a transmission gear; 632. a worm; 633. a turbine; 64. a drive arm; 65. a synchronous connection; 7. a tilt rotor; 71. a rotor support; 72. a rotor motor; 73. a paddle; 74. a tiltrotor shell; 75. a rotor end shield; 8. a front rotor structure; 81. a coaxial double-paddle motor; 82. a motor base; 83. a front rotor cover; 9. a rotor wing propulsion device; 91. a mechanical electrical push rod; 92. pushing the bracket.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Referring to fig. 1, a tilt rotor aircraft and a specific embodiment of a method for operating the same according to the present invention includes an aircraft system and a landing gear system 2, where the landing gear system 2 is used to support the sliding running and lifting of the aircraft system, the landing gear system 2 is prior art and will not be described herein again, the landing gear system 2 includes landing gears and a lifting structure for controlling the landing gears to retract, so that the landing gear is opened when the landing gear needs to be lifted and lowered, and the whole aircraft system is provided for sliding running, the landing gear includes a nose landing gear and a rear landing gear, the nose landing gear is accommodated in the abdomen of the aircraft body 1 when retracted, the rear landing gear is retracted laterally when retracted, and is retracted to the lower part of the wing, the aircraft system includes an aircraft body 1, a course stabilizer 3, a tilt system 4 and a rotor system 5, which are disposed on the aircraft body 1, the aircraft body 1 is configured to be of a popular type, so as to reduce flight resistance in flight, the wing portions on the aircraft body 1 are disposed with flaps 12 and ailerons 13, the wake flow is adjusted when the aircraft flies, so that the stability of the aircraft body 1 is adjusted.

Referring to fig. 1 and 2, course stabilizer 3 sets up in the one side that deviates from landing system 2 in fuselage 1, course stabilizer 3 includes a plurality of connection fin 31, connect fin 31 in this embodiment and choose for use to be two, two connect fin 31 are located the tail end of fuselage 1 and set up along 1 axis direction symmetry of fuselage, the wing groove 11 has been seted up on the fuselage 1, connect fin 31 and insert and locate in the wing groove 11, and connect fin 31 and 1 magnetic connection of fuselage, make connect fin 31 difficult and the separation of fuselage 1, two connect fin 31 and be the V type and set up in 1 afterbody of fuselage, so that can select whether install connection fin 31 according to the demand, connect fin 31 is the V type setting, realize improving vertical when flight, lateral stability.

Referring to fig. 1 to 4, the tilt system 4 includes a tilt driving device 6 and tilt rotors 7 symmetrically disposed along two sides of the fuselage 1, the tilt driving device 6 is disposed in the fuselage 1 and close to the rear end of the fuselage 1, the tilt rotors 7 on two sides control synchronous tilt movement through the tilt driving device 6, the tilt rotors 7 include a rotor bracket 71, a rotor motor 72, blades 73, a tilt rotor shell 74, the rotor motor 72 is disposed on the rotor bracket 71, the blades 73 are coaxially connected with the output shaft of the rotor motor 72, the tilt rotor shell 74 covers the rotor bracket 71 and the rotor motor 72, and a rotor end cover 75 is further disposed on the tilt rotor shell 74, so that the entire tilt rotor 7 is structurally stable;

tilting drive device 6 includes conveying roller 61, power unit 62, drive mechanism 63 and transmission horn 64, conveying roller 61 sets up in fuselage 1, be provided with tilting drive shell 14 in fuselage 1, power unit 62 and drive mechanism 63 all set up in tilting drive shell 14, transmission horn 64 wears to locate in conveying roller 61, rotor 7 that verts that the branch was located fuselage 1 both sides is connected respectively at transmission horn 64 both ends, transmission horn 64 passes through drive mechanism 63 and is connected with power unit 62, power unit 62 is used for providing the drive power of verting rotor 7 pivoted, so that power unit 62 drives transmission horn 64 through drive mechanism 63 and rotates along conveying roller 61 axis and drive rotor 7 along conveying roller 61 axis and vert.

