CN213677152U - Rotor wing tilting mechanism and unmanned aerial vehicle - Google Patents

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a rotor wing tilting mechanism which comprises a connecting shaft, a connecting seat, a first driving device, a power device, a rotor wing and a transmission assembly. Based on the mode, the unmanned aerial vehicle can realize switching between a multi-rotor mode and a fixed wing mode through rotation of the connecting seat, and the two modes can share one set of rotor and motor, so that the structure of the whole unmanned aerial vehicle is simplified, the weight of the whole unmanned aerial vehicle is reduced, and the endurance time is prolonged; in addition, make transmission assembly and connecting seat form the linkage, can drive the paddle and rotate and change its paddle angle to change the angle of attack of paddle, make unmanned aerial vehicle all keep in the angle of attack scope of preferred under stationary vane mode and many rotor modes, thereby obtain better lift coefficient, further reduced power consumption, optimized the energy consumption. In addition, the invention also discloses an unmanned aerial vehicle which comprises wings and the rotor wing tilting mechanism.

Description

Rotor wing tilting mechanism and unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a rotor wing tilting mechanism. The invention also relates to an unmanned aerial vehicle.

Background

A drone is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device. The traditional unmanned aerial vehicle mainly comprises two platforms, namely a multi-rotor unmanned aerial vehicle and a fixed wing unmanned aerial vehicle, wherein the multi-rotor unmanned aerial vehicle is heavy in weight, stable in rotation, capable of hovering, easy in standardization of a power system and widely applied to the civil field of short voyage, but the voyage of the multi-rotor unmanned aerial vehicle is limited by a battery, the endurance is short, and the flying speed is low; the fixed wing unmanned aerial vehicle has the disadvantages of high flying speed, long endurance time, incapability of hovering, high manufacturing cost, low load level and the like.

Unmanned aerial vehicle among the prior art is in an organic whole for the advantage of collecting many rotors and stationary vane, adopt to set up the multiunit rotor that is used for many rotor modes and stationary vane mode respectively simultaneously on unmanned aerial vehicle's organism usually, open and close in order to realize switching mode between many rotor modes and stationary vane mode through the multiunit motor of controlling respectively each group rotor, however current unmanned aerial vehicle is owing to set up multiunit rotor and motor, the structure is comparatively complicated, the weight of the complete machine has been improved greatly, lead to its duration to shorten greatly, the load level has also been reduced simultaneously.

Disclosure of Invention

The invention aims to provide a rotor wing tilting mechanism with switchable fixed wing modes and multi-rotor wing modes, variable pitch and lower energy consumption.

In order to achieve the above object, the present invention provides a rotor tilting mechanism comprising:

the connecting shaft is used for connecting wings of the unmanned aerial vehicle;

the connecting seat is rotatably sleeved on the connecting shaft;

the first driving device is arranged on the connecting seat and used for driving the connecting seat to rotate around the axis of the connecting shaft;

the power device is arranged on the connecting seat and can rotate along with the connecting seat, and the power device comprises a hollow main shaft;

the rotor wing is arranged on the main shaft and comprises a plurality of blades with eccentric arms;

the transmission assembly is slidably arranged in the main shaft in a penetrating mode and movably connected with the eccentric arm, and the transmission assembly can drive the paddle to rotate through the eccentric arm when sliding so as to change the attack angle of the paddle;

when the connecting seat rotates for a preset angle around the connecting shaft, the transmission assembly rotates along with the connecting seat and slides for a preset distance along the axial direction of the main shaft.

In some embodiments of this application, the transmission assembly includes and wears to locate the transfer line in the main shaft, the transfer line is close to the one end of connecting axle is equipped with first connecting piece, be equipped with on the connecting axle with first connecting piece swing joint's second connecting piece, the second connecting piece is used for making the transfer line is following when the connecting seat rotates along the axial sliding of main shaft.

In some embodiments of this application, the second connecting piece include axle sleeve portion and connect in the arc board portion of axle sleeve portion outer wall, axle sleeve portion has first through-hole, axle sleeve portion passes through the fixed cover of first through-hole is located on the connecting axle, arc board portion has first guide way, first guide way with distance between the central line of first through-hole is followed the one end of first guide way reduces gradually to its other end, first connecting portion include with the guide bar that the transfer line is connected, the guide bar insert in the first guide way, and with first guide way sliding connection.

