CN117416504B - Double self-locking rotor tilting mechanism with high torque density - Google Patents
Double self-locking rotor tilting mechanism with high torque density Download PDFInfo
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- CN117416504B CN117416504B CN202311743584.7A CN202311743584A CN117416504B CN 117416504 B CN117416504 B CN 117416504B CN 202311743584 A CN202311743584 A CN 202311743584A CN 117416504 B CN117416504 B CN 117416504B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 239000003921 oil Substances 0.000 claims abstract description 27
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- 210000000078 claw Anatomy 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000007906 compression Methods 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims abstract description 9
- 230000000903 blocking effect Effects 0.000 claims abstract description 4
- 230000009977 dual effect Effects 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 claims description 3
- 229910052804 chromium Inorganic materials 0.000 claims description 3
- 239000011651 chromium Substances 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000007747 plating Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 description 9
- 239000010727 cylinder oil Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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Abstract
The invention discloses a double self-locking rotor tilting mechanism with high torque density, which comprises a hydraulic integrated system, a double-screw swing cylinder, a tilting rotor and a direct-connection rotor shaft. The hydraulic integrated system drives a double-screw swing cylinder, an output screw rod of the double-screw swing cylinder is fixedly connected with the direct-connection rotor shaft, and the tilting angle of the tilting rotor connected in a rotating manner is controlled to be changed; when the double-screw swing cylinder is in a blocking state, hydraulic oil cannot return to the oil tank under the action of the hydraulic integrated system, and the rotor shaft is directly connected to maintain an angle locking state. The two sides of the direct-connection rotor shaft are respectively provided with a fixing piece, the middle part of the direct-connection rotor shaft is symmetrically provided with a group of holes, compression springs and pushing blocks are placed in the direct-connection rotor shaft, and the direct-connection rotor shaft is clamped and locked through clamping claws to realize mechanical self-locking; the high-torque double-self-locking hydraulic tilting mechanism provided by the invention can be used for eVTOL manned aircraft or other use scenes needing to control the rotation and self-locking of the mechanism.
Description
Technical Field
The invention belongs to the technical field of industrial production, and relates to a double self-locking rotor tilting mechanism with high torque density.
Background
The main implementation forms of the electric vertical take-off and landing aircraft eVTOL comprise multi-rotor control, compound-wing control, tilting configuration control and the like, the tilting configuration control is a current main stream mode, and the main flight principle is that vertical lift and horizontal forward power are selectively provided by adjusting the angles of a group of tilting rotors to ensure vertical take-off and climbing and horizontal cruising of the aircraft. Therefore, switching and locking of rotor angles in the flight process are important problems in the field, and it is hoped that the rotor tilting mechanism can provide high torque for angle adjustment and simultaneously has self-locking capability, so that the response speed of mode switching in the flight process and the guarantee of safety can be ensured.
At present, a rotor tilting device is mainly electrically driven, and one outstanding problem is that the torque density is too low, the torque demand of rotor tilting cannot be met in the rotating process of a motor, hydraulic driving has the characteristics of high torque density and the like, and meanwhile, a hydraulic system is designed to have self-locking capability. In order to solve the above problems, it is necessary to provide a rotor tilting mechanism based on hydraulic driving, so as to solve the problems of the conventional electrically driven rotor tilting mechanism that the weight is too large and the torque density is insufficient.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a double self-locking rotor tilting mechanism with high torque density, and additionally provides a mechanical self-locking structural design on the basis of self locking of a hydraulic system, so that the problems of large weight and insufficient torque density of the traditional electric driving rotor tilting mechanism at present are solved.
