WO2022241974A1

WO2022241974A1 - Tilting structure and aircraft

Info

Publication number: WO2022241974A1
Application number: PCT/CN2021/117096
Authority: WO
Inventors: 赵德力; 周双久; 李�杰
Original assignee: 广东汇天航空航天科技有限公司
Priority date: 2021-05-20
Filing date: 2021-09-08
Publication date: 2022-11-24
Also published as: CN113086182A; CN113086182B

Abstract

A tilting structure and an aircraft comprising the tilting structure. The tilting structure comprises a machine arm (100), a tilting electric motor (200) arranged on the machine arm (100), and a power electric motor assembly (300) in transmission connection with a driving shaft of the tilting electric motor (200). The tilting structure further comprises a shaft connection rotation member (400), the shaft connection rotation member (400) being provided with a first connecting member (410) and a second connecting member (420), wherein the driving shaft of the tilting electric motor (200) is connected to the shaft connection rotation member (400) by means of the first connecting member (410); and the shaft connection rotation member (400) is rotationally connected to the machine arm (100) by means of the second connecting member (420). The machine arm (100), the shaft connection rotation member (400), the first connecting member (410) and the second connecting member (420) are coaxially arranged. By means of the tilting structure, the radial force borne by the driving shaft of the tilting electric motor can be reduced, such that the flight safety of the aircraft is improved.

Description

Tilting structure and aircraft

This application claims the priority of the Chinese patent application with the application number 202110549670.9 and the application title "Tilting Structure and Aircraft" submitted to the State Intellectual Property Office on May 20, 2021, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the technical field of aircraft, in particular to a tilting structure and an aircraft.

Background technique

In the related art, the tilting structure of the aircraft includes a tilting assembly and a power motor assembly, the tilting assembly includes a servo motor, and the power motor assembly includes a power motor and a flight propeller connected to the power motor. The power motor assembly is driven by the servo motor to rotate, so as to realize the tilt adjustment of the power motor assembly, and then control the aircraft to perform functions such as vertical take-off and landing, hovering in the air, and high-speed cruise flight.

However, for the tilting structure on the tilting aircraft of the related art, the drive shaft of the servo motor is directly connected to the power motor assembly, resulting in a large radial force on the drive bearing of the servo motor, and the drive shaft of the servo motor is easily damaged Therefore, it is difficult to guarantee the flight safety of the aircraft.

technical problem

In order to solve or partially solve the problems in the related technologies, the present application provides a tilting structure and an aircraft, which can reduce the radial force on the drive shaft of the tilting motor and improve the flight safety of the aircraft.

technical solution

The first aspect of the present application provides a tilting structure, including: a machine arm, a tilting motor installed on the machine arm, and a power motor assembly connected to the drive shaft of the tilting motor; The shaft-connected rotating part is provided with a first connecting part and a second connecting part, the drive shaft of the tilting motor is connected to the shaft-connecting rotating part through the first connecting part, and the connecting shaft rotating part The second connecting piece is rotatably connected to the machine arm; wherein, the machine arm, the shaft-connecting rotating piece, the first connecting piece and the second connecting piece are arranged coaxially.

In one embodiment, the first connector includes a first flange; the second connector includes a second flange; the first flange and the second flange are respectively connected to The shaft-connected rotating parts are fixedly connected.

In one embodiment, the machine arm is rotatably connected to the second flange; the drive shaft of the tilting motor and the power motor assembly are respectively fixedly connected to the first flange.

In one embodiment, the tilting motor includes a stator and a rotor; the stator is fixedly connected to the machine arm, and the rotor is fixedly connected to the shaft-connected rotating member through the first connecting member.

In one embodiment, the shaft-connected rotating member is configured as a hollow cylindrical structure; the first flange and the second flange are respectively connected to the cylindrical structure and arranged at intervals.

In one embodiment, the tilting structure further includes: a mounting assembly for mounting the tilting motor; the mounting assembly includes a first fixing part and a second fixing part; the first fixing part is used for The tilting motor is fixed on the machine arm, and the second fixing part is arranged on the periphery of the tilting motor and connected to the first fixing part.

In one embodiment, the second connecting member further includes a rotating member disposed between the second flange and the arm; the second flange is rotatably connected to the arm through the rotating member. the arm.