In some embodiments of the present application, the connecting seat has a lug portion, the lug portion has a second through hole and a second guide groove, the connecting seat is rotatably sleeved on the connecting shaft through the second through hole, the second guide groove extends along a radial direction of the second through hole, the guide rod passes through the first guide groove and penetrates the second guide groove, and the guide rod is slidably connected with the second guide groove.

In some embodiments of the present application, the arc plate portion and the ear plate portion are both set to two, two the arc plate portion is located respectively at two ends of the shaft sleeve portion, and two the arc plate portion is located between two the ear plate portions, and with the ear plate portion abuts against each other.

In some embodiments of the present application, the first connecting member includes a roller connected to the transmission rod in a rolling manner, the second connecting member is a cam fixedly connected to the connection shaft, and the roller is supported against an outer circumferential wall of the cam in a rolling manner.

In some embodiments of the present application, the first connecting member includes a slider sleeved on the transmission rod, the second connecting member includes a transmission wheel rotatable with the connecting seat and a crank connecting the slider and the transmission wheel, and the crank drives the transmission rod to slide through the slider when the transmission wheel rotates.

In some embodiments of this application, drive assembly still includes the transmission arm, the transmission arm is located the transfer line is kept away from the one end of connecting axle, the transmission arm with eccentric arm quantity equals and the one-to-one, the two swing joint, the transmission arm is used for driving eccentric arm rotates.

One end of the main shaft, which is far away from the connecting shaft, is provided with a notch extending along the axial direction of the main shaft, the notches correspond to the transmission arms in the same number one by one, the transmission arms can be slidably arranged in the notches, the first ends of the transmission arms are connected with the transmission rods, and the second ends of the transmission arms penetrate through the notches and are connected with the eccentric arms.

In some embodiments of the present application, a first tooth portion is fixedly connected to the connecting shaft, the connecting base is provided with a second tooth portion engaged with the first tooth portion, and the first driving device is connected to the first tooth portion.

In order to achieve the above purpose, the invention further provides an unmanned aerial vehicle, which comprises a wing and the rotor wing tilting mechanism, wherein the connecting shaft is fixedly connected to the wing.

The invention provides a rotor wing tilting mechanism, which has the following beneficial effects compared with the prior art:

firstly, the unmanned aerial vehicle can realize switching between a multi-rotor mode and a fixed wing mode through the rotation of the connecting seat, and the two modes can share one set of rotor and motor, so that the required number of the rotor and the motor is greatly reduced, the structure of the whole unmanned aerial vehicle is simplified, the weight of the whole unmanned aerial vehicle is reduced, the endurance time is prolonged, and the load level is improved; secondly, because the optimal angle of attack ranges under the fixed wing mode and the multi-rotor mode are different, the unmanned aerial vehicle cannot obtain higher lift coefficient under the two modes only by switching between the two modes without changing the angle of attack of the blades, but the power consumption of the unmanned aerial vehicle is increased and the endurance time of the unmanned aerial vehicle is shortened, based on the consideration, the transmission assembly is linked with the connecting seat, namely, the transmission assembly slides for a preset distance along the axial direction of the main shaft in the process of rotating along with the connecting seat to drive the blades to rotate and change the blade angles of the blades, so that the angle of attack of the blades is changed, the unmanned aerial vehicle is kept in a better angle of attack range under the fixed wing mode and the multi-rotor mode, so that the better lift coefficient is obtained, the power consumption is further reduced, the energy consumption is optimized, and the first driving device is linked with the connecting seat to simultaneously realize the mode switching of the unmanned aerial vehicle and the change of the blade angles, the synchronous operation of the two can ensure that the change of the attack angle and the change of the rotating plane of the paddle keep corresponding relation, so that the attack angle still keeps in a better range in the switching process, the mode switching of the unmanned aerial vehicle is smoother, and the flying working condition is not influenced; in addition, compared with a mode that a driving device is adopted to change the attack angle of the paddle, the structure of the unmanned aerial vehicle can be simplified by adopting a mode that the transmission assembly is linked with the connecting seat, the weight of the whole machine is reduced, and the structure of the wing is more compact. If adopt extra drive arrangement to change the paddle angle of attack, because unmanned aerial vehicle's operational environment changes greatly, when drive arrangement broke down, connecting seat pivoted in-process paddle angle can't change correspondingly, thereby easily leads to the paddle to surpass critical angle of attack and take place the wing stall, and the mode that adopts transmission assembly and connecting seat linkage can improve reliability and stability when unmanned aerial vehicle mode switches greatly.