Referring to fig. 2 and 4, the power mechanism 62 includes a driving motor 621, a driving gear 622, a transmission shaft 623, a transition gear 624, and a meshing gear 625, the driving motor 621 is disposed on the tilting driving housing 14, the driving motor 621 is selected as a servo motor, the driving gear 622 and the driving motor 621 are coaxially and fixedly connected, a shaft bracket 15 is disposed in the tilting driving housing 14, the transmission shaft 623 is disposed in the shaft bracket 15, two ends of the transmission shaft 623 are respectively and coaxially connected with the transition gear 624 and the meshing gear 625, the transition gear 624 is meshed with the driving gear 622, both the transition gear 624 and the driving gear 622 are bevel gears, the transmission mechanism 63 includes a transmission gear 631, a worm 632, and a turbine 633, the worm 632 is disposed in the tilting driving housing 14, the worm 632 is disposed in parallel with the transmission shaft 623, the transmission gear 631 is coaxially and fixedly connected with the worm 632, the transmission gear 631 is meshed with the meshing gear 625, and the turbine 633 is coaxially and fixedly connected with a transmission arm, worm 632 meshes meshing gear 625 with turbine 633 and meshes with drive mechanism 63, transmission horn end connection has synchronous connection 65, be connected through synchronous connection 65 between transmission horn and the rotor, so that conduct drive power to drive mechanism 63 through transmission shaft 623 and meshing gear 625 at driving motor 621, drive the rotation of transmission horn 64 under turbine 633 and worm 632's effect, it verts to drive the stability of rotor 7 that verts through synchronous connection 65 under the rotation of transmission horn 64, because turbine 633, the rotating characteristic of worm 632, make to possess the performance of locking in the rotation process, thereby make the process safety and reliability of wholly verting, and make and be difficult for appearing rocking tilting after verting rotor 7.

Referring to fig. 1 to 3, the rotor system 5 includes a front rotor structure 8 and a rotor pushing device 9, the rotor pushing device 9 is disposed at the front end of the fuselage 1, one side of the front rotor structure 8 is hinged to the front end of the fuselage 1, the front rotor structure 8 and the head of the fuselage 1 are distributed in an inverted position to form a front three-point layout, the stability of the high maneuverability of the front three-point layout is higher than that of the conventional rear three-point layout, the airflow at the tail of the fuselage 1 is not easily damaged, and the turbulence is not easily formed, so that the overall maneuvering stability is improved, and the rotor pushing device 9 is used for controlling the front rotor structure 8 to rotate around the hinged position with the fuselage 1;

the front rotor structure 8 comprises a coaxial double-paddle motor 81, a motor base 82 and a front rotor cover body 83, the motor base 82 is arranged in the front rotor cover body 83, the coaxial double-propeller motor 81 is arranged on the motor base 82, the body 1 is provided with a propulsion cavity 16, the rotor wing pushing device 9 is arranged in the propulsion cavity 16, the rotor wing pushing device 9 comprises a mechanical electric push rod 91 and a pushing support 92, the mechanical electric push rod 91 is hinged with the cavity wall of the propulsion cavity 16, the mechanical electric push rod 91 is connected with the motor base 82 through the pushing support 92, the pushing support 92 is fixedly connected with the motor base 82, the pushing support 92 is hinged with the end part of a telescopic rod of the mechanical electric push rod 91, so that drive through promoting support 92 when mechanical electric push rod 91's the telescopic link of controlling mechanical electric push rod 91 stretches out preceding rotor structure 8 verts, realizes verting and resetting of rotor structure 8 before the control to make preceding rotor structure 8 can with fuselage 1 from coaxial state steadily vert to vertical state.

The specific working method of the tilting three-rotor aircraft in the embodiment is as follows:

firstly, a preparation step is carried out, wherein the connection tail wing 31 is inserted into the wing groove 11 and is magnetically connected and fixed with the airframe 1, so that the connection tail wing 31 forms a heading stabilizer 3 structure, the rotor system 5 is controlled to be in a position coaxial with the axis of the airframe 1, the tilt rotor 7 is kept in a position coaxial with the rotor system 5, and the landing system 2 is opened to support the whole aircraft system to be stably located on the ground;

the first mode is as follows:

the whole aircraft system is controlled to run, when the whole aircraft system runs to meet the requirements of take-off and landing speeds, the tilting rotor wing 7 is controlled to tilt through the tilting driving device 6 to provide ascending power for the aircraft body 1 to lift off, when the aircraft system keeps an aerial cruise flight attitude, the tilting rotor wing 7 is kept coaxial with the front rotor wing structure 8, the aircraft system can be used for controlling the flight attitude of the aircraft body 1 in the air when the tilting rotor wing 7 is controlled to tilt, and the course stabilizer 3 provides longitudinal and transverse stability under the aerial flight attitude when the aerial flight attitude is adjusted;

when the aircraft system is controlled to land, the tilting rotor wing 7 is controlled to tilt through the tilting driving device 6 to provide descending power when the aircraft body 1 lands, and the landing system 2 provides sliding support when the aircraft body lands, so that the effects of convenience in taking off and landing and high maneuvering stability can be achieved;

and a second mode:

through vert drive arrangement 6 and drive 7 verts to the position perpendicular with fuselage of verting rotor, impel preceding rotor structure 8 to rotate to the position perpendicular with fuselage 1 under rotor thrust unit's 9 effect to make fuselage 1 carry out vertical take-off and land or hover in the air.