The aim of the invention is realized by the following technical scheme: a double self-locking rotor tilting mechanism with high torque density comprises a hydraulic integrated system, a double-screw swing cylinder, a tilting rotor, a direct-connection rotor shaft and a mechanical self-locking part;
the hydraulic integrated system drives a double-screw swing cylinder, an output screw rod of the double-screw swing cylinder is fixedly connected with the direct-connection rotor shaft, and the tilting angle of the tilting rotor connected in a rotating manner is controlled to be changed; when the double-screw swing cylinder is in a blocking state, hydraulic oil cannot return to the oil tank under the action of the hydraulic integrated system, and the rotor shaft is directly connected to maintain an angle locking state;
the mechanical self-locking part comprises the following components: the two sides of the direct-connected rotor shaft are respectively provided with a fixing piece, the middle part of the direct-connected rotor shaft is symmetrically provided with a group of holes, compression springs and pushing blocks are placed in the holes, concave holes corresponding to the holes are formed in the two fixing pieces, clamping claws which are rotationally connected with the fixing pieces are arranged behind each concave hole, and when the wedge-shaped pushing blocks push the upper ends of the clamping claws, the lower ends of the clamping claws are rotated out to clamp and lock the direct-connected rotor shaft, so that mechanical self-locking is realized; a linear cylinder is arranged in the fixing piece, the tail end of a piston rod of the linear cylinder is connected with the upper end of the clamping jaw, and the clamping jaw is pushed to be unlocked.
Further, the hydraulic integrated system comprises a motor, a plunger pump, an electromagnetic reversing valve, a balance valve, a one-way valve, an overflow valve, a two-way hydraulic lock and a hydraulic oil way; the plunger pump controls the double-spiral swing cylinder through a hydraulic system consisting of an electromagnetic reversing valve, a balance valve, a one-way valve, an overflow valve and a two-way hydraulic lock; the outside hydraulic oil is through two hydraulic ports and inside two hydraulic oil cavity intercommunication of double helix swing jar, when one of them oil pocket input hydraulic oil, and hollow screw rod is under the hydraulic pressure effect, and rectilinear motion rotates simultaneously, drives output screw rod and rotates thereupon simultaneously, and the rotor shaft that directly links rotates along reserving the slide between the mounting under its drive, adjusts rotor tilting angle.
Further, the upper end of the clamping claw is a quadrangular rotary rod, the top end convex block is triangular, and a circular through hole is formed in the middle; the lower end is an arc claw; the upper end and the lower end are connected through a set screw.
Further, the aluminum alloy cylinder body of the double-spiral swinging cylinder is coated with a hard chromium plating coating.
Further, pressure sensors are distributed at the oil port of the AB side of the double-spiral swinging cylinder, output torque and rotating speed are controlled, and feedback adjustment is performed in real time according to the relevant values measured by the pressure sensors.
Further, a rotary encoder is arranged at the output screw of the double-spiral swinging cylinder and used for measuring the tilting angle of the rotor wing to carry out subsequent feedback adjustment.
Further, a displacement sensor is arranged at the piston rod of the linear cylinder and used for measuring the displacement of the piston rod.
Further, the circular arc-shaped claw is embedded with a rubber strip, so that the friction force contacted with the rotor shaft is increased.
Further, the high-torque-density hydraulic tilting mechanisms are symmetrically arranged, and are arranged around the front-end wing of the eVTOL manned aircraft, and two rear-end wings are arranged; every can independently adjust rotor angle, provide vertical lift and horizontal thrust respectively.
The invention has the beneficial effects that:
the high-torque double-self-locking hydraulic tilting mechanism provided by the invention can be used for eVTOL manned aircraft or other use scenes needing to control the rotation and self-locking of the mechanism.
The invention can realize wide-range angle adjustment of 0-95 degrees by adopting the double-spiral swinging cylinder, the rotating speed is 1.5rpm, and the adjusting speed is relatively high.
According to the invention, through a hydraulic driving design, the mechanism can meet the problem of insufficient torque density of the traditional electrically driven rotor wing, and the maximum holding torque can reach 1000 NM. Torque output can be realized smoothly and without shock.
The invention adopts the system to integrate the hydraulic pump and the valve, so that the whole structure is simple and compact, the structure volume is reduced, and the weight of the whole tilting mechanism is obviously reduced.
According to the invention, through the double self-locking design of the hydraulic system and the mechanical mechanism, the tilting mechanism can normally operate under the condition of single mechanism failure, the safety margin of the tilting mechanism is increased, and the life safety of passengers is ensured.
