CN116714801A - Tilting structure of rotor craft - Google Patents

Abstract

The invention discloses a tilting structure of a rotorcraft, which comprises a driving unit and a tilting unit, wherein the rear parts of the driving unit and the tilting unit are sequentially arranged in a cylindrical positioning tube along a straight line; the tilting unit includes: the screw rod is arranged in the positioning tube and is in linear connection with the driving unit, the straight push rod is connected to the screw rod through a nut in a threaded manner, the front end of the straight push rod extends out of the front end of the positioning tube and is connected with a rotating base through a rotating joint, the rotating base is hinged to the upper end of a front end positioning seat positioned at the front end of the positioning tube through a rotating shaft, and the rotating base can rotate between an unfolding state and a closing state around the rotating shaft under the pushing of the straight push rod. According to the tilting structure of the rotor craft, the transmission mechanism is high in transmission precision and abrasion-resistant, and the problem of poor stability caused by abrasion of the transmission mechanism in the prior art is solved; the rotating base can accurately and conveniently control the tilting angle.

Description

Tilting structure of rotor craft

Technical Field

The invention relates to a tilting structure of a rotor craft with vertical take-off, landing and tilting flight functions, and belongs to the technical field of rotor craft.

Background

At present, the vertical unmanned aerial vehicle is widely applied to deep forest rescue, fire-fighting inspection and the like, however, market application scenes are continuously widened, and higher requirements are provided for the endurance and wind-resistant take-off and landing capabilities of the unmanned aerial vehicle.

The traditional unmanned plane adopts an 'N+1' layout, namely N lifting motors and a thrust motor combination mode, the N lifting motors are used as main motors in the climbing stage of the plane, the stability of the plane such as attitude, yaw, rolling and the like is guaranteed, but the lifting overshoot is easy to control when the plane encounters strong wind weather, so that the plane cannot be well controlled in strong wind weather, in addition, the N motors in the climbing and landing stages of the plane have larger power, N rotors in the cruising stage belong to the useless stage, the weight utilization rate is not high, the arrangement looks relatively more electricity consuming and the load utilization rate is not high.

In order to solve the limitation and problem that the conventional unmanned aerial vehicle mostly adopts an 'n+1' layout, a rotor wing aircraft capable of tilting rotor wings is generated. When the rotor wing is lifted and hovered, the rotor wing is horizontally arranged; turning the rotor to a vertical arrangement when turning to cruise horizontal flight; therefore, a thrust motor can be omitted, and each rotor wing is fully utilized, so that electricity is saved, and the load utilization rate is improved.

For a tiltrotor aircraft, a tilting mechanism is a key for realizing rotor commutation, for example, chinese patent publication No. CN113443136a discloses a multi-link tilting mechanism for a rotorcraft and a working method thereof, and the tilting mechanism includes: the device comprises a fixed seat, a driving unit and a tilting unit, wherein the fixed seat, the driving unit and the tilting unit are arranged in a machine body, the machine body is provided with a cabin, the fixed seat is arranged on the top wall of the cabin, a rotor mechanism is further arranged on the machine body, the tilting unit is connected with the rotor mechanism through a supporting seat, the tilting unit comprises a transmission member, a thrust member and a tilting member, the driving unit is connected with the transmission member, the thrust member is connected with the driving unit and the supporting seat, the tilting member is connected with the thrust member and is connected with the fixed seat and the supporting seat, the driving unit controls the transmission member to drive the thrust member to rotate, and the thrust member drives the tilting member to rotate along the fixed seat to control the tilting motion of the rotor mechanism. The transmission component adopts a worm and gear transmission mechanism, and the thrust component and the tilting component are of two groups of four-bar structures, namely, the tilting unit is controlled in a mode of driving the multi-bar structure to jointly move through worm and gear. Although stability in the tilting mechanism is improved to some extent, it is well known that, because the worm gear has long-time quick reciprocating abrasion and precision maintenance problems, when a gap is generated between the worm gear and the worm gear after a section of use, and transmission precision cannot be ensured, the tilting mechanism cannot be accurately maintained at a required tilting angle, and because the tilting mechanism swings in a certain range (error gap) of the angle due to the gap of the worm gear, the swing forms a phenomenon of quick shaking due to the fact that a rotor wing is in high-speed operation, so that stability of the tilting process, lifting and flying processes cannot be maintained, reliability of long-time flying cannot be ensured, and further the whole service life of the unmanned aerial vehicle is reduced, so that the tilting mechanism cannot meet the requirements of airplane safety and service life. Another problem that exists is that: since the tilting of the tilting mechanism is achieved by tilting of two sets of four-bar linkages, the rotation of the support for mounting the rotor is a curved rotation in space, i.e. it is not only rotated but also displaced, thus adding complexity to the control of the tilting angle. Meanwhile, as the components of the double four-bar structure are more, the weight is large, and the power consumption of the aircraft can be increased.

Based on the above-mentioned drawbacks of the conventional tilting mechanism of a rotorcraft, a rotorcraft tilting mechanism capable of stably controlling the tilting of a rotor in any flying state for a long time and easily controlling the tilting angle is a goal pursued by those skilled in the art.

