CN113371191A - Rotor wing tilting mechanism, tilting rotor wing aerocar and flying device - Google Patents
Rotor wing tilting mechanism, tilting rotor wing aerocar and flying device Download PDFInfo
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- CN113371191A CN113371191A CN202110831130.XA CN202110831130A CN113371191A CN 113371191 A CN113371191 A CN 113371191A CN 202110831130 A CN202110831130 A CN 202110831130A CN 113371191 A CN113371191 A CN 113371191A
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- rotor
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- tilt
- tilting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides a rotor wing tilting mechanism which comprises a wing assembly, a power assembly and a tilting assembly. The wing assembly comprises a wing main body and a rotor wing tilting shaft, and the rotor wing tilting shaft is rotatably arranged on the wing main body; the power assembly comprises a rotor motor and a motor fixing seat, the rotor motor is arranged on the motor fixing seat, and the motor fixing seat is connected with the rotor tilting shaft; the tilting assembly comprises a driving portion, a sliding portion and a connecting portion, the driving portion is fixed to the wing main body, the driving portion is connected with the sliding portion in a transmission mode to drive the sliding portion to slide, the connecting portion is movably connected between the sliding portion and the motor fixing seat to drive the power assembly to rotate through the sliding portion, and the sliding portion, the connecting portion and the motor fixing seat form a slider-crank mechanism. The sliding part, the connecting part and the motor fixing seat of the rotor wing tilting mechanism form a crank block mechanism, and the tilting angle of the rotor wing can be stably controlled. The invention also provides a tilt rotor aerocar and a flight device.
Description
Technical Field
The invention relates to the technical field of flight devices, in particular to a rotor wing tilting mechanism, a tilting rotor wing aerocar and a flight device.
Background
The rotor technique that verts has combined the advantage of rotor and stationary vane, can vert through the rotor motor, realizes the conversion between rotor flight state and the stationary vane flight state, and the ability of the VTOL of existing rotor has the advantage of the high-speed flight of stationary vane concurrently again. In the tiltrotor technique, one of core portions thereof is a tilting mechanism.
However, the tilt mechanism of the prior art cannot smoothly control the tilt angle of the rotor, and thus, the switching between the rotor mode and the fixed wing mode is affected.
Disclosure of Invention
It is an object of embodiments of the present invention to provide a rotor tilt mechanism, a tilt rotor flying vehicle or a flying device, which improves the above problems. The embodiment of the invention achieves the aim through the following technical scheme.
In a first aspect, the present disclosure provides a rotor tilt mechanism including a wing assembly, a power assembly, and a tilt assembly. The wing assembly comprises a wing main body and a rotor wing tilting shaft, and the rotor wing tilting shaft is rotatably arranged on the wing main body; the power assembly comprises a rotor motor and a motor fixing seat, the rotor motor is arranged on the motor fixing seat, and the motor fixing seat is connected with the rotor tilting shaft; the tilting assembly comprises a driving portion, a sliding portion and a connecting portion, the driving portion is fixed to the wing main body, the driving portion is connected with the sliding portion in a transmission mode to drive the sliding portion to slide, the connecting portion is movably connected between the sliding portion and the motor fixing seat to drive the power assembly to rotate through the sliding portion, and the sliding portion, the connecting portion and the motor fixing seat form a slider-crank mechanism.
In one embodiment, the sliding portion slides in a first direction, and the rotation axis of the rotor tilt shaft extends in a second direction, the first direction and the second direction being perpendicular to each other.
In one embodiment, the tilting assembly further includes a transmission portion, the transmission portion is disposed on the wing main body, the driving portion is in transmission connection with the transmission portion, and the sliding portion is in transmission fit with the transmission portion and is movable relative to the transmission portion.
In one embodiment, the transmission part is a screw rod, the sliding part is in threaded connection with the screw rod, and the lead angle of the screw rod is smaller than the equivalent friction angle of the threads of the screw rod.
In one embodiment, the driving portion is a stepping motor, and the tilting assembly further comprises a coupler connected between the stepping motor and the lead screw.
In one embodiment, the wing body comprises a first wing girder, a second wing girder and a wing rib plate, the first wing girder and the second wing girder are arranged at intervals and are connected with the wing rib plate, the transmission part is connected between the first wing girder and the second wing girder, the rotor tilting shaft is rotatably arranged on the wing rib plate, and the driving part is arranged on the wing rib plate.