According to the invention, the tilting rotary wing angle is independently adjusted according to the control signal by six tilting mechanisms symmetrically arranged on the machine body. The combination of the vertical angle and the horizontal angle of each rotor wing can meet the requirements of output force of the rotor wings under different conditions.
According to the invention, through the design of hydraulic driving noise reduction, noise pollution is not caused to the surrounding environment in the flight process, and the related requirements of urban flight traffic are met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of the assembly of a high torque density dual self-locking rotor tilting mechanism.
Figure 2 is a detailed cross-sectional view of a high torque density dual self-locking rotor tilting mechanism.
Figure 3 is a partial view of a high torque density dual self-locking rotor tilting mechanism.
Fig. 4 is a hydraulic diagram of a high torque density double self-locking rotor tilting mechanism helical swing cylinder.
Fig. 5 is a perspective view of a double-screw oscillating cylinder assembly.
Fig. 6 is a sectional view of the double spiral swing cylinder.
Fig. 7 is a perspective view of the clamping jaw of the mechanical self-locking portion.
Figure 8 is a state diagram of the rotor of the eVTOL unmanned aerial vehicle when it is vertically up.
Fig. 9 is a diagram of rotor conditions during horizontal cruising of the eVTOL passenger aircraft.
Figure 10 is a rotor state diagram for the eVTOL manned aircraft in rotor assembly mode.
The hydraulic rotary wing device comprises a 1-tilting rotary wing, a 2-direct rotor shaft, a 3-hydraulic integrated system, a 4-linear cylinder oil way, a 5-swinging cylinder oil way, a 6-double-spiral swinging cylinder, a 7-linear cylinder, an 8-fixed part, a 9-cylinder-free fixed part, a 10-linear displacement sensor, an 11-piston rod, a 12-clamping jaw, a 13-rotating shaft, a 14-wedge-shaped push block, a 15-compression spring, a 16-rotary encoder, a 17-balance valve, an 18-bidirectional hydraulic lock, a 19-electromagnetic directional valve, a 20-one-way valve, a 21-overflow valve, a 22-motor, a 23-plunger pump, a 61-output screw, a 62-swinging cylinder B oil port, a 63-swinging cylinder A oil port, a 64-swinging cylinder body, a 65-fixed base, a 66-hollow screw, a 67-spacer ring, a 68-end cover sealing ring, a 69-end cover, 610-screw, 611-dust ring, a 612-output screw sealing ring, 613-thrust bearing, 614-elastic clamping key, 615-hollow screw sealing ring, 121-jaw, 122-connecting screw, 123-circular arc-shaped jaw and 124-shaped rubber strip.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
As shown in fig. 1-6, the present invention provides a high torque density dual self-locking rotor tilting mechanism comprising a hydraulic integrated system 3, a dual helical swinging cylinder 6, a tiltable rotor 1, a direct rotor shaft 2 and a mechanical self-locking portion. The hydraulic integrated system includes a motor 22, a plunger pump 23, an electromagnetic directional valve 19, a balance valve 17, a check valve 20, an overflow valve 21, a two-way hydraulic lock 18, and hydraulic oil paths (a straight cylinder oil path 4, a swing cylinder oil path 5). The double-screw swing cylinder 6 is fixed at a reserved groove below the fixing piece 8, the output screw 61 is fixedly connected with the direct-connection rotor shaft 2 of the rotor, and the rotary encoder 16 is arranged at the tail part of the swing cylinder to collect related data of the rotation angle of the output screw of the swing cylinder. And the oil ports at the two sides of the double-spiral swing cylinder 6 are respectively provided with a pressure sensor for detecting the numerical value fed back by the pressure sensors. The plunger pump 23 in the hydraulic integrated system 3 is controlled by the motor 22. The external hydraulic oil is controlled by a hydraulic integrated system 3 composed of a one-way valve 20, an electromagnetic reversing valve 19, a balance valve 17, an overflow valve 21 and a two-way hydraulic lock 18, enters a spiral swing cylinder oil port through a swing cylinder oil path 5, and is communicated with two internal hydraulic oil chambers through the spiral swing cylinder oil port.