The invention also provides an unmanned aerial vehicle which comprises wings and the rotor wing tilting mechanism, wherein the connecting shaft is fixedly connected to the wings. Owing to adopted above-mentioned rotor mechanism of verting, unmanned aerial vehicle's structure is succinct and compact, and it still can change the attack angle of paddle in step when switching between stationary vane mode and many rotor modes to make this unmanned aerial vehicle's energy consumption lower, the time of endurance is longer.

Drawings

Fig. 1 is a schematic overall structural view of a rotor tilt mechanism according to an embodiment of the present invention;

fig. 2 is a schematic view of the overall structure of the unmanned aerial vehicle according to the embodiment of the present invention;

fig. 3 is a schematic view of a rotor tilt mechanism (rotor omitted) in a split configuration according to an embodiment of the present invention;

FIG. 4 is a schematic view of the overall structure of a second connecting member according to an embodiment of the present invention;

FIG. 5 is a schematic view of an overall structure of the connecting base according to the embodiment of the invention;

figure 6 is a partial schematic structural view of a rotor tilt mechanism according to a second embodiment of the present invention;

fig. 7 is a partial schematic view of a third embodiment of a rotor tilt mechanism according to the present invention.

In the figure: 1. a connecting shaft; 11. a second connecting member; 111. a boss portion; 111a, a first via hole; 112. an arc plate portion; 112a, a first guide groove; 113. a cam; 114. a driving wheel; 115. a crank; 12. a first tooth portion; 2. a connecting seat; 21. a ear plate portion; 211. a second through hole; 212. a second guide groove; 22. a second tooth portion; 3. a first driving device; 4. a power plant; 41. a main shaft; 411. a notch; 5. a rotor; 51. a paddle; 511. an eccentric arm; 6. a transmission assembly; 61. a transmission rod; 62. a first connecting member; 621. a guide bar; 622. a roller; 623. a slider; 63. a drive arm; 7. an airfoil.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that in the description of the present application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application. The terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, i.e. a feature defined as "first", "second" may explicitly or implicitly include one or more of such features. Further, unless otherwise specified, "a plurality" means two or more.

It should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

It should be understood that, when the unmanned aerial vehicle is in the multi-rotor mode, the main shaft 41 driving the rotor 5 to rotate to provide power forms a certain angle, generally 90 °, with the horizontal direction, and at this time, a smaller pitch, that is, a smaller blade angle is required, so that the engine works in the maximum rotation speed and maximum power state, and the propeller generates the maximum lift force, and is suitable for use scenarios with a small takeoff or forward speed; when unmanned aerial vehicle is in the stationary vane mode, drive rotor 5 rotatory 41 parallel with the horizontal direction with the main shaft that provides power, need adopt great pitch this moment, also great blade angle promptly to satisfy the requirement of the higher forward speed of unmanned aerial vehicle.

As shown in fig. 1 and 3, an embodiment of the present invention provides a rotor tilting mechanism, which includes a connecting shaft 1, a connecting seat 2, a first driving device 3, a power device 4, a rotor 5 and a transmission assembly 6, where the connecting shaft 1 is used to connect a wing 7 of an unmanned aerial vehicle, the connecting seat 2 is rotatably sleeved on the connecting shaft 1, the first driving device 3 is disposed on the connecting seat 2 and is used to drive the connecting seat 2 to rotate around an axis of the connecting shaft 1, the first driving device 3 may be a steering engine or other device capable of driving the connecting seat to rotate, the power device 4 is used to drive the rotor 5 to rotate to provide flying power, and is disposed on the connecting seat 2 and can rotate therewith, the power device 4 includes a hollow main shaft 41 and a motor, the main shaft 41 is perpendicular to the connecting shaft 1, the motor drives the main shaft 41 to rotate so as to drive the rotor 5 to rotate, the, the rotor 5 comprises a plurality of blades 51 with eccentric arms 511, the transmission assembly 6 is slidably arranged in the main shaft 41 in a penetrating manner and movably connected with the eccentric arms 511, and the transmission assembly 6 can drive the blades 51 to rotate through the eccentric arms 511 when sliding so as to change the attack angle of the blades 51; when the connecting base 2 rotates around the connecting shaft 1 by a predetermined angle, the transmission assembly 6 rotates with the connecting base 2 and slides by a predetermined distance along the axial direction of the main shaft 41. Specifically, when the connecting base 2 rotates by a predetermined angle around the connecting shaft 1 so that the main shaft 41 forms a predetermined angle with the horizontal direction, the unmanned aerial vehicle is switched from a fixed wing mode to a multi-rotor mode, the transmission assembly 6 rotates along with the connecting base 2, so that the eccentric arm 511 is driven to rotate through sliding, the paddle 51 is driven to rotate, and the paddle angle is reduced; when connecting seat 2 made main shaft 41 parallel with the horizontal direction around connecting axle 1 rotation, unmanned aerial vehicle switched to the stationary vane mode from the many rotor modes, and drive assembly 6 rotates along with connecting seat 2 to reverse slip, thereby drive eccentric arm 511 antiport, and then drive paddle 51 antiport, and make the paddle angle increase.