Disclosure of Invention

The invention aims to solve the problems of poor running stability, poor long-term flight reliability and further reduction of service life of the existing rotary wing aircraft tilting mechanism caused by abrasion of a transmission mechanism and the problem of high difficulty in precisely controlling the tilting angle.

In order to achieve the above purpose, the technical scheme of the invention is as follows:

a rotorcraft tilting structure, it includes drive unit and tilting unit, its characterized in that: the rear parts of the driving unit and the tilting unit are sequentially arranged in a cylindrical positioning tube along a straight line; the tilting unit includes:

the rear end of the screw rod is arranged in the positioning tube through a rear end fixing seat, and the rear end of the screw rod is in linear connection with the driving unit;

the nut is in threaded connection with the screw rod and can do linear motion under the drive of the screw rod;

the rear end of the straight push rod is fixedly connected with the nut, and a blind hole for the screw rod to extend in from the rear end is formed in the center of the straight push rod;

the front end positioning seat is fixedly arranged at the front end of the positioning tube, a central positioning hole for the straight push rod to pass through is formed in the middle of the front end positioning seat, the front end positioning seat is provided with a first extending part which extends forwards and is cylindrical, the length of the upper part of the first extending part is longer than that of the lower part, and the front end face of the lower part is in an inclined plane shape with a long upper part and a short lower part;

the rotary base comprises a round base plate at the front end and a second extension part which extends backwards from the base plate, is cylindrical and has the same diameter as the first extension part, the upper end of the second extension part is a shorter upper extension part, and the end face of a lower extension part below the upper extension part is in an inclined plane shape with a short upper part and a long lower part; the upper part of the rear end of the rotating base is hinged to the upper part of the front end positioning seat through a rotating shaft I;

and one end of the rotary joint is rotationally connected with the front end part of the straight push rod, and the other end of the rotary joint is rotationally connected with the rotary base and is used for pushing the rotary base to rotate around the center of the first rotating shaft between an unfolding state and a closing state.

Preferably, the screw rod is a ball screw rod, and the nut is a ball nut; or: the screw rod is a T-shaped screw rod, and the nut is a T-shaped nut. The ball screw and the ball nut are adopted, so that the transmission precision is high and the wear resistance is good. The T-shaped screw rod and the T-shaped nut are adopted, the transmission precision is high, and the wear resistance can be improved by coating lubricating grease.

Preferably, when the rotating base is in a closed state, the rear end face of the second extension part is matched with the front end face of the first extension part, and the rotating base and the front end positioning seat enclose a cylindrical shape.

As a preferable scheme, the upper part of the first extension part is provided with two rotating shaft mounting seats, a gap is arranged between the two rotating shaft mounting seats, and the rotating shaft I can be rotatably arranged in a rotating shaft mounting hole of the rotating shaft mounting seat;

a first connecting lug which can be inserted into the notch is arranged in the rotating base and close to the upper extension part, and the first connecting lug of the rotating base is connected with a first rotating shaft between two rotating shaft mounting seats of the front end positioning seat; the rotating base is also provided with a second connecting lug which is positioned below the same vertical plane as the first connecting lug; the rotary joint is rotationally connected with the second connecting lug.

As a preferable scheme, the front end and the rear end of the rotary joint are both Y-shaped structures, and a second rotating shaft and a third rotating shaft are respectively arranged at the Y-shaped structures at the two ends; the second connecting lug and the straight push rod connecting lug of the straight push rod are inserted into the neutral gear of the two Y-shaped structures of the rotary joint and are connected with the second rotating shaft and the third rotating shaft.

The driving unit comprises a driving motor, a coupler and a motor mounting seat, and the rear end of the screw rod is connected with the driving motor in a straight line through the coupler; the driving motor is arranged in the positioning tube through a motor mounting seat; the motor mounting seat comprises an annular frame with the outer diameter being matched with the inner diameter of the positioning tube, a circular positioning hole for mounting a motor is formed in the center of the annular frame, and a motor fixing hole is formed in the annular frame.

As a preferable scheme, the rear end fixing seat comprises a first annular support with the outer diameter matched with the inner diameter of the locating pipe and a first locating sleeve which is connected with the first annular support into a whole, a rear locating hole for supporting and locating a screw rod is formed in the center of the first annular support, and the rear end of the screw rod penetrates through the rear locating hole to be in butt joint with the coupler.

The rear end of the front end positioning seat is provided with a second annular support which is matched with the inner diameter of the positioning pipe, the second annular support is fixed in the positioning pipe through a screw, and a second positioning sleeve which is connected with the second annular support into a whole is arranged in the middle of the second annular support and is used for supporting the center positioning hole of the straight push rod to be positioned at the center position of the second positioning sleeve.

Preferably, the rear end of the straight push rod is provided with a flange, and the flange is connected to the front end face of the nut through a screw.