In one embodiment, the tilting structure further includes a limit assembly provided on the arm; the limit assembly is used to align the second connecting member along the circumferential direction of the arm and/or Axial limit.

In one embodiment, the limiting assembly includes a first limiting member and/or a second limiting member; the first limiting member is used to limit the movement of the second connecting member along the circumferential direction of the arm. The rotation angle; the second limiting member is used to axially limit the second connecting member on the machine arm.

In one embodiment, the first limiting member is provided with an arc-shaped limiting groove, and the arc-shaped limiting groove is along the rotation direction of the second connecting member, and the second connecting member and the The opposite side of the arc-shaped limiting groove is provided with a limiting protrusion, and the limiting protrusion can be accommodated in the arc-shaped limiting groove and can move in the arc-shaped limiting groove, wherein the arc-shaped The central angle corresponding to the limiting groove is greater than or equal to the maximum rotation angle of the second connecting member.

In one embodiment, the first flange is installed at one end in the direction of the rotation axis of the shaft-connected rotating member, and the second flange is installed at one end in the direction of the rotation axis of the shaft-connected rotating member. another side;

The shaft-connected rotating member, the first flange and the second flange jointly define a receiving cavity, and the tilting motor is stored in the receiving cavity.

In one embodiment, the shaft-connected rotating member is provided with a cooling hole, and the cooling hole communicates with the inner side and the outer side of the receiving cavity.

In one embodiment, the first fixing member includes a motor stopper, and the motor stopper is fixedly arranged on the machine arm to limit the axial sliding of the tilting motor along the machine arm. ;

The second fixing part includes a motor sleeve, and the motor sleeve is sleeved on the tilting motor and connected to the motor limiter.

In one embodiment, a plurality of the second connecting parts are provided, and the plurality of the second connecting parts are arranged at intervals, and the shaft-coupling rotating part is rotatably connected to the machine arm.

The second aspect of the present application provides an aircraft, including the above-mentioned tilting structure.

Beneficial effect

In the tilting structure provided in the embodiment of the present application, the power motor assembly is driven by a tilting motor to realize the tilting of the power motor assembly. Because the drive shaft of the tilting motor is connected to the shaft-connected rotating member through the first connecting member, and the connecting shaft rotating member is rotatably connected to the machine arm through the second connecting member. That is to say, when the tilting motor drives the first connecting part to rotate, the first connecting part will drive the second connecting part to rotate on the machine arm through the pivoted rotating part. In this way, the radial force borne by the drive shaft of the tilting motor will be effectively distributed to the first connecting piece and the second connecting piece, thereby reducing the radial force on the driving shaft of the tilting motor and effectively reducing the tilting force. The fracture risk of the drive shaft of the motor is beneficial to ensure the flight safety of the aircraft.

In some embodiments, in the tilting structure provided by the embodiments of the present application, the first connecting part may include a first flange, the second connecting part may include a second flange, the first flange and the second flange It can be fixedly connected with the shaft-connected rotating parts respectively, so as to ensure the firmness of the connection between the first flange, the second flange and the shaft-connected rotating parts, which is beneficial to the first connecting part and the second connecting part to effectively withstand from tilting Radial force on the motor drive shaft.

In some embodiments, in the tilting structure provided by the embodiments of the present application, the driving shaft of the tilting motor and the power motor assembly can be respectively fixedly connected to the first flange, so that the driving shaft of the tilting motor can pass through the first flange The disk drives the power motor assembly to rotate to ensure transmission reliability.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent by describing the exemplary embodiments of the present application in more detail with reference to the accompanying drawings, wherein, in the exemplary embodiments of the present application, the same reference numerals generally represent same parts.

FIG. 1 is a schematic diagram of a structural disassembly of a tilting structure shown in an embodiment of the present application;

Fig. 2 is an enlarged schematic diagram of the structure of part M in the tilting structure shown in the embodiment shown in Fig. 1 of the present application;

FIG. 3 is an enlarged schematic diagram of the N portion of the tilting structure shown in the embodiment shown in FIG. 1 of the present application.

Reference signs: tilting structure 10; machine arm 100; tilting motor 200; power motor assembly 300; Flange 421; cooling hole 401; rotating member 422; stator 210; rotor 220; mounting assembly 500; first fixing member 510; second fixing member 520; Position piece 620; propeller 310; power motor 320; connecting piece 330.