In one embodiment, the tilt assembly further comprises a guide portion connected between the first and second wing girders, the slide portion being slidably disposed in the guide portion.
In one embodiment, the rotor tilt axis is rotated through an angle in the range of 0-90 °.
In a second aspect, the invention further provides a tilt rotor aerocar, which comprises an aerocar body, rotors and any one of the rotor tilt mechanisms, wherein the wing main body is arranged on the aerocar body, and the rotors are arranged on the output shafts of the rotor motors.
In one embodiment, the power assembly forms a power mechanism with the rotor, the power mechanism having a center of gravity located on the axis of the tilt shaft of the rotor.
In a third aspect, the present invention further provides a flying device, including an aircraft body, rotors, and any one of the above rotor tilting mechanisms, wherein the wing main body is disposed on the aircraft body, and the rotors are disposed on an output shaft of a rotor motor.
Compared with the prior art, the rotor wing tilting mechanism, the tilting rotor wing aerocar and the flight device provided by the invention have the advantages that the sliding part, the connecting part and the motor fixing seat of the rotor wing tilting mechanism form a slider-crank mechanism, the sliding part is driven to slide by the driving part, the power assembly is driven to tilt, and the tilting angle of the rotor wing can be stably controlled.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a rotor tilt mechanism according to an embodiment of the present invention.
Figure 2 is a schematic diagram of the rotor tilt mechanism of figure 1 (without the power assembly).
Figure 3 is a schematic view of the rotor tilt mechanism of figure 1 in a rotor position.
Fig. 4 is a partial enlarged view of fig. 2 at P.
Figure 5 is a schematic view of the rotor tilt mechanism of figure 1 between a rotor configuration and a fixed wing configuration.
Figure 6 is a schematic view of the rotor tilt mechanism of figure 1 between fixed wing positions.
Figure 7 is an elevation view of the rotor tilt mechanism of figure 1 in a rotor position.
Figure 8 is an elevation view of the rotor tilt mechanism of figure 1 between a rotor position and a fixed wing position.
Figure 9 is an elevation view of the rotor tilt mechanism of figure 1 in a fixed wing position.
Fig. 10 is a schematic structural diagram of a tiltrotor flying vehicle according to an embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a flight device provided in an embodiment of the present invention.
Detailed Description
In order to facilitate an understanding of the embodiments of the present invention, the embodiments of the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
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 invention belongs. The terminology used herein in the examples of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Through research, the inventor of the application finds that the existing tilting mechanism mainly has a steering engine drive mode, a gear drive mode, a hydraulic drive mode and the like. The steering engine driving mode has a simple structure, small bearing force and no self-locking function, and is generally used for small-sized tilt rotor systems. The transmission mode of gears and hydraulic pressure has large bearing force, but the structure is complex, so that the structural weight is overlarge, and the integral takeoff weight of the aerocar system is larger.
The invention aims to provide a rotor wing tilting mechanism, a tilting rotor wing aerocar and an aerodevice, aiming at the defects of the existing rotor wing tilting mechanism in the technology, which can greatly improve the overall stability and safety of the aerocar and have wide application prospect.
The present invention will be described in detail below with reference to the following detailed description and accompanying drawings.
Referring to fig. 1 and 2, a rotor tilt mechanism 10 is provided, including a wing assembly 11, a power assembly 13, and a tilt assembly 15. The wing assembly 11 comprises a wing main body 110 and a rotor tilting shaft 112, wherein the rotor tilting shaft 112 is rotatably arranged on the wing main body 110; the power assembly 13 comprises a rotor motor 132 and a motor fixing seat 134, the rotor motor 132 is arranged on the motor fixing seat 134, and the motor fixing seat 134 is connected to the rotor tilting shaft 112; the tilting assembly 15 includes a driving portion 151, a sliding portion 152 and a connecting portion 154, the driving portion 151 is fixed to the wing main body 110, the driving portion 151 is connected to the sliding portion 152 in a transmission manner to drive the sliding portion 152 to slide, the connecting portion 154 is movably connected between the sliding portion 152 and the motor fixing base 134 to drive the power assembly 13 to rotate through the sliding portion 152, and the sliding portion 152, the connecting portion 154 and the motor fixing base 134 form a crank-slider mechanism.