Preferably, the device further comprises a guide mechanism for enabling the straight push rod and the nut to do linear motion under the drive of the screw rod; the guide mechanism comprises a guide rail, the guide rail is arranged between a front end positioning seat and a rear end fixing seat, and a slideway parallel to the screw rod and the straight push rod is arranged in the middle of the guide rail;

and the upper end of the sliding piece extends into the slideway and is guided and positioned in the slideway.

As a preferable scheme, two ends of the guide rail are connected with the front end positioning seat and the rear end fixing seat; the outer edge of the flange of the straight push rod is provided with a chord tangent plane, and the sliding piece is arranged on the chord tangent plane; the sliding part adopts a rolling bearing.

Preferably, the motor fixing seat is positioned around the motor fixing hole and provided with a weight-reducing groove; the annular support I of the rear end fixing seat is provided with a lightening hole I; the second annular support of the front end positioning seat is provided with a second lightening hole.

Preferably, the self-locking device further comprises a self-locking unit for keeping the rotating base in a closed state when the rotating base is in a forward flying state, the self-locking unit comprises an electronic damper, the electronic damper is arranged at the rear end of the positioning tube, and the rear end output shaft of the driving motor is connected with the electronic damper.

Preferably, the device further comprises a displacement sensor for recording the displacement state of the straight push rod, wherein two ends of the displacement sensor are connected with the front end positioning seat and the rear end fixing seat; or, it further includes an angle potentiometer for detecting the rotation angle of the rotating base, the angle potentiometer being disposed between the rotating shaft mounting base and the first hinge shaft.

By adopting the technical scheme, the rear parts of the driving unit and the tilting unit are sequentially arranged in the positioning tube along a straight line, so that the whole installation is more convenient, and the screw rod and the nut are adopted as the transmission component of the driving unit, so that the rotor tilting mechanism has the advantages of high transmission precision, difficult abrasion and long service life, and can be used for solving the problems of poor stability and further reduction of the service life of the transmission mechanism after abrasion in the conventional rotor tilting mechanism; according to the invention, the straight push rod connected with the screw rod and the nut drives the rotary joint to swing, and the rotary base arranged at the forefront end is hinged to the upper end part of the front end positioning seat, and the rotary base is pushed to rotate by the rotary joint, so that the rotary base can be switched between a recovery state (the rotary wing is in a vertical position) and an unfolding state (the rotary wing is in a horizontal position). According to the invention, the driving unit, the screw rod in the tilting unit and the linear push rod are arranged in the cylindrical positioning tube in the form of the linear pile bottom, so that the assembly of parts is facilitated; meanwhile, the rotation of the rotating base is based on the rotating base and the first rotating shaft of the front end positioning seat, and the rotating base does not move in position during rotation, namely the first rotating shaft provides a rotating reference for the tilting angle of the rotating base, so that the tilting angle is easier and more convenient to control. Meanwhile, the straight push rod and the rotary joint in the tilting unit are thrust components, and the structure of the tilting unit is simple relative to the thrust components formed by the double four-bar mechanism of the existing rotor aircraft tilting mechanism, so that the number of parts is greatly reduced, the whole mechanism is simpler, the installation is convenient, the structural weight is lightened, the flight resistance is reduced, and the endurance time and the wind resistance of the unmanned aerial vehicle are increased.

The invention further enables the straight push rod and the nut to do linear motion under the drive of the screw rod through the guide mechanism; the guide rail of the guide mechanism is arranged between the front end positioning seat and the rear end fixing seat, and particularly the sliding part which is arranged on the outer edge of the flange of the straight push rod and slides in the guide rail adopts a rolling bearing, so that the friction resistance between the sliding part and the guide rail is reduced, and the smoothness of the movement of the straight push rod is improved.

The invention further provides a self-locking unit arranged at the rear end of the driving motor, and the electronic damper is particularly an electronic damper, which is low in power-on damping and high in power-off damping, and when the rotating base is in a recovery state, the driving motor is powered off at the moment, so that the electronic damper is in a high damping state, and the self-locking function can be realized. Because the electronic damper is adopted, the driving motor can be powered off when the rotating base is in a recovery state, namely, horizontally flies, so that the electric energy can be saved, the forward flying time can be increased, and the aviation time can be increased.

The invention further provides a displacement sensor arranged between the front end positioning seat and the rear end fixing seat and used for recording the displacement state of the linear push rod, and the current rotating base angle can be calculated and determined according to the displacement amount and the rotating joint motion amount. Or, the angle potentiometer is directly arranged at one position of the rotating shaft, so that the tilting angle of the rotating base can be directly detected.