Embodiments of the present invention

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first", "second", "third" and so on may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present application, first information may also be called second information, and similarly, second information may also be called first information. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and It is not to indicate or imply that the device or element referred to must have a particular orientation, be constructed, or operate in a particular orientation, and thus should not be construed as limiting the application.

Unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two components or an interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the related art, the tilting structure on the tilting aircraft, the drive shaft of the servo motor is directly connected to the power motor assembly, resulting in a large radial force on the drive bearing of the servo motor, and the drive shaft of the servo motor is easily damaged and broken risk, it is difficult to guarantee the flight safety of the aircraft.

In view of the above problems, the embodiment of the present application provides a tilting structure and an aircraft, which can reduce the radial force on the drive shaft of the tilting motor and improve the flight safety of the aircraft.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Please refer to FIGS. 1 to 3 together. A tilting structure 10 includes: a machine arm 100 , a tilting motor 200 mounted on the machine arm 100 , and a power motor assembly 300 connected to the drive shaft of the tilting motor 200 .

The tilting structure 10 also includes a connecting shaft rotating part 400, the connecting shaft rotating part 400 is provided with a first connecting part 410 and a second connecting part 420, the drive shaft of the tilting motor 200 is connected to the connecting shaft rotating part through the first connecting part 410 400 , the shaft-connected rotating member 400 is rotatably connected to the machine arm 100 through the second connecting member 420 .

Wherein, the machine arm 100 , the shaft-connecting rotating member 400 , the first connecting member 410 and the second connecting member 420 are arranged coaxially.

It can be seen from this embodiment that the tilting structure 10 provided in the embodiment of the present application realizes the tilting of the power motor assembly 300 by driving the power motor assembly 300 through the tilt motor 200 . Since the drive shaft of the tilting motor 200 is connected to the shaft-connected rotating member 400 through the first connecting member 410 , and the connecting-shaft rotating member 400 is rotatably connected to the machine arm 100 through the second connecting member 420 . That is to say, when the tilting motor 200 drives the first connecting part 410 to rotate, the first connecting part 410 will drive the second connecting part 420 to rotate on the machine arm 100 through the pivoted rotating part 400 . In this way, the radial force borne by the drive shaft of the tilting motor 200 will be effectively distributed to the first connecting member 410 and the second connecting member 420, thereby reducing the radial force on the driving shaft of the tilting motor 200, effectively The fracture risk of the drive shaft of the tilting motor 200 is reduced, which is beneficial to ensure the flight safety of the aircraft.

Wherein, the machine arm 100 may be a cylindrical rod-shaped structure for supporting the tilting motor 200 . The tilting motor 200 may be a servo motor, and the drive shaft of the tilting motor 200 is connected to the power motor assembly 300 through transmission, so as to realize the tilting of the power motor assembly 300 . The power motor assembly 300 is used to drive the aircraft to perform flight maneuvers. Tilting means tilting rotation, that is to say, the power motor assembly 300 can rotate clockwise or counterclockwise at a preset angle around the drive shaft of the tilting motor 200 to adjust the driving direction of the aircraft.

In some embodiments, the first connecting member 410 may be a disc-shaped component, or other irregular-shaped components. The second connecting member 420 may be a disc-shaped component, or other irregular-shaped components. The shaft-connected rotating member 400 may be a hollow cylindrical component, or other irregularly shaped components. The shape and structure of the connecting shaft 400 , the first connecting member 410 and the second connecting member 420 can be set according to actual usage conditions, and the shape and structure are not limited here.

Wherein, the machine arm 100 , the shaft-connecting rotating member 400 , the first connecting member 410 and the second connecting member 420 are arranged coaxially. In this way, driven by the tilting motor 200 , the shaft-connected rotating member 400 , the first connecting member 410 and the second connecting member 420 can rotate synchronously around the axis of the machine arm 100 , ensuring the running stability of the tilting structure 10 .