The wing assemblies 11 may be used to mount power assemblies 13 that generate lift when the flying apparatus is in a rotor flight configuration and a fixed wing flight configuration. The wing assembly 11 comprises a wing body 110 and a rotor tilting shaft 112, and the wing body 110 can be used as a force bearing frame structure and can be used for bearing the rotor, the power assembly 13 and the tilting assembly 15. The wing body 110 may also be connected to an aircraft body so that the rotor tilt mechanism 10 can be applied to a flying device, such as an unmanned aerial vehicle or the like. Rotor tilt shaft 112 is rotatably disposed on wing body 110, and rotor tilt shaft 112 may be used to mount power assembly 13.
Referring to fig. 2 and 3, the wing body 110 includes a first wing girder 111, a second wing girder 113, and a rib 115, the first wing girder 111 and the second wing girder 113 are disposed at intervals, for example, at intervals along a first direction D1, and both the first wing girder 111 and the second wing girder 113 are connected to the rib 115. The first wing girder 111 and the second wing girder 113 may serve as primary load-bearing structures for mounting the tilt assembly 15. The airfoil ribs 115 serve to enhance the structural stability of the wing body 110 and may also serve to mount the rotor tilt shaft 112.
The first wing girder 111 includes a first connection plate 1112, a second connection plate 1114, and a third connection plate 1116, wherein the first connection plate 1112 and the second connection plate 1114 are parallel to each other, and the second connection plate 1114 is connected between the first connection plate 1112 and the third connection plate 1116, so that the cross section of the first wing girder 111 is substantially i-shaped, and the cross section refers to a cross section obtained by cutting the first wing girder 111 in a direction perpendicular to the length direction of the first wing girder 111. The second wing girder 113 has substantially the same shape and size as the first wing girder 111, i.e., the second wing girder 113 also has a substantially i-shaped cross section.
In this embodiment, the rib 115 is generally oval and is connected between the first wing spar 111 and the second wing spar 113, for example, the rib 115 is connected perpendicular to the first wing spar 111 and the second wing spar 113. The number of the airfoil ribs 115 is plural, wherein plural means three or more. The plurality of airfoil ribs 115 are spaced along a second direction D2, wherein the second direction D2 is orthogonal to the first direction D1.
The airfoil 115 includes a mounting plate 1152 and a shroud 1154, the mounting plate 1152 being generally oval in shape, the shroud 1154 being generally annular in shape, the shroud 1154 being disposed around a side surface of the mounting plate 1152, and the shroud 1154 being of a streamlined design to reduce aerodynamic drag and increase the flight speed of the aircraft.
Referring to fig. 2 and 4, rotor tilt shaft 112 is generally cylindrical and extends in a second direction D2, and the axis of rotation of rotor tilt shaft 112 extends in a second direction D2, i.e., rotor tilt shaft 112 rotates along its axis. The rotor tilt shaft 112 is rotatably disposed on the rib 115, for example, the rotor tilt shaft 112 extends through the plurality of ribs 115 and outwardly. In this embodiment, the rib 115 may further include a tilt shaft bearing seat 1150 and a rotation bearing, and the rotor tilt shaft 112 may be installed on the rib 115 through the tilt shaft bearing seat 1150, so that the rotation of the rotor tilt shaft 112 is smoother, and the switching between the rotor flight state and the fixed-wing flight state of the flight device is facilitated.
In this embodiment, the range of the rotation angle of the rotor tilt shaft 112 is 0 to 90 °, and on the basis of not affecting the flight state of the rotor and the flight state of the fixed wing, the rotor tilt mechanism 10 can be prevented from failing due to over-rotation, and the safety performance of the flight device is improved. For example, the rotor tilt shaft 112 is provided with a limiting member 1121, the limiting member 1121 is disposed on the outer circumferential surface of the rotor tilt shaft 112 along the radial direction of the rotor tilt shaft 112, and the limiting member 1121 can rotate along with the rotor tilt shaft 112. The tilt shaft bearing seat 1150 may be provided with a limit groove 1151, the tilt shaft bearing seat 1150 further includes a first stop surface 1153, a second stop surface 1155 and a connecting surface 1157, the connecting surface 1157 is connected between the first stop surface 1153 and the second stop surface 1155, the first stop surface 1153, the second stop surface 1155 and the connecting surface 1157 form the limit groove 1151, the limiting member 1121 may rotate in the limit groove 1151 and selectively abut against the first stop surface 1153 or the second stop surface 1155, wherein an included angle between the first stop surface 1153 and the second stop surface 1155 is 90 degrees. When the rotor tilt shaft 112 rotates, the limiting member 1121 arranged on the rotor tilt shaft 112 is driven to rotate, and when the limiting member 1121 and the first stopping surface 1153 are formed, the rotation angle of the rotor tilt shaft 112 is 0 degree, and the axial direction of the rotor is consistent with the vertical direction, which corresponds to the flight state of the rotor; when the limiting member 1121 is located on the second stop surface 1155, the rotation angle of the tilt rotor shaft 112 is 90 degrees, and the axial direction of the rotor is the same as the horizontal direction, which corresponds to the fixed-wing flight state. When the position-limiting member 1121 is located between the first stop surface 1153 and the second stop surface 1155, the rotation angle of the tilt shaft 112 of the rotor is between 0 and 90 degrees, and the rotor is in a transition state, and has characteristics of a rotor flight state and a fixed-wing flight state.