Drawings

Fig. 1 and 2 are longitudinal sectional views of a first and a second of a tilting structure of a rotorcraft according to the present invention;

fig. 3 and 4 are a first perspective view and a second perspective view of a tilt structure of a rotorcraft according to the present invention, with a portion of the positioning tube removed;

fig. 5 is a perspective view of a motor mount for a tilter structure of a rotorcraft according to the present invention;

fig. 6 and 7 are perspective and side views of a rear mount of a tilter structure of a rotorcraft according to the present invention;

figures 8 and 9 are perspective and longitudinal sectional views of a straight pushrod of a tilter structure of a rotorcraft according to the present invention;

fig. 10, 11 and 12 are a first perspective view, a second perspective view and a longitudinal section view of a front end positioning seat of a tilting structure of a rotorcraft according to the present invention;

figures 13 and 14 are perspective and side views of a swivel base of a tilter structure of a rotorcraft in accordance with the present invention;

fig. 15 is a perspective view of a rail of a tilter structure of a rotorcraft in accordance with the present invention;

FIG. 16 is a perspective view of a positioning tube of a tilter structure of a rotorcraft in accordance with the present invention;

figure 17 is a side view of a second embodiment of a tilter architecture for a rotary-wing aircraft according to the present invention;

fig. 18 is a perspective view of a first rotary shaft in a second embodiment of the present invention;

fig. 19 is a schematic view of an angle potentiometer according to a second embodiment of the present invention.

Reference numerals illustrate: the driving unit 1, a driving motor 11, a coupler 12, a motor fixing seat 13, an annular frame 131, a positioning hole 132, a motor fixing hole 133, a weight-reducing groove 134 and a screw hole 135; the tilting unit 2, the screw rod 21, the nut 22, the straight push rod 23, the blind hole 231, the flange 232, the chord cut surface 233, the straight push rod connecting lug 234, the rotary joint 24, the rear end fixing seat 25, the annular bracket I251, the locating sleeve I252, the rear locating hole 253, the guide rail mounting hole I254, the potentiometer mounting hole I255 and the lightening hole I256; front end positioning seat 26, center positioning hole 261, first extension 262, upper portion 2621, lower portion 2622, spindle mount 2623, opening 2624, spindle mount 2625, second ring bracket 263, second positioning sleeve 264, second guide rail mount hole 265, second potentiometer mount hole 266, second weight reducing hole 267; a swivel base 27, a base plate 271, a second extension 272, an upper extension 2721, a lower extension 2722; a first connection lug 273, a second connection lug 274; a first 281, a semicircular shaft end 2811, a second 282 and a third 283; the guide mechanism 29, the guide rail 291, the slide 292, the slider 293; a positioning tube 3, an electronic damper fixing hole 31, a motor fixing seat fixing hole 32, a rear end fixing seat fixing hole 33 and a front end positioning seat fixing hole 34; self-locking unit 4, displacement sensor 51, angle potentiometer 52.

Detailed Description

The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the preferred embodiments should not be used to limit the scope of the present invention.

Referring to fig. 1-4, a tilt structure for a rotorcraft according to the present invention is shown, comprising: the invention is characterized in that the driving unit 1 and the tilting unit 2 are as follows: the rear parts of the driving unit 1 and the tilting unit 2 are sequentially arranged in a cylindrical positioning tube 3 along a straight line;

the driving unit 1 comprises a driving motor 11, a coupler 12 and a motor fixing seat 13; the driving motor 11 is fixed in a cylindrical positioning tube 3 through a motor fixing seat 13, and the front end output shaft of the driving motor 11 is connected with the tilting unit 2 through a coupler 12; referring to fig. 5, specifically, the motor fixing base 13 includes an annular frame 131, the outer diameter of the annular frame 131 is adapted to the inner diameter of the positioning tube 3, the outer edge of the annular frame 131 has screw holes 135, the motor fixing base 13 is fixed in the positioning tube 3 by fastening screws, the center of the annular frame 131 is a circular positioning hole 132, the positioning hole 132 is used for installing a motor, four motor fixing holes 133 are provided on the annular frame 131, and a fixing disc of the end face of the motor is fixed on the annular frame 131 by fastening screws;

referring to fig. 1 to 4, the tilting unit 2 includes: the device comprises a screw rod 21, a nut 22, a straight push rod 23, a rotary joint 24, a rear end fixing seat 25, a front end positioning seat 26, a rotary base 27 and a guide mechanism 29; in order to improve the transmission precision and the wear resistance, the screw rod 21 and the nut 22 are a ball screw rod and a ball nut, and obviously, a T-shaped screw rod and a T-shaped nut can be adopted to replace the ball screw rod and the ball nut, so that the transmission precision is good, the lubrication degree is improved by coating lubricating grease, and the wear is reduced. The screw rod 21, the nut 22, the straight push rod 23, the rear end fixing seat 25 and the guide mechanism 29 are arranged in the positioning tube 3, the front end positioning seat 26 is fixed at the front end of the positioning tube 3, and the upper end of the rotating base 27 can be rotatably connected with the upper end of the front end positioning seat 26;

specifically, the rear end of the screw 21 is mounted in the positioning tube 3 through a rear end fixing seat 25, and the rear end of the screw 21 is in linear connection with the driving motor 11 through a coupling 12; referring to fig. 6 and 7, the rear end fixing seat 25 comprises a first annular bracket 251 with an outer diameter matched with the inner diameter of the positioning tube 3 and a first positioning sleeve 252 connected with the first annular bracket 251 into a whole, a rear positioning hole 253 for supporting and positioning the screw rod 21 is formed in the center of the first positioning sleeve 252, the rear end of the screw rod 21 passes through the rear positioning hole 253 to be in butt joint with the coupling 12, and the rear end fixing seat 25 provides positioning and supporting for the screw rod 21;