The working principle and the effect are as follows:

the aircraft body 1 is streamlined, air resistance in the flight process is reduced, flight stability under high-speed flight is improved by arranging the course stabilizer 3 on the aircraft body 1, the tilting rotor 7 is stably tilted through the tilting driving device 6, so that the flight attitude in flight can be changed, and the front rotor structure 8 can rotate under the action of the rotor pushing device 9, so that the effect of adjusting the flight attitude and improving the flight stability in the flight process is achieved, the reasonable rotor layout is realized, the tilting stability is improved, the flight resistance in high-speed flight is reduced, and the effect of improving the flight stability is achieved; under the effect that can make up the regulation through preceding rotor structure 8 and tilt rotor 7, the realization possesses the effect of multiple flight control mode, according to the regulation that changes preceding rotor structure 8 and tilt rotor 7, the realization can VTOL, hover in the air and change the multiple working method of flight gesture.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. A tilt triple rotor aircraft comprising an aircraft system and a landing gear system (2), the landing gear system (2) being for supporting a rollout lift of the aircraft system, characterized in that: the aircraft system comprises a fuselage (1), and a course stabilizer (3), a tilting system (4) and a rotor system (5) which are arranged on the fuselage (1);

the course stabilizer (3) is arranged on one side of the machine body (1) departing from the lifting system (2), the course stabilizer (3) is used for providing longitudinal and transverse stability of the aircraft body (1) in flight, the tilting system (4) comprises a tilting driving device (6) and tilting rotors (7) symmetrically arranged along two sides of the fuselage (1), the tilting driving device (6) is arranged in the fuselage (1) and close to the rear end of the fuselage (1), the tilting rotors (7) on two sides control synchronous tilting motion through the tilting driving device (6), the rotor system (5) comprises a front rotor structure (8) and a rotor pushing device (9), the rotor wing pushing device (9) is arranged at the front end of the fuselage (1), one side of the front rotor wing structure (8) is hinged with the front end part of the fuselage (1), and the rotor wing pushing device (9) is used for controlling the front rotor wing structure (8) to rotate around the hinged part of the front rotor wing structure and the aircraft body (1).

2. The tiltrotor aircraft according to claim 1, wherein: course stabilizer (3) include a plurality of connection fin (31), wing groove (11) have been seted up along fuselage (1) axis direction symmetry to the tail end of fuselage (1), connect fin (31) and insert and locate in wing groove (11), connect fin (31) and fuselage (1) magnetic connection.

3. The tiltrotor aircraft according to claim 2, wherein: the connecting tail wing (31) on the machine body (1) is arranged in a V shape.

4. The tiltrotor aircraft according to claim 2, wherein: tilt rotor (7) include rotor support (71), rotor motor (72), paddle (73), tilt wing shell (74), rotor motor (72) set up on rotor support (71), paddle (73) and rotor motor (72) output shaft coaxial coupling, tilt wing shell (74) cover establishes rotor support (71) and rotor motor (72), still set up rotor end cover (75) on tilt wing shell (74).

5. The tiltrotor aircraft according to claim 4, wherein: tilting drive device (6) is including carrying cylinder (61), power unit (62), drive mechanism (63) and transmission horn (64), carry cylinder (61) to set up in fuselage (1), be provided with tilting drive shell (14) in fuselage (1), power unit (62) and drive mechanism (63) all set up in tilting drive shell (14), transmission horn (64) are worn to locate in carrying cylinder (61), transmission horn (64) both ends are connected respectively and are divided tilting rotor (7) of locating fuselage (1) both sides, transmission horn (64) are connected with power unit (62) through drive mechanism (63), power unit (62) are used for providing drive tilting rotor (7) pivoted tilting power, so that power unit (62) drive transmission horn (64) through drive mechanism (63) and rotate along carrying cylinder (61) axis and drive tilting rotor (7) are along carrying cylinder (7) along carrying cylinder (61) axis 61) The axis is tilted.