Based on the structure, firstly, the unmanned aerial vehicle can realize switching between a multi-rotor mode and a fixed wing mode through the rotation of the connecting seat 2, and the two modes can share one set of rotor 5 and motor, so that the required number of the rotor 5 and the motor is greatly reduced, the structure of the whole machine is simplified, the weight of the whole machine is reduced, the endurance time is prolonged, and the load level is improved; secondly, because the optimal angle of attack ranges under the fixed wing mode and the multi-rotor mode are different, the unmanned aerial vehicle cannot obtain higher lift coefficient under the two modes only by switching between the two modes without changing the angle of attack of the blades 51, but the power consumption of the unmanned aerial vehicle is increased and the endurance time of the unmanned aerial vehicle is shortened, based on the consideration, the transmission assembly 6 and the connecting seat 2 are linked, namely, the transmission assembly 6 slides for a preset distance along the axial direction of the main shaft 41 in the process of rotating along with the connecting seat 2 to drive the blades 51 to rotate and change the angles of the blades 51, so that the angle of attack of the blades 51 is changed, the unmanned aerial vehicle is kept in the better angle of attack ranges under the fixed wing mode and the multi-rotor mode, so that the better lift coefficient is obtained, the power consumption is further reduced, the energy consumption is optimized, and the transmission assembly 6 and the connecting seat 2 form linkage so that the first driving device 3 can simultaneously realize the switching of the modes of the unmanned aerial vehicle and the, the synchronous operation of the two can ensure that the change of the attack angle and the change of the rotating plane of the paddle 51 keep corresponding relation, so that the attack angle is still kept in a better range in the switching process, the mode switching of the unmanned aerial vehicle is smoother, and the flying working condition is not influenced; in addition, compared with a mode that a driving device is adopted to change the attack angle of the paddle 51, the structure of the unmanned aerial vehicle can be simplified by adopting a mode that the transmission assembly 6 is linked with the connecting seat 2, the weight of the whole unmanned aerial vehicle is reduced, and the structure of the wing 7 is more compact. If adopt extra drive arrangement to change paddle 51 angle of attack, because unmanned aerial vehicle's operational environment changes greatly, when drive arrangement broke down, connecting seat 2 pivoted in-process paddle 51 angle can't change correspondingly, thereby easily leads to paddle 51 to surpass critical angle of attack and take place wing 7 stall, and the mode that adopts drive assembly 6 and connecting seat 2 linkage can improve reliability and stability when unmanned aerial vehicle mode switches greatly.

Alternatively, as shown in fig. 1 and fig. 3, in the present embodiment, the transmission assembly 6 includes a transmission rod 61 penetrating through the main shaft 41, in order to realize mechanical linkage of the transmission assembly 6 and the connecting base 2, a first connecting member 62 is disposed at one end of the transmission rod 61 close to the connecting shaft 1, a second connecting member 11 movably connected to the first connecting member 62 is disposed on the connecting shaft 1, and the second connecting member 11 is configured to enable the transmission rod 61 to slide along the axial direction of the main shaft 41 when rotating with the connecting base 2. Based on this, when the connecting seat 2 rotates by a predetermined angle, the transmission rod 61 slides by a predetermined distance along the axial direction of the main shaft 41 through the linkage of the first connecting piece 62 and the second connecting piece 11, so that the mode switching and the blade 51 angle changing can be simultaneously performed.