the nut 22 is screwed on the screw rod 21, and can do linear reciprocating motion under the drive of the screw rod 21;

referring to fig. 8 and 9, the rear end of the straight push rod 23 is fixedly connected with the nut 22, and the rear end of the straight push rod 23 is provided with a blind hole 231 for the lead screw 21 to extend in; so that the nut 22 can drive the straight push rod 23 to do linear reciprocating motion; specifically, the rear end of the straight push rod 23 has a flange 232, and the flange 232 is connected to the front end surface of the nut 22 by screws; the front end of the straight push rod is provided with a straight push rod connecting lug 234,

the front end positioning seat 26 is fixedly installed at the front end of the positioning tube 3, and referring to fig. 10, 11 and 12, a central positioning hole 261 for the straight push rod 23 to pass through is formed in the middle of the front end positioning seat 26, so as to provide support and positioning for the straight push rod 23; specifically, the rear end of the front end positioning seat 26 is provided with a second annular bracket 263 which is matched with the inner diameter of the positioning tube 3, the outer circumferences of the positioning tube 3 and the second annular bracket 263 are provided with screw holes, the two annular brackets 263 are fixedly connected through screws, the middle of the second annular bracket 263 is provided with a second positioning sleeve 264 which is connected with the second annular bracket 263 into a whole, and the center positioning hole 261 is positioned in the center of the second positioning sleeve 264 and is used for supporting the straight push rod 23;

the front end positioning seat 26 has a first extending portion 262 extending forward, the first extending portion 262 is cylindrical, the length of an upper portion 2621 of the first extending portion 262 is longer than the length of a lower portion 2622, and the front end surface of the lower portion 2622 is in a shape of an inclined plane with a longer upper portion and a shorter lower portion; two shaft mounting seats 2621 are provided at the upper portion 2621 of the first extension portion 262, a gap 2624 is provided between the two shaft mounting seats 2623, a shaft mounting hole 2625 is provided on the shaft mounting seat, and the first shaft 281 is preferably mounted in the shaft mounting hole 2625 through a bearing;

referring to fig. 13 and 14, the upper end of the rotating base 27 is rotatably connected to the shaft mounting seat 2623 of the front positioning seat 26, specifically, the rotating base 27 includes a circular base plate 271 at the front end and a cylindrical second extension 272 extending rearward from the base plate 271, the circular base plate 271 at the front end is used for mounting a rotor of an aircraft, and the second extension 272 is equal in diameter to the first extension 262; the upper end of the second extending portion 272 is a shorter upper extending portion 2721, the end face of the lower extending portion 2722 below the upper extending portion 2721 is an inclined surface with a short upper portion and a long lower portion, and when the rotating base 27 is in the recovery state, the end face of the lower extending portion 2722 is matched with the end face of the lower portion 2622 of the first extending portion 262 of the front end positioning seat 26, that is, the rotating base 27 and the front end positioning seat 26 are just in a cylindrical closed state, and in fact, may be in a non-closed state; a first connecting lug 273 is provided in the rotating base 27 near the upper extension 2721, the first connecting lug 273 is adapted to a gap 2624 between a spindle mounting seat 2623 of the front end positioning seat 26, and the first connecting lug 273 is connected with the spindle 281 and can rotate along with the spindle 281; namely, the rotating base 27 is rotatably connected to the spindle mounting seat 2623 of the front end positioning seat 26 through the first connecting lug 273; the rotating base 27 is also provided with a second connecting lug 274, and the second connecting lug 274 is positioned on the same vertical plane as the first connecting lug 273 and positioned below the adjacent position of the first connecting lug 273;

referring to fig. 1 to 4, one end of the rotary joint 24 is rotatably connected to the front end portion of the straight push rod 23, and the other end is rotatably connected to the second connection lug 274 of the rotary base 27. Specifically, the front end and the rear end of the rotary joint 24 are both in a Y-shaped structure, the Y-shaped structure is provided with mounting holes, the second rotating shaft 282 and the third rotating shaft 283 are respectively rotatably arranged on the Y-shaped structures at the two ends and are provided with mounting holes, preferably through bearing arrangement, and the second connecting lug 274 and the straight push rod connecting lug 234 of the straight push rod 23 are inserted into the middle neutral gear of the Y-shaped structure and are connected with the second rotating shaft 282 and the third rotating shaft 283; the rotary base 27 is rotated about the center of the rotary shaft 281 by the rotary joint 24 under the pushing of the straight push rod 23, so that the rotary base 27 can be switched between the vertical position (retracted state) and the horizontal position (extended state).