Swing jar part: the double-spiral swing cylinder comprises a swing cylinder aluminum alloy cylinder body 64, an output screw 61, a swing cylinder B oil port 62, a swing cylinder A oil port 63, a fixed base 65, a hollow screw 66, a spacer 67, an end cover sealing ring 68, an aluminum alloy end cover 69, a screw 610, a dust ring 611, an output screw sealing ring 612, an output screw sealing ring thrust bearing 613, an elastic clamping key 614 and a hollow screw sealing ring 615. The cylinder body 64 and the spacer ring 67 of the double-spiral swinging cylinder are tightly connected together to form a closed hydraulic oil cavity, the hollow screw 66 and the hollow screw sealing ring 615 divide the hydraulic oil cavity into two independent oil cavities, the output screw 61 passes through the spacer ring 67, the thrust bearing 613 and the axis of the aluminum alloy end cover 69, the aluminum alloy end cover 69 passes through the dust ring 611, and the output screw sealing ring 612 is used for placing hydraulic oil leakage and pollution. Left-handed trapezoidal threads are formed on the inner hole of the hollow screw 66 and the outer circle of the output screw 61 to form a first-stage screw pair; right-handed trapezoidal threads are formed on the outer circle of the hollow screw 66 and the inner hole of the swing cylinder body 64, so that a secondary thread pair is formed. External hydraulic oil enters the side oil port 63 of the oil port A of the spiral cylinder, and the pressure difference between the two oil cavities pushes the hollow screw 66 to move towards the side B, so that the hydraulic oil in the side B oil cavity is discharged through the oil port 62 of the swing cylinder B, and is constrained by the secondary spiral pair, the hollow screw 66 moves rightwards and simultaneously rotates anticlockwise, and the primary spiral pair of the inner hole simultaneously pushes the output screw 61 to rotate anticlockwise. Conversely, when the oil inlet 63 of the swing cylinder a is connected with the oil inlet of the hydraulic system, the output screw 61 rotates anticlockwise, and the torque and the rotation speed of the output screw can be controlled by controlling the pressure and the flow of the hydraulic oil. The direct-connected rotor shaft 2 is connected with a swing cylinder output screw 61, and a slide way is reserved at the joint of the cylinder-free fixing piece 9 and the fixing piece 8 for rotation, so that the tilting angle of the direct-connected rotor shaft 2 is adjusted.
The mechanical self-locking part comprises: the clamping jaw comprises a fixing piece 8, a cylinder-free fixing piece 9, a clamping jaw 12, a rotating shaft 13, a wedge-shaped push block 14, a compression spring 15, a linear cylinder 7 and a linear cylinder oil way 4. The middle part of the direct-connection rotor shaft 2 is symmetrically provided with a group of cylindrical holes, one end of a compression spring 15 is connected with the bottom end of the hole in a compressed mode, and the other end of the compression spring is connected with a wedge-shaped push block 14. Corresponding concave holes are correspondingly arranged on the vertical position and the horizontal position of the direct connecting shaft 2 of the fixing piece 8 and the cylinder-free fixing piece 9, clamping claws 12 are arranged behind the concave holes, the upper ends of the clamping claws are quadrangular rotary rods, and the top end protruding blocks are triangular. The claw rotating rod 121 is rotationally connected with the upper rotating shaft 13 of the fixing piece, the upper end of the rotating rod 121 is clung to the concave hole, the lower end of the rotating rod is connected with the arc claw 123 through the connecting screw 122, and the arc claw 123 is located between the fixing piece and the direct-connection rotor shaft to reserve a groove. The rotary rod 121 rotates around the rotary shaft 13 under the pushing of the wedge-shaped push block 14, the arc-shaped claw 123 is driven to rotate out of the reserved groove to lock the rotor shaft, and the rubber strip 124 can increase friction with the rotor shaft. The linear cylinder 7 is placed in a groove behind each clamping jaw 12 of the fixing piece, a linear displacement sensor 10 is arranged on the shell of the linear cylinder, and the displacement of the piston rod 11 can be detected to be used as a feedback signal of the controller. The tail end of the piston rod 11 is connected with the claw rotating rod 121, when the linear cylinder 7 is acted by external hydraulic oil, the piston rod 11 is pushed out, the claw rotating rod 121 can be rotated, and the arc-shaped claw 123 is driven to unlock the direct-connection rotor shaft 2 from the selected groove.