Alternatively, as shown in fig. 3 and 4, in the present embodiment, the second connecting member 11 includes a shaft sleeve portion 111 and an arc plate portion 112 connected to an outer wall of the shaft sleeve portion 111, the shaft sleeve portion 111 has a first through hole 111a, the shaft sleeve portion 111 is fixedly sleeved on the connecting shaft 1 through the first through hole 111a, and the arc plate portion 112 has a first guide groove 112a, preferably, the first guide groove 112a is arc-shaped; the distance between the first guide groove 112a and the center line of the first through hole 111a is gradually decreased from one end of the first guide groove 112a to the other end thereof, and the first coupling part includes a guide rod 621 coupled to the driving lever 61, the guide rod 621 being inserted into the first guide groove 112a and slidably coupled to the first guide groove 112 a. In this way, when the connecting holder 2 rotates, the guide rod 621 slides in the first guide groove 112a along the groove wall thereof and gradually approaches or departs from the first through hole 111a, so that the distance between the transmission rod 61 and the connecting shaft 1 is correspondingly reduced or increased, that is, the transmission rod 61 slides in the main shaft 41 along the axial direction thereof, thereby driving the paddle 51 to rotate and changing the attack angle of the paddle 51. The cooperation of the guide bar 621 and the first guide groove 112a can realize the mechanical linkage of the transmission assembly 6 and the connecting seat 2, and in particular, the mechanical linkage of the transmission rod 61 and the connecting seat 2. In addition, the first guide groove 112a is curved to smoothly change the angle of the paddle 51. Due to the fact that the optimal attack angle ranges of different airfoil profiles of the rotor wing 5 are different, the required pitch angle can be determined according to the airfoil profiles, the position relation between the first guide groove 112a and the first through hole 111a is determined according to the optimal attack angle ranges, the requirements of the different airfoil profiles on the pitch angle can be met by selecting the corresponding second connecting piece 11 according to the airfoil profiles, and compared with a mode of changing the pitch angle by adopting a driving device, the method is more convenient and quicker, and the reliability and the stability are higher.

Alternatively, as shown in fig. 3 to 5, in this embodiment, when the guide rod 621 slides in the first guide slot 112a, a slot wall of the first guide slot 112a may generate an oblique acting force on the guide rod 621, in order to prevent the transmission rod 61 from radially deviating, the connection base 2 has a ear plate portion 21, the ear plate portion 21 has a second through hole 211 and a second guide slot 212, the connection base 2 is rotatably sleeved on the connection shaft 1 through the second through hole 211, the second guide slot 212 extends along a radial direction of the second through hole 211, the guide rod 621 passes through the first guide slot 112a and penetrates through the second guide slot 212, and the guide rod 621 is slidably connected with the second guide slot 212. Based on this, when the connecting seat 2 rotates, the guide rod 621 slides in the first guide groove 112a and the second guide groove 212 at the same time, and the second guide groove 212 plays a role of auxiliary guide, so as to ensure that the transmission rod 61 slides relative to the main shaft 41 along the axial direction of the main shaft 41, prevent the transmission rod 61 from radial deviation, and improve the stability of the transmission assembly 6.

Alternatively, as shown in fig. 3 to 5, in the present embodiment, the arc plate portions 112 and the ear plate portions 21 are provided in two, the two arc plate portions 112 are located at both ends of the boss portion 111, respectively, and the two arc plate portions 112 are located between the two ear plate portions 21 and abut against the ear plate portions 21. Specifically, both ends of the guide bar 621 respectively penetrate through the corresponding first guide grooves 112a and penetrate through the corresponding second guide grooves 212. Therefore, the sliding of the guide rod 621 is more stable and reliable, and the linkage reliability of the transmission assembly 6 and the connecting seat 2 is further improved. Secondly, the second connector 11 is located between the ear plate portions 21 of the connector holder 2 so that the arrangement of the second connector 11 and the connector holder 2 is compact and space-saving. In addition, the shaft sleeve part 111 is fixed on the connecting shaft 1, and the two arc plate parts 112 are respectively abutted against the two ear plate parts 21, so that the displacement of the connecting seat 2 along the axial direction of the connecting shaft 1 can be limited, and the stability of the connecting seat 2 is improved.