In other embodiments, the range of the rotation angle of the rotor tilt shaft 112 may be in other angular ranges such as 0 to 180 ° on the basis of the requirement that the rotor flight state and the fixed-wing flight state can be achieved.
Referring to FIG. 5, the wing assembly 11 further includes an outer panel 116, the outer panel 116 overlying a surface of the shroud 1154 and extending in the second direction D2, the outer panel 116 having a cross-section similar to the shape of the shroud 1154 and being generally oval. The outer plate 116 may be secured to the shroud 1154 by an adhesive or rivets. The outer plate 116 may be configured to receive aerodynamic forces, and the generally elliptical configuration of the outer plate 116 may provide a high velocity and low pressure of air above the outer plate 116, and a low velocity and high pressure of air below the outer plate 116, thereby creating a pressure differential between the upper and lower surfaces of the outer plate 116 that generates a lifting force on the wing assembly 11 that facilitates the lifting of the aircraft. The outer plate 116 can be in direct contact with the outside, and the material of the outer plate 116 has high strength, good plasticity, smooth surface and high corrosion resistance.
Referring to fig. 2 and 6, the tilting assembly 15 includes a driving portion 151, a sliding portion 152 and a connecting portion 154, the driving portion 151 is fixed to the wing main body 110, the driving portion 151 is in transmission connection with the sliding portion 152 to drive the sliding portion 152 to slide, and the connecting portion 154 is movably connected between the sliding portion 152 and the motor fixing base 134 to drive the power assembly 13 to rotate through the sliding portion 152.
The driving portion 151 is disposed on the rib 115, for example, the driving portion 151 may be connected to the rib 115 through a motor connecting plate 153, the motor connecting plate 153 may be connected to the rib 115 through a screw fixing or bonding method, and the driving portion 151 may be mounted on the motor connecting plate 153 through a screw fixing or the like. The drive portion 151 is used to provide a drive torque. In this embodiment, the driving portion 151 is a stepping motor, which has features of high precision, fast response, and the like, and can improve the tilting stability of the rotor tilting mechanism 10. In other embodiments, the driving unit 151 may be another type of motor such as a servo motor.
The sliding portion 152 slides along the first direction D1, and the sliding of the sliding portion 152 can drive the connecting portion 154 to rotate around the rotor tilting shaft 112. The sliding part 152 is provided with a hinge plate 1521, and the hinge plate 1521 is arranged on one side of the sliding part 152 away from the rib 115 and used for installing the connecting part 154. In the present embodiment, the sliding portion 152 is a slider.
The connecting portion 154 includes a first connecting end 1542, a second connecting end 1544, and a connecting rod 1546, the connecting rod 1546 being connected between the first connecting end 1542 and the second connecting end 1544. The first connection end 1542 may be hinged to the hinge plate 1521, so that the sliding of the sliding portion 152 may drive the connection portion 154 to rotate. Second connection end 1544 may articulate in motor fixing base 134 to the rotation that makes connecting portion 154 can drive power component 13 and rotate, thereby drives the rotor and verts.
The tilt assembly 15 further comprises a transmission 155, the transmission 155 being arranged in the wing body 110, e.g. the transmission 155 being connected between the first wing girder 111 and the second wing girder 113. The transmission part 155 is in transmission connection with the driving part 151, and the sliding part 152 is in transmission fit with the transmission part 155 and is movable relative to the transmission part 155. The transmission portion 155 can transmit the driving torque provided by the driving portion 151 to the sliding portion 152, so as to drive the sliding portion 152 to move, and the movement of the sliding portion 152 drives the connecting portion 154 to rotate around the rotor tilting shaft 112, so as to drive the power assembly 13 to rotate, thereby realizing the tilting of the rotor.