Referring to fig. 1, 2, 3 and 15, the guiding mechanism 29 is used for limiting the straight push rod 23 and the nut 22 to move along a straight line, the guiding mechanism 29 comprises a guide rail 291, the guide rail 291 is arranged between the front end positioning seat 26 and the rear end fixing seat 25, the guide rail 291 can be directly arranged on the inner wall of the positioning tube 3, preferably, two ends of the guide rail 291 are fixedly connected with the front end positioning seat 26 and the rear end fixing seat 25, and the guide rail 291 is arranged on the front end positioning seat 26 and the rear end fixing seat 25, so that the inner wall of the positioning tube 3 can keep a round hole unobstructed, and the installation and the disassembly of each part are facilitated; referring to fig. 6 and 11, a first rail mounting hole 254 and a second rail mounting hole 265 are respectively formed in a first annular bracket 251 of the rear end fixing seat 25 and a second annular bracket 263 of the front end positioning seat 26, the first rail mounting hole 254 and the second rail mounting hole 265 are matched with the end parts of the guide rail 291 in shape, two end parts of the guide rail 291 are inserted into the first rail mounting hole 254 and the second rail mounting hole 265, screw holes are formed in the outer circles of the first annular bracket 251 and the second annular bracket 263, and the first rail mounting hole and the second rail mounting hole 265 are locked on screw holes 293 at two ends of the guide rail 291 through screws; a slideway 292 parallel to the screw rod 21 and the straight push rod 23 is arranged in the middle of the guide rail 291;

referring to fig. 8, on the outer edge of the flange 232 of the straight pushing rod 23, preferably, there is a tangential plane 233 at the outer edge, a sliding member 293 is provided, and the upper end of the sliding member 293 extends into the sliding way 292, so that in order to reduce the guiding friction, it is preferable that the sliding member 293 adopts a rolling bearing, and the rolling bearing is positioned in the sliding way in a rolling way, so that the friction resistance can be reduced, and the movement of the straight pushing rod 23 is smoother.

Referring to fig. 1-4, a tilting structure for a rotorcraft according to the present invention further includes a displacement sensor 51, where the displacement sensor 51 is preferably connected to the front end positioning seat 26 and the rear end positioning seat 25 at two ends, and referring to fig. 6 and 11, a first potentiometer mounting hole 255 and a second potentiometer mounting hole 266 are respectively provided on a side opposite to the guide mechanism 29 on the first annular bracket 251 of the rear end positioning seat 25 and the second annular bracket 263 of the front end positioning seat 26, for inserting the two ends of the displacement sensor 51, and are locked by screws. The displacement sensor 5 is used for sensing the horizontal movement amount of the straight push rod 23, and the rotation angle of the rotating base 27 can be known through calculation, namely, the displacement sensor is used for controlling the tilting angle of the rotating base 27.

Referring to fig. 1-4, the tilting structure of a rotorcraft according to the present invention further includes a self-locking unit 4, where the self-locking unit 4 is configured to keep the rotating base 27 in a closed state when the rotating base 27 is in a forward flight state (the rotating base 27 is in a recovery state), and the self-locking unit 4 is preferably an electronic damper, which is mounted at a rear end of the positioning tube 3, and a rear end output shaft of the driving motor 11 is connected to the electronic damper, and the electronic damper is of a low-damping power-on and high-damping power-off state, and when the rotating base 27 is in the recovery state, the driving motor 11 is powered off, and the electronic damper is in a high-damping state, so that the self-locking function can be achieved.

Referring to fig. 16, the positioning tube 3 is cylindrical, and four groups of fixing holes are formed on the positioning tube, namely an electronic damper fixing hole 31, a motor fixing seat fixing hole 32, a rear end fixing seat fixing hole 33 and a front end positioning seat fixing hole 34, and the electronic damper, the motor fixing seat 13, the rear end fixing seat 25 and the front end positioning seat 26 are respectively fastened on the positioning tube 3 through screws.

Referring to fig. 5, 6 and 11, in order to reduce weight, the motor fixing base 13 has a weight-reducing groove 134 around the motor fixing hole 133; the first ring bracket 251 of the rear end fixing seat 25 and the second ring bracket 263 of the front end positioning seat 26 are also provided with a first lightening hole 256 and a second lightening hole 267 respectively.

When the tilting structure of the wing aircraft works, the tilting structure mainly comprises two working states: the rotary base 27 is unfolded and the rotary base 27 is closed, as shown in fig. 4, when the rotary base 27 is unfolded, the rotor is horizontally arranged, and the aircraft is in a vertical lifting and hovering state; when in the closed state, the rotor is vertically arranged, and the aircraft is in a horizontal flight state. When the rotating base 27 is in an unfolding state, as shown in fig. 1, 2, 3 and 4, the driving motor 11 drives the screw rod 21 to rotate, under the limiting action of the guide mechanism 29, the screw rod 21 drives the nut 22 and the straight push rod 23 to do linear motion along the central positioning hole 261 of the front end positioning seat 26, the straight push rod 23 drives the rotating base 27 to rotate clockwise around the center of the first 281 through the rotating joint 24, the rotating base 27 is enabled to overturn upwards, the control command controls the rotating speed of the driving motor 11, analysis and processing are carried out according to feedback data of the displacement sensor 5, finally the rotating base 27 reaches a specified angle position, at the moment, the driving motor 11 is in an electrified working state, the driving motor 11 can control the rotating base 27 to be kept in the unfolding state, and meanwhile, the electronic damper of the self-locking unit 4 is in a low damping state (the electronic damper belongs to electrified low damping and powered off high damping).