Alternatively, as shown in fig. 4, in the present embodiment, the inner wall of the boss portion 111 has a slip-preventing structure. Preferably, the anti-slip structure is a strip-shaped protrusion. Based on this, the connection of the boss portion 111 and the connecting shaft 1 is more stable.

Alternatively, as shown in fig. 6, in the second embodiment, the first connecting member 62 includes a roller 622 in rolling connection with the transmission rod 61, the second connecting member 11 is a cam 113 fixedly connected to the connecting shaft 1, and the roller 622 is in rolling contact with the outer peripheral wall of the cam 113. Of course, the first connecting member 62 is not limited to be the roller 622, but may be an arc-shaped protrusion, as long as the first connecting member 62 can abut against the outer peripheral wall of the cam 113 and can be relatively displaced. Based on this, when the link holder 2 rotates, the roller 622 rolls along the outer peripheral wall of the cam 113, and the reaction force generated by the cam 113 causes the transmission lever 61 to slide within the main shaft 41. Since the law of motion of the roller 622 depends on the profile of the cam 113, a predetermined sliding distance of the transmission rod 61 inside the main shaft 41 can be achieved by selecting the appropriate cam 113.

Alternatively, as shown in fig. 7, in the third embodiment, the first connecting member 62 includes a slider 623 sleeved on the transmission rod 61, the second connecting member 11 includes a transmission wheel 114 rotatable with the connecting seat 2, and a crank 115 connecting the slider 623 and the transmission wheel 114, and the crank 115 drives the transmission rod 61 to slide through the slider 623 when the transmission wheel 114 rotates. Thus, when the connecting base 2 rotates, the driving wheel 114 rotates along with the rotation, and the crank 115 drives the slider 623 to move back and forth, so as to drive the transmission rod 61 to slide a predetermined distance in the main shaft 41, thereby realizing the change of the attack angle.

It should be emphasized that the mechanical linkage between the transmission assembly 6 and the connecting base 2 via the first connecting member 62 and the second connecting member 11 is not limited to the above arrangement, and may be a link mechanism, a ball screw mechanism, an eccentric mechanism, or the like, or an electric control, as long as the transmission assembly 6 can slide along the axial direction of the main shaft 41 for a predetermined distance when rotating with the connecting base 2.

Optionally, as shown in fig. 3, in this embodiment, the transmission assembly 6 further includes a transmission arm 63, the transmission arm 63 is disposed at one end of the transmission rod 61 away from the connection shaft 1, the transmission arm 63 and the eccentric arm 511 are equal in number and in one-to-one correspondence, and are movably connected, and the transmission arm 63 is configured to drive the eccentric arm 511 to rotate. Each transmission arm 63 may be integrally formed, or may be connected to one end of the transmission rod 61 away from the connection shaft 1 in the form of a support or the like. Therefore, when the transmission rod 61 slides in the main shaft 41, the transmission arm 63 can be driven to slide along the axial direction of the main shaft 41, so as to drive the eccentric arm 511 to rotate, and further the paddle 51 can rotate, thereby realizing the change of the attack angle.

Alternatively, as shown in fig. 1 and 3, in the present embodiment, one end of the main shaft 41 away from the connecting shaft 1 has notches 411 extending along the axial direction thereof, the notches 411 are equal in number and correspond to the transmission arms 63 one by one, the transmission arms 63 are slidably disposed in the notches 411, a first end of the transmission arm 63 is connected to the transmission rod 61, and a second end thereof passes through the notches 411 and is connected to the eccentric arm 511. Thus, the notch 411 plays a role in guiding and limiting, and prevents the transmission arm 63 and the spindle 41 from rotating relatively.

Alternatively, as shown in fig. 1 and 3, in the present embodiment, a first tooth portion 12 is fixedly connected to the connecting shaft 1, the connecting base 2 is provided with a second tooth portion 22 engaged with the first tooth portion 12, specifically, the second tooth portion 22 is located on an outer wall of one of the ear plate portions 21, the ear plate portion 21 has a third through hole, and the output shaft of the first driving device 3 is connected with the second tooth portion 22 through the third through hole. Based on this, the first driving device 3 drives the second tooth portion 22 to rotate, thereby realizing the rotation of the connecting socket 2 around the axis of the connecting shaft 1.