In the present embodiment, the transmission portion 155 is a screw rod, the screw rod is screwed with the sliding portion 152, for example, the sliding portion 152 may be internally provided with a ball nut (not shown), the ball nut may be engaged with a thread on the screw rod, and when the driving portion 151 drives the screw rod to rotate, the sliding portion 152 may slide along the first direction D1 relative to the screw rod.
The tilting assembly 15 further includes a first lead screw bearing seat 156 and a second lead screw bearing seat 157, the first lead screw bearing seat 156 and the second lead screw bearing seat 157 are connected to opposite ends of the lead screw, wherein the first lead screw bearing seat 156 is fixed to the first wing girder 111, the second lead screw bearing seat 157 is fixed to the second wing girder 113, and the lead screw is rotatable relative to the first lead screw bearing seat 156 and the second lead screw bearing seat 157, so that the lead screw can be rotatably installed between the first wing girder 111 and the second wing girder 113.
In this embodiment, the lead angle of the lead screw is smaller than the equivalent friction angle a of the screw thread of the lead screw, so that the sliding of the sliding portion 152 has a self-locking function, that is, the sliding of the sliding portion 152 can only drive the sliding portion 152 to slide through the driving portion 151, and the sliding of the sliding portion 152 cannot drive the driving portion 151, thereby avoiding the driving portion 151 from being damaged due to the driving portion 151 being driven to rotate reversely. The self-locking function of the sliding portion 152 greatly improves the safety and reliability of the rotor tilt mechanism 10. For example, when the driving portion 151 is damaged and cannot provide driving torque, the sliding portion 152 does not slide relative to the transmission portion 155 due to the self-locking function of the sliding portion 152, so that the position of the power assembly 13 is fixed and cannot be tilted and swung at will, and the safety and reliability of the rotor tilting mechanism 10 are greatly improved.
The lead angle is an angle between a tangent line of a spiral line of the screw thread of the lead screw and a plane perpendicular to the thread axis, and is also called a lead angle, and the equivalent friction angle a is arctan (F/G), where F is a friction force generated when the sliding portion 152 slides relative to the lead screw, and G is a pressure force generating the friction force.
In the present embodiment, the sliding portion 152, the connecting portion 154, and the motor fixing base 134 constitute a crank-slider mechanism, wherein the sliding portion 152 corresponds to a slider of the crank-slider mechanism, the connecting portion 154 corresponds to a link of the crank-slider mechanism, and the motor fixing base 134 corresponds to a crank of the crank-slider mechanism. Slide through drive division 151 drive sliding part 152, drive power component 13 and vert, can control the angle of verting of rotor steadily, change the contained angle of rotor and flight body, realized the smooth switching of flying device's rotor flight state and fixed wing flight state, promoted flying device's stability at the flight in-process.
With continued reference to fig. 6, the tilter assembly 15 further includes a guide portion 158, the guide portion 158 being connected between the first wing girder 111 and the second wing girder 113 and mounted to a mounting plate 1152 (fig. 2) of the rib 115. The guide portion 158 extends along the first direction D1, and can be used to guide the sliding portion 152, so that the sliding portion 152 can be slidably disposed on the guide portion 158, only the sliding freedom of the sliding portion 152 along the first direction D1 is retained, and the sliding portion 152 can be restricted from deflecting or otherwise moving during the movement relative to the transmission portion 155. In the present embodiment, the guide portion 158 is a guide rail.
The tilt assembly 15 further comprises a coupling 159, the coupling 159 is connected between the stepping motor and the lead screw, for example, the coupling 159 is disposed on an output shaft of the stepping motor and is in transmission connection with the lead screw. The coupling 159 may be a rigid structure, and the coupling 159 is disposed on an output shaft of the stepping motor, and may buffer a driving process of the stepping motor, so as to reduce vibration of the rotor tilting mechanism 10.