When the rotating base 27 is in a closed state, as shown in fig. 2, the driving motor 11 drives the screw rod 21 to reversely rotate, under the limiting action of the guide mechanism 29, the screw rod 21 drives the nut 22 and the straight push rod 23 to linearly move along the central positioning hole 261 of the front end positioning seat 26, the straight push rod 23 drives the rotating base 27 to rotate anticlockwise around the rotating shaft 281 through the rotating joint 24, the rotating base 27 is enabled to rotate to the closed state, the control command controls the rotating speed of the motor to perform analysis processing according to feedback data of the displacement sensor 5, finally the rotating base 27 reaches a specified closed angle position, at the moment, the driving motor 11 is powered off, and the electronic damper of the self-locking unit 4 is in a high damping state, so that the tilting unit 2 is in a self-locking state. At this time, the driving motor 11 does not work, and the electronic damper is used for self-locking, so that electricity can be saved, the forward flight time is increased, the endurance is increased, the unmanned aerial vehicle can conveniently do forward flight actions, and the forward flight performance of the unmanned aerial vehicle is improved.

17-19, another preferred embodiment of the present invention is shown, differing from the previous embodiment in that: the displacement sensor 51 is replaced by an angle potentiometer 52, the angle potentiometer 52 is arranged on a first rotating shaft 281 on the front end positioning seat 26, a semicircular shaft end 2811 matched with the central hole of the angle potentiometer 52 is arranged at the end part of the first rotating shaft 281 and is used for installing an inner ring of the angle potentiometer 52, and a rotating shaft installation seat 2623 is provided with a hole matched with the outer edge of the angle potentiometer 52 and is used for installing the angle potentiometer 52. In this embodiment, the tilting angle of the swivel base can be directly detected.

The above description is intended to be illustrative of the invention rather than limiting, and the invention is intended to provide a tilter structure for a rotorcraft, as will be understood by those skilled in the art, many modifications, variations or equivalents may be made without departing from the spirit and scope as defined in the following claims, for example: the arrangement positions of the guide rail of the guide mechanism and the displacement sensor are changed, the guide rail and the displacement sensor are arranged on the inner wall of the positioning tube, and the sliding part does not adopt rolling bearings and the like, but all fall into the protection scope of the invention.

Claims (14)

1. Rotorcraft tilting structure, which comprises a driving unit (1) and a tilting unit (2), characterized in that: the rear parts of the driving unit (1) and the tilting unit (2) are sequentially arranged in a cylindrical positioning tube (3) along a straight line; the tilting unit (2) comprises:

the rear end of the screw rod (21) is arranged in the positioning tube (3) through a rear end fixing seat (25), and the rear end of the screw rod (21) is in linear connection with the driving unit (1);

the nut (22) is in threaded connection with the screw rod (21) and can do linear motion under the drive of the screw rod (21);

the rear end of the straight push rod (23) is fixedly connected with the nut (22), and a blind hole (231) for the screw rod (21) to extend in from the rear end is formed in the center of the straight push rod (23);

the front end positioning seat (26) is fixedly arranged at the front end of the positioning tube (3), a central positioning hole (261) for the straight push rod to pass through is formed in the middle of the front end positioning seat (26), the front end positioning seat (26) is provided with a first cylindrical extending part (262) extending forwards, the length of the upper part (2621) of the first extending part (262) is longer than that of the lower part (2622), and the front end surface of the lower part (2622) is in an inclined surface shape with a long upper part and a short lower part;

a rotary base (27), the rotary base (27) comprises a round base plate (271) at the front end and a second extension part (272) which extends backwards from the base plate (27) and is cylindrical and has the same diameter as the first extension part, the upper end of the second extension part (272) is a shorter upper extension part (2721), and the end face of a lower extension part (2722) below the upper extension part (2721) is in a slope shape with a short upper part and a long lower part; the upper part of the rear end of the rotary base (27) is arranged on the upper part of the front end positioning seat (26) through a first rotary shaft (281);

and one end of the rotary joint (24) is rotationally connected with the front end part of the straight push rod (23), and the other end of the rotary joint is rotationally connected with the rotary base (27) and is used for pushing the rotary base (27) to rotate around the center of the rotary shaft one (281) between an unfolding state and a closing state.

2. The rotary wing aircraft tilting structure of claim 1, wherein: the screw rod is a ball screw rod, and the nut is a ball nut; or: the screw rod is a T-shaped screw rod, and the nut is a T-shaped nut.

3. The rotary wing aircraft tilting structure of claim 1, wherein: when the rotating base (27) is in a closed state, the rear end face of the second extension part (272) is matched with the front end face of the first extension part (262), and the rotating base (27) and the front end positioning seat (26) enclose a cylindrical shape.