The specific working process of the tilting mechanism is as follows:
the tilting mechanism provided by the invention can realize the angle change and the position locking of the tilting rotor, wherein the angle change of the direct-connected rotor shaft 2 is realized by rotating the output screw 61 of the double-spiral swinging cylinder 6, and the position locking and the releasing are realized by the hydraulic integrated system 3, the mechanical self-locking part and the telescopic of the linear cylinder piston rod 11.
When the eVTOL aircraft is switched from the vertical climbing mode to the horizontal cruising mode by the tilting rotor 1, the plunger pump 23 is driven to operate by the control signal regulating motor 22, the electromagnetic directional valve 19 is regulated to the right position under the action of the control signal, and hydraulic oil enters the oil port 62 of the spiral swinging cylinder B. One side of the output screw 61 is high-pressure oil, and the other side is low-pressure oil, so that the output screw moves to the low-pressure oil side under the action of pressure difference, and the double-spiral swing cylinder output screw 61 rotates to drive the direct-connection rotor shaft 2 to rotate anticlockwise. When the direct-connected rotor shaft 2 rotates 90 degrees to the horizontal position, the electromagnetic directional valve 19 is switched to a state that oil is not supplied to both sides under the action of a control signal, and the double-spiral swinging cylinder 6 is in a blocking state under the action of the bidirectional hydraulic lock 18, so that hydraulic oil cannot return to an oil tank, and the angle locking state is maintained. Simultaneously, the wedge-shaped push block 14 pushes the arc-shaped claw 123 to unscrew from the groove under the action of the elasticity of the compression spring 15, and the direct-connection rotor shaft 2 is mechanically locked in angle, so that the whole process of angle conversion and position locking is completed.
When the mode switching signal is received, the linear cylinder piston rod 11 pushes the claw rotating rod 121 to rotate under the action of the external hydraulic oil difference, and drives the arc claw 123 to rotate into the groove so as to unlock the direct-connection rotor shaft 2, and the subsequent process is as shown above.
The tilting mechanism is symmetrically arranged on the machine body at six positions, and the angle of the tilting rotor wing is independently adjusted according to the control signal. As shown in fig. 10, if the eVTOL needs to be moved forward while maintaining the vertical ascent state, the outer tilting rotor of the front wing can be controlled to maintain the vertical state, and only the inner tilting rotor of the front wing and the tilting rotor of the tail wing are changed to be horizontal angles, so as to meet the requirements of output force of the rotor under different conditions.