Referring to fig. 7 to 9, the driving unit 151 drives the sliding unit 152 to slide, so as to change the minimum distance L between the sliding unit 152 and the first lead screw bearing seat 156 and the rotation inclination angle a of the central axis of the rotor motor 132, as shown in fig. 7, when the rotor is in the rotor state, the minimum distance between the sliding unit 152 and the first lead screw bearing seat 156 is L1, the rotation inclination angle of the central axis of the rotor motor 132 is a1, where a1 is 0 degree; as shown in fig. 8, when the rotor is between the rotor state and the fixed wing state, the minimum distance between the sliding part 152 and the first lead screw bearing seat 156 is L2, and the rotation inclination angle of the central axis of the rotor motor 132 is a2, where a2 is between 0-90 degrees, for example, 45 degrees; as shown in fig. 9, when the rotor is in the fixed wing state, the minimum distance between the sliding part 152 and the first lead screw bearing seat 156 is L3, and the rotation inclination angle of the central axis of the rotor motor 132 is A3, where A3 is 90 degrees; the relationship between the pitch L and the roll inclination A can be formed according to L1 and A1, L2 and A2, and L3 and A3. By controlling the rotating speed and the rotating angle of the driving part 151, the tilting angle of the rotor wing can be stably and accurately controlled, and the stability of the flight device in the flight process is further improved.
In summary, the sliding portion 152, the connecting portion 154 and the motor fixing base 134 of the rotor tilting mechanism 10 provided by the present invention form a slider-crank mechanism, which has the characteristics of large transmission force, light weight, small size, etc., and the driving portion 151 drives the sliding portion 152 to slide to drive the power assembly 13 to tilt, so as to control the tilting angle of the rotor smoothly, and realize the smooth switching between the rotor flying state and the fixed-wing flying state of the flying device. Rotor mechanism 10 that verts's overall structure is simple, and the mechanical design and the control of being convenient for realize to have self-locking function, be applicable to various systems that need the rotor that verts, for example hovercar or unmanned aerial vehicle.
Referring to fig. 5 and 10, the present invention further provides a tilt rotor flying vehicle 1, which includes a flying vehicle body 20, a rotor 30 and a rotor tilt mechanism 10, wherein the wing body 110 is disposed on the flying vehicle body 20, and the rotor 30 is disposed on an output shaft of the rotor motor 132.
In this embodiment, the number of rotor tilting mechanisms 10 is two sets, and two sets of rotor tilting mechanisms 10 are respectively arranged on both sides of the hovercar body 20 along the flight direction, and the switching between the rotor flight state of the tilting rotor hovercar 1 and the fixed wing flight state can be realized by the tilting of the two sets of rotor tilting mechanisms 10.
The rotor 30 has a rotor state and a fixed-wing state, wherein in the rotor state, the rotation axis of the rotor 30 extends in the vertical direction, and can generate lift force, so that the tilt rotor aerocar 1 has vertical take-off and landing capability; in the fixed-wing state, the rotation axis of the rotor 30 extends in the horizontal direction, and thrust can be generated, so that the tilt rotor flying vehicle 1 has the capability of flying at high speed. Tilt rotor hovercar 1 has advantages such as VTOL and high-speed flight simultaneously, and the practicality improves greatly.
In summary, the tilt rotor flying car 1 provided by the invention comprises the rotor tilting mechanism 10, wherein the sliding portion 152, the connecting portion 154 and the motor fixing seat 134 of the rotor tilting mechanism 10 form a slider-crank mechanism, and the slider-crank mechanism has the characteristics of large transmission force, light weight, small size and the like, the driving portion 151 drives the sliding portion 152 to slide to drive the power assembly 13 to tilt, so that the tilting angle of the rotor 30 can be stably controlled, the stable switching between the rotor flying state and the fixed wing flying state of the tilt rotor flying car 1 is realized, and the stability of the tilt rotor flying car 1 in the flying process is improved. Further, the center of gravity of the power mechanism formed by rotor 30 and power unit 13 is located on the axis of rotor tilt shaft 112, so that the driving torque of driving unit 151 can be effectively reduced, the weight of driving unit 151 can be reduced, and the overall weight of rotor tilt mechanism 10 and tilt rotor flying vehicle 1 can be reduced.
Referring to fig. 5 and 11, the present invention further provides a flying device 5, which includes an aircraft body 50, a rotor 60, and a rotor tilting mechanism 10, wherein the wing body 110 is disposed on the aircraft body 50, and the rotor 60 is disposed on an output shaft of a rotor motor 132.