6. The tiltrotor aircraft according to claim 5, wherein: the power mechanism (62) comprises a driving motor (621), a driving gear (622), a transmission shaft (623), a transition gear (624) and a meshing gear (625), the driving motor (621) is arranged on the tilting driving shell (14), the driving gear (622) is coaxially and fixedly connected with the driving motor (621), a shaft bracket (15) is arranged in the tilting drive shell (14), the transmission shaft (623) is arranged in the shaft bracket (15) in a penetrating way, two ends of the transmission shaft (623) are respectively and coaxially connected with a transition gear (624) and a meshing gear (625), the transition gear (624) is meshed with the driving gear (622), the meshing gear (625) is meshed with the transmission mechanism (63), so that the driving motor (621) transmits the driving force to the transmission mechanism (63) through the transmission shaft (623) and the meshing gear (625) and drives the transmission mechanism (63) to drive the transmission arm (64) to rotate.

7. The tiltrotor aircraft according to claim 6, wherein: drive mechanism (63) include drive gear (631), worm (632), turbine (633), worm (632) set up in tilting drive shell (14), worm (632) and transmission shaft (623) parallel arrangement, drive gear (631) and the coaxial fixed connection of worm (632), drive gear (631) and meshing gear (625) meshing, turbine (633) and the coaxial fixed connection of transmission arm (64), worm (632) and turbine (633) meshing.

8. The tiltrotor aircraft according to claim 5, wherein: the end of the transmission horn (64) is connected with a synchronous connecting piece (65), and the transmission horn (64) is connected with the rotor bracket (71) through the synchronous connecting piece (65).

9. The tiltrotor aircraft according to claim 8, wherein: the front rotor wing structure (8) comprises a coaxial double-paddle motor (81), a motor base (82) and a front rotor wing cover body (83), the motor base (82) is arranged in the front rotor wing cover body (83), and the coaxial double-paddle motor (81) is arranged on the motor base (82);

seted up on fuselage (1) and impeld chamber (16), rotor thrust unit (9) set up in impel chamber (16), rotor thrust unit (9) include mechanical electric push rod (91), promote support (92), mechanical electric push rod (91) are articulated with the chamber wall that impels chamber (16), be connected through promoting support (92) between mechanical electric push rod (91) and motor cabinet (82), promote support (92) and motor cabinet (82) fixed connection, it is articulated with the telescopic link tip of mechanical electric push rod (91) to promote support (92), so that drive through promoting support (92) when the telescopic link of controlling mechanical electric push rod (91) of mechanical electric push rod (91) stretches out preceding rotor structure (8) vert.

10. The utility model provides a three rotor crafts's that vert working method which characterized in that: the operation method for the tilting three-rotor aircraft according to claim 9, which comprises the following steps:

firstly, a preparation step is carried out, wherein the connecting tail wing (31) is inserted into the wing groove (11) and is magnetically connected and fixed with the fuselage (1), so that the connecting tail wing (31) forms the structure of the course stabilizer (3), the rotor system (5) is controlled to be in a position coaxial with the axis of the fuselage (1), the tilt rotor (7) is kept in a position coaxial with the rotor system (5), and the landing system (2) is opened to support the whole aircraft system to be stably positioned on the ground;

the first mode is as follows:

the integral aircraft system is controlled to run, when the aircraft system runs to meet the requirements of take-off and landing speeds, the tilting rotor (7) is controlled to tilt through the tilting driving device (6) to provide ascending power for the aircraft body (1) to lift off, when the aircraft system keeps an air cruise flight attitude, the tilting rotor (7) is coaxial with the front rotor structure (8), the tilting rotor (7) is controlled to tilt to be used for controlling the aircraft body (1) to fly in the air, and the course stabilizer (3) provides longitudinal and transverse stability under the air flight attitude;

when the aircraft system is controlled to land, the tilting rotor wing (7) is controlled to tilt through the tilting driving device (6) to provide descending power when the airframe (1) lands, and the landing system (2) provides running support when the airframe lands;

and a second mode:

through tilting drive arrangement (6) drive tilting rotor (7) tilt to with fuselage (1) vertically position promote under the effect of rotor thrust unit (9) preceding rotor structure (8) rotate to with fuselage (1) vertical position, so that fuselage (1) carries out VTOL or hovers in the air.