The working process of the rotor wing tilting mechanism provided by the invention is as follows: when the unmanned aerial vehicle needs to be switched from a fixed wing mode to a multi-rotor mode, the first driving device 3 drives the connecting seat 2 to rotate around the connecting shaft 1, so that the main shaft 41 forms a preset angle with the horizontal direction, in the process, the transmission rod 61 rotates along with the main shaft 41 and the connecting seat 2, the guide rod 621 slides in the first guide groove 112a and the second guide groove 212, the transmission rod 61 is pushed to slide for a preset distance along the axial direction of the main shaft 41, the transmission arm 63 drives the eccentric arm 511 to rotate, and the paddle 51 is driven to rotate, so that the paddle angle is reduced; when the unmanned aerial vehicle needs to be switched from a multi-rotor mode to a fixed-wing mode, the first driving device 3 drives the connecting seat 2 to reversely rotate around the connecting shaft 1, so that the main shaft 41 is parallel to the horizontal direction, in the process, the transmission rod 61 reversely rotates along with the main shaft 41 and the connecting seat 2, the guide rod 621 reversely slides in the first guide groove 112a and the second guide groove 212, so that the transmission rod 61 is pushed to reversely slide for a preset distance along the axial direction of the main shaft 41, the transmission arm 63 drives the eccentric arm 511 to reversely rotate, so that the paddle 51 is driven to reversely rotate, and the paddle angle is increased.

The embodiment of the invention also provides an unmanned aerial vehicle, as shown in fig. 2, the unmanned aerial vehicle comprises a wing 7 and the rotor wing tilting mechanism, and the connecting shaft 1 is fixedly connected to the wing 7. Owing to adopted above-mentioned rotor mechanism of verting, unmanned aerial vehicle's structure is succinct and compact, and it still can change paddle 51's attack angle in step when switching between stationary vane mode and many rotor modes to make this unmanned aerial vehicle's energy consumption lower, the time of endurance is longer.

To sum up, the embodiment of the present invention provides a rotor wing tilting mechanism, which mainly comprises a connecting shaft 1, a connecting seat 2, a first driving device 3, a power device 4, a rotor wing 5 and a transmission assembly 6, wherein the connecting shaft 1 is used for connecting a wing 7 of an unmanned aerial vehicle, the connecting seat 2 is rotatably sleeved on the connecting shaft 1, the first driving device 3 is arranged on the connecting seat 2 and is used for driving the connecting seat 2 to rotate around the axis of the connecting shaft 1, the first driving device 3 can be a steering engine, the power device 4 is used for driving the rotor wing 5 to rotate to provide flying power and is arranged on the connecting seat 2 and can rotate along with the connecting seat, the power device 4 comprises a hollow main shaft 41 and a motor, the main shaft 41 is perpendicular to the connecting shaft 1, the motor drives the main shaft 41 to rotate so as to drive the rotor wing 5 to rotate, the rotor wing 5 is arranged on the main shaft 41, the rotor wing 5 comprises a plurality of blades 51 with eccentric, the transmission assembly 6 can drive the paddle 51 to rotate through the eccentric arm 511 when sliding so as to change the attack angle of the paddle 51; when the connecting base 2 rotates around the connecting shaft 1 by a predetermined angle, the transmission assembly 6 rotates with the connecting base 2 and slides by a predetermined distance along the axial direction of the main shaft 41. Compared with the prior art, the rotor wing tilting mechanism has the advantages of fixed wing mode and multi-rotor wing mode, and is switchable, variable in pitch, lower in energy consumption and the like.

The embodiment of the invention also provides an unmanned aerial vehicle which comprises a wing 7 and the rotor wing tilting mechanism, wherein the connecting shaft 1 is fixedly connected to the wing 7. Compared with the prior art, the unmanned aerial vehicle has the advantages of low energy consumption, long endurance time, compact structure and the like.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims (10)

1. A rotor tilt mechanism, comprising:

the connecting shaft (1) is used for connecting wings (7) of the unmanned aerial vehicle;

the connecting seat (2) is rotatably sleeved on the connecting shaft (1);

the first driving device (3) is arranged on the connecting seat (2) and used for driving the connecting seat (2) to rotate around the axis of the connecting shaft (1);

the power device (4) is arranged on the connecting seat (2) and can rotate along with the connecting seat, and the power device (4) comprises a hollow main shaft (41);

a rotor (5) arranged on the main shaft (41), wherein the rotor (5) comprises a plurality of blades (51) with eccentric arms (511);

the transmission assembly (6) is slidably arranged in the spindle (41) in a penetrating manner and movably connected with the eccentric arm (511), and the transmission assembly (6) can drive the paddle (51) to rotate through the eccentric arm (511) when sliding so as to change the attack angle of the paddle (51);

when the connecting seat (2) rotates for a preset angle around the connecting shaft (1), the transmission assembly (6) rotates along with the connecting seat (2) and slides for a preset distance along the axial direction of the main shaft (41).