4. A rotary-wing aircraft tilting structure according to claim 3, characterized in that: two rotating shaft mounting seats (2623) are arranged at the upper part of the first extension part (262), a gap (2624) is arranged between the two rotating shaft mounting seats, and the rotating shaft I can be rotatably arranged in a rotating shaft mounting hole (2625) in the rotating shaft mounting seat;

a first connecting lug (273) which can be inserted into the notch is arranged in the rotating base (27) and close to the upper extension part (2721), and the first connecting lug (273) of the rotating base (27) is connected with a rotating shaft I (281) between two rotating shaft mounting seats (2623) of the front end positioning seat (26); a second connecting lug (274) is further arranged on the rotating base (27), and the second connecting lug (274) is positioned below the same vertical plane as the first connecting lug (273); the rotary joint (24) is rotatably connected with the second connecting lug (274).

5. The rotary wing aircraft tilting structure of claim 4, wherein: the front end and the rear end of the rotary joint (24) are both Y-shaped structures, and a second rotating shaft (282) and a third rotating shaft (283) are respectively arranged at the Y-shaped structures at the two ends; the second connecting lug (274) and the straight push rod connecting lug (234) of the straight push rod (23) are inserted into the middle neutral position of the two Y-shaped structures of the rotary joint (24) and are connected with the second rotating shaft (282) and the third rotating shaft (283).

6. The rotary wing aircraft tilting structure of claim 5, wherein:

the driving unit (1) comprises a driving motor (11), a coupler (12) and a motor mounting seat (13), and the rear end of the screw rod (21) is in linear connection with the driving motor (11) through the coupler (12); the driving motor (11) is arranged in the positioning tube (3) through a motor mounting seat (13); the motor mounting seat (13) comprises an annular frame (131) with the outer diameter matched with the inner diameter of the positioning tube, a circular positioning hole (132) for mounting a motor is formed in the center of the annular frame (131), and a motor fixing hole (133) is formed in the annular frame.

7. The rotary wing aircraft tilting structure of claim 6, wherein: the rear end fixing seat (25) comprises a first annular support (251) with the outer diameter matched with the inner diameter of the locating tube (3) and a first locating sleeve (252) connected with the first annular support (251) into a whole, a rear locating hole (253) for supporting and locating a screw rod is formed in the center of the first annular support, and the rear end of the screw rod (21) penetrates through the rear locating hole (253) to be in butt joint with the coupler (12).

8. The rotary wing aircraft tilting structure of claim 7, wherein:

the rear end of the front end positioning seat (26) is provided with a second annular support (263) which is matched with the inner diameter of the positioning tube (3), the second annular support (263) is fixed in the positioning tube (3) through a screw, a second positioning sleeve (264) which is connected with the second annular support (263) into a whole is arranged in the middle of the second annular support (263), and the second positioning sleeve (264) is used for supporting the center positioning hole (261) of the straight pushing rod (2) and is positioned at the center of the second positioning sleeve (264).

9. The rotary wing aircraft tilter structure according to any of claims 1-8, wherein: the rear end of the straight push rod (23) is provided with a flange (232), and the flange (232) is connected to the front end face of the nut (22) through screws.

10. The rotary wing aircraft tilting structure of claim 9, wherein:

the device further comprises a guide mechanism (29) for enabling the straight push rod (23) and the nut (22) to do linear motion under the drive of the screw rod (21); the guide mechanism (29) comprises a guide rail (291), the guide rail (291) is arranged between the front end positioning seat (26) and the rear end fixing seat (25), and a slideway (292) parallel to the screw rod and the straight push rod is arranged in the middle of the guide rail (291);

a slide (293) is provided on the outer edge of the flange (232) of the push rod (23), the upper end of the slide (293) extending into the slide (292) and being guided in position in the slide (292).

11. The rotary wing aircraft tilting structure of claim 10, wherein:

both ends of the guide rail (291) are connected with the front end positioning seat (26) and the rear end fixing seat (25); the outer edge of the flange (232) of the straight push rod (23) is provided with a chord cutting surface (233), and the sliding piece (293) is arranged on the chord cutting surface (233); the slide (293) adopts a rolling bearing.

12. The rotary wing aircraft tilting structure of claim 8, wherein: the motor fixing seat (13) is positioned around the motor fixing hole (133) and is provided with a weight-reducing groove (134); the annular bracket I (251) of the rear end fixing seat (25) is provided with a lightening hole I (256); the second annular support (263) of the front end positioning seat (26) is provided with a second lightening hole (267).

13. The rotary wing aircraft tilter structure according to any of claims 1-8, wherein: the self-locking device further comprises a self-locking unit (4) for keeping the rotating base (27) in a closed state when the rotating base (27) is in a forward flying state, wherein the self-locking unit (4) comprises an electronic damper, the electronic damper is arranged at the rear end of the positioning tube (3), and the rear end output shaft of the driving motor (11) is connected with the electronic damper.

14. The rotary wing aircraft tilter structure according to any of claims 1-8, wherein: the device further comprises a displacement sensor (51) for recording the displacement state of the straight push rod (23), wherein two ends of the displacement sensor (51) are connected with the front end positioning seat (26) and the rear end fixing seat (25); or, it further includes an angle potentiometer (52) for detecting the rotation angle of the rotating base (27), the angle potentiometer (52) being disposed between the rotating shaft mount (2623) and the first hinge shaft (281).