The high-torque-density hydraulic tilting mechanism is driven by hydraulic pressure, meanwhile, the outer layer of the double-spiral swinging cylinder is made of high-strength hard chromium coating material, the weight of the hydraulic cylinder is reduced, and meanwhile, a necessary linear displacement sensor, a rotary encoder and a pressure sensor are integrated to perform relevant signal control feedback.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (7)
1. The double self-locking rotor tilting mechanism with high torque density is characterized by comprising a hydraulic integrated system, a double-screw swing cylinder, a tilting rotor, a direct-connection rotor shaft and a mechanical self-locking part;
the hydraulic integrated system drives a double-screw swing cylinder, an output screw rod of the double-screw swing cylinder is fixedly connected with the direct-connection rotor shaft, and the tilting angle of the tilting rotor connected in a rotating manner is controlled to be changed; when the double-screw swing cylinder is in a blocking state, hydraulic oil cannot return to the oil tank under the action of the hydraulic integrated system, and the rotor shaft is directly connected to maintain an angle locking state; the hydraulic integrated system comprises a motor, a plunger pump, an electromagnetic directional valve, a balance valve, a one-way valve, an overflow valve, a two-way hydraulic lock and a hydraulic oil way; the plunger pump controls the double-spiral swing cylinder through a hydraulic system consisting of an electromagnetic reversing valve, a balance valve, a one-way valve, an overflow valve and a two-way hydraulic lock; the external hydraulic oil is communicated with the two internal hydraulic oil chambers through two oil ports of the double-screw swing cylinder, when one oil chamber is used for inputting hydraulic oil, the hollow screw rod is driven to rotate simultaneously under the action of hydraulic pressure, the output screw rod is driven to rotate simultaneously therewith, and the direct-connection rotor shaft is driven by the direct-connection rotor shaft to rotate along a reserved slideway between the fixed parts, so that the tilting angle of the rotor is adjusted;
the mechanical self-locking part comprises the following components: the middle part of the direct-connection rotor shaft is symmetrically provided with a group of cylindrical holes, one end of the compression spring is connected with the bottom ends of the holes in a compression mode, and the other end of the compression spring is connected with the wedge-shaped push block; the two sides of the direct-connection rotor shaft are respectively provided with a fixing piece, the fixing pieces are correspondingly provided with corresponding concave holes at the vertical position and the horizontal position of the direct-connection rotor shaft, the rear parts of the concave holes are provided with clamping claws, the upper ends of the clamping claws are quadrangular rotary rods, and the top end bumps are triangular; the quadrangular prism rotating rod is rotationally connected with the upper rotating shaft of the fixing piece, the upper end of the quadrangular prism rotating rod is clung to the concave hole, the lower end of the quadrangular prism rotating rod is connected with the arc-shaped claw, and the arc-shaped claw is positioned between the fixing piece and the direct-connection rotor shaft to reserve a groove; the quadrangular prism rotating rod rotates around the rotating shaft under the pushing of the wedge-shaped pushing block to drive the arc-shaped clamping jaw to rotate out of the reserved groove to lock the rotor shaft, so that mechanical self-locking is realized; the fixing piece is internally provided with a linear cylinder, the tail end of a piston rod is connected with a quadrangular rotary rod, when the linear cylinder is acted by external hydraulic oil, the piston rod is pushed out, and the circular arc-shaped clamping jaw is unlocked from the rotary groove to the direct-connection rotor shaft.
2. The high torque density dual self-locking rotor tilting mechanism of claim 1, wherein: the aluminum alloy cylinder body of the double-spiral swinging cylinder is wrapped with a hard chromium plating coating.
3. The high torque density dual self-locking rotor tilting mechanism of claim 1, wherein: pressure sensors are distributed at the oil port of the AB side of the double-spiral swinging cylinder, output torque and rotating speed are controlled, and feedback adjustment is performed in real time according to the relevant values measured by the pressure sensors.
4. The high torque density dual self-locking rotor tilting mechanism of claim 1, wherein: and a rotary encoder is arranged at the output screw rod of the double-spiral swing cylinder and used for measuring the tilting angle of the rotor wing to carry out subsequent feedback adjustment.
5. The high torque density dual self-locking rotor tilting mechanism of claim 1, wherein: and a displacement sensor is arranged at the piston rod of the linear cylinder and used for measuring the displacement of the piston rod.
6. The high torque density dual self-locking rotor tilting mechanism of claim 1, wherein: the circular arc claw is embedded with a rubber strip, so that the friction force contacted with the rotor shaft is increased.
7. The high torque density dual self-locking rotor tilting mechanism of claim 1, wherein: the high-torque-density hydraulic tilting mechanisms are symmetrically arranged, and are arranged at four places on the front-end wing of the eVTOL manned aircraft and two places on the rear-end wing; every can independently adjust rotor angle, provide vertical lift and horizontal thrust respectively.
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| CN202311743584.7A CN117416504B (en) | 2023-12-19 | 2023-12-19 | Double self-locking rotor tilting mechanism with high torque density |
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| CN202311743584.7A CN117416504B (en) | 2023-12-19 | 2023-12-19 | Double self-locking rotor tilting mechanism with high torque density |
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