2. The rotor tilt mechanism of claim 1, wherein:

the transmission assembly (6) comprises a transmission rod (61) arranged in the main shaft (41) in a penetrating mode, the transmission rod (61) is close to one end of the connecting shaft (1) and is provided with a first connecting piece (62), the connecting shaft (1) is provided with a second connecting piece (11) movably connected with the first connecting piece (62), and the second connecting piece (11) is used for enabling the transmission rod (61) to follow the axial sliding of the main shaft (41) when the connecting seat (2) rotates.

3. The rotor tilt mechanism of claim 2, wherein:

the second connecting piece (11) comprises a shaft sleeve portion (111) and an arc plate portion (112) connected to the outer wall of the shaft sleeve portion (111), the shaft sleeve portion (111) is provided with a first through hole (111a), the shaft sleeve portion (111) is fixedly sleeved on the connecting shaft (1) through the first through hole (111a), the arc plate portion (112) is provided with a first guide groove (112a), the distance between the first guide groove (112a) and the central line of the first through hole (111a) is gradually reduced from one end of the first guide groove (112a) to the other end of the first guide groove, the first connecting piece (62) comprises a guide rod (621) connected with the transmission rod (61), and the guide rod (621) is inserted into the first guide groove (112a) and is in sliding connection with the first guide groove (112 a).

4. The rotor tilt mechanism of claim 3, wherein:

connecting seat (2) have otic placode portion (21), otic placode portion (21) have second through-hole (211) and second guide way (212), connecting seat (2) rotationally overlap through second through-hole (211) and locate on connecting axle (1), second guide way (212) are followed the radial extension of second through-hole (211), guide bar (621) pass first guide way (112a) and penetrate second guide way (212), guide bar (621) with second guide way (212) sliding connection.

5. The rotor tilt mechanism of claim 4, wherein:

the arc plate parts (112) and the ear plate parts (21) are respectively arranged in two numbers, the two arc plate parts (112) are respectively positioned at two ends of the shaft sleeve part (111), and the two arc plate parts (112) are positioned between the two ear plate parts (21) and are abutted against the ear plate parts (21).

6. The rotor tilt mechanism of claim 2, wherein:

the first connecting piece (62) comprises a roller (622) connected with the transmission rod (61) in a rolling mode, the second connecting piece (11) is fixedly connected to the cam (113) on the connecting shaft (1), and the roller (622) can be connected with the peripheral wall of the cam (113) in a rolling mode in an abutting mode.

7. The rotor tilt mechanism of claim 2, wherein:

the first connecting piece (62) comprises a sliding block (623) sleeved on the transmission rod (61), the second connecting piece (11) comprises a transmission wheel (114) capable of rotating along with the connecting seat (2) and a crank (115) connecting the sliding block (623) and the transmission wheel (114), and the crank (115) drives the transmission rod (61) to slide through the sliding block (623) when the transmission wheel (114) rotates.

8. The rotor tilt mechanism of claim 2, wherein:

drive assembly (6) still include drive arm (63), drive arm (63) are located drive rod (61) are kept away from the one end of connecting axle (1), drive arm (63) with eccentric arm (511) quantity equals and the one-to-one, the two swing joint, drive arm (63) are used for driving eccentric arm (511) rotate.

9. A rotor tilt mechanism according to any one of claims 1-8 wherein:

the connecting shaft (1) is fixedly connected with a first tooth part (12), the connecting seat (2) is provided with a second tooth part (22) meshed with the first tooth part (12), and the first driving device (3) is connected with the first tooth part (12).

10. Unmanned aerial vehicle, comprising a wing (7) and a rotor tilt mechanism according to any of claims 1-9, the connecting shaft (1) being fixedly connected to the wing (7).

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