The flying device 5 may be an airplane, a drone or an airship or the like. In this embodiment, an unmanned aerial vehicle is used for description. Aircraft body 50 is the unmanned aerial vehicle body promptly, and the quantity of rotor mechanism 10 that verts is four, and four rotors vert mechanism 10 and extend around the unmanned aerial vehicle body and towards different directions.
In summary, the flying device 5 provided by the present invention includes the rotor tilting mechanism 10, the sliding portion 152, the connecting portion 154 and the motor fixing base 134 of the rotor tilting mechanism 10 constitute a slider-crank mechanism, the driving portion 151 drives the sliding portion 152 to slide, and drives the power assembly 13 to tilt, so as to control the tilting angle of the rotor 60 smoothly, realize the smooth switching between the rotor flying state and the fixed-wing flying state of the flying device 5, and improve the stability of the flying device 5 during the flying process.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A rotor tilt mechanism, comprising:
the wing assembly comprises a wing main body and a rotor tilting shaft, and the rotor tilting shaft is rotatably arranged on the wing main body;
the power assembly comprises a rotor motor and a motor fixing seat, the rotor motor is arranged on the motor fixing seat, and the motor fixing seat is connected with the rotor tilting shaft; and
the subassembly verts, the subassembly that verts includes drive division, sliding part and connecting portion, the drive division is fixed in the wing main part, the drive division with the sliding part transmission is connected with the drive the sliding part slides, connecting portion movably connect in the sliding part with between the motor fixing base, in order to pass through the sliding part drives power component rotates, the sliding part connecting portion with the motor fixing base constitutes slider-crank mechanism.
2. The rotor tilt mechanism of claim 1, wherein the slide slides in a first direction and the axis of rotation of the rotor tilt shaft extends in a second direction, the first direction and the second direction being perpendicular to one another.
3. The rotor tilt mechanism of claim 1, wherein the tilt assembly further comprises a transmission portion disposed on the wing body, the drive portion is in driving connection with the transmission portion, and the sliding portion is in driving engagement with the transmission portion and is movable relative to the transmission portion.
4. The rotor tilt mechanism according to claim 3, wherein the transmission is a lead screw, the slide is threadedly coupled to the lead screw, and the lead angle of the lead screw is less than the equivalent friction angle of the threads of the lead screw.
5. The rotor tilt mechanism of claim 4, wherein the drive portion is a stepper motor, and wherein the tilt assembly further comprises a coupling coupled between the stepper motor and the lead screw.
6. The rotor tilt mechanism of claim 3, wherein the wing body includes a first wing girder, a second wing girder, and a rib, the first wing girder and the second wing girder being spaced apart and connected to the rib, the transmission being connected between the first wing girder and the second wing girder, the rotor tilt shaft being rotatably disposed in the rib, the drive being disposed in the rib.
7. The rotor tilt mechanism of claim 6, wherein the tilt assembly further comprises a guide portion connected between the first and second wing girders, the slide portion being slidably disposed in the guide portion.
8. A rotor tilt mechanism according to any one of claims 1 to 7, wherein the rotation angle of the tilt shaft is in the range 0 ° to 90 °.
9. A tilt rotor flying vehicle comprising a flying vehicle body, a rotor and a rotor tilt mechanism according to any one of claims 1 to 8, said wing body being disposed on said flying vehicle body, said rotor being disposed on an output shaft of said rotor motor.
10. A tiltrotor flying vehicle as claimed in claim 9, wherein the power assembly forms a power mechanism with the rotor, the power mechanism having a center of gravity located on the axis of the rotor tilt shaft.
11. A flying apparatus comprising an aircraft body, a rotor, and a rotor tilt mechanism according to any one of claims 1-8, wherein the wing body is provided to the aircraft body, and the rotor is provided to an output shaft of the rotor motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN114148507A (en) * | 2021-12-31 | 2022-03-08 | 广东汇天航空航天科技有限公司 | Variable pitch device and aircraft |
| CN114476047A (en) * | 2021-12-03 | 2022-05-13 | 南昌三瑞智能科技有限公司 | Mechanism that verts of rotor unmanned aerial vehicle motor verts |
| CN114524082A (en) * | 2022-03-15 | 2022-05-24 | 远牧(深圳)控股集团有限公司 | Unmanned aerial vehicle modularized wing electric control structure and using method thereof |
| CN115123537A (en) * | 2022-06-06 | 2022-09-30 | 重庆大学 | Tiltrotor mechanism and rotorcraft |
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Application publication date: 20210910 |