In one specific embodiment, the first connecting part 410 includes a first flange 411 , and the second connecting part 420 includes a second flange 421 . Since the first flange 411 and the second flange 421 are disc-shaped structures, it is convenient to realize their rotation around the machine arm 100, and the first flange 411 and the second flange 421 are in the process of rotation , can guarantee reliable stability. The first flange 411 and the second flange 421 are respectively fixedly connected with the shaft-connected rotating member 400 . In this way, the firmness of the connection between the first flange 411, the second flange 421 and the shaft-connected rotating member 400 is ensured, and it is beneficial for the first connecting member 410 and the second connecting member 420 to effectively withstand the drive from the tilting motor 200. radial force on the shaft. In the tilting structure provided in the embodiment of the present application, the driving shaft of the tilting motor 200 and the power motor assembly 300 can be fixedly connected to the first flange 411 respectively, so that the driving shaft of the tilting motor 200 can pass through the first flange 411 drives the power motor assembly 300 to rotate to ensure transmission reliability.

In one implementation manner, the machine arm 100 is rotatably connected to the second flange 421 , that is, the second flange 421 can rotate around the machine arm 100 . In order to ensure the stability of the transmission connection between the drive shaft of the tilt motor 200 and the power motor assembly 300 , the drive shaft of the tilt motor 200 and the power motor assembly 300 may be fixedly connected to the first flange 411 respectively. In this way, the tilt motor 200 drives the power motor assembly 300 to tilt by driving the first flange 411 to rotate. At the same time, the first flange 411 also drives the second flange 421 to rotate through the shaft-connected rotating member 400 , so that the second flange 421 rotates around the machine arm 100 . In this way, the radial force borne by the drive shaft of the tilting motor 200 will be effectively distributed to the first flange 411 and the second flange 421 .

In some embodiments, the shaft-connected rotating member 400 can be configured as a hollow cylindrical structure; the first flange 411 and the second flange 421 are respectively connected to the cylindrical structure and arranged at intervals. The first flange 411 can be installed on one end of the shaft-connected rotating member 400 in the direction of the rotation axis by bolt connection or welding, and the second flange 421 can be installed on the end of the shaft-connected rotating member 400 by bolt connection or welding. Turn the other end in the direction of the axis. The shaft-connected rotating member 400, the first flange 411 and the second flange 421 jointly define a housing chamber, and the tilting motor 200 can be housed in the housing chamber, so that the shaft-connected rotating member 400 with a cylindrical structure can The tilting motor 200 plays the role of shielding protection.

In one embodiment, a cooling hole 401 is opened at a preset position of the shaft-connected rotating member 400 of the cylindrical structure, and the cooling hole communicates with the inner and outer sides of the storage chamber of the cylindrical structure, thereby utilizing the The tilting motor 200 inside is ventilated and dissipated. The cooling hole 401 can be a notch with a preset shape, for example, a rectangle, a triangle, a circle and so on. In one implementation, the shaft-connected rotating member 400 can have a number of heat dissipation holes 401 on its cylinder wall according to preset distribution rules, so as to meet the heat dissipation requirements and ensure its reliable strength and rigidity.

In order to realize the rotational connection between the second flange 421 and the machine arm 100 , in one embodiment, the second connecting member 420 further includes a rotating member 422 arranged between the second flange 421 and the machine arm 100 ; The second flange 421 is rotatably connected to the machine arm 100 through the rotating member 422 . The rotating member 422 may be a bearing, specifically, a sliding bearing, or a rolling bearing. The second flange 421 and the rotating member 422 can be integrated, and the integrated structure can be called a flange bearing. In this way, the smoothness of the rotation connection between the second flange 421 and the machine arm 100 is improved, and the tilting is ensured. The working stability of the transfer structure 10.

In this embodiment, the drive shaft of the tilting motor 220 is arranged coaxially with the machine arm 100, and the tilting motor 200 may include a stator 210 and a rotor 220; It is fixedly connected to the shaft-connected rotating member 400 . That is to say, the driving shaft of the tilting motor 200 belongs to the partial structure of the rotor 220 , and the tilting motor 200 drives the first flange 411 to rotate through the rotor 220 .

Please refer to FIG. 3 again, in one specific embodiment, the tilting structure 10 further includes a mounting assembly 500 for mounting the tilting motor 200 ; the mounting assembly 500 includes a first fixing part 510 and a second fixing part 520 . The first fixing part 510 is used to fix the tilting motor 200 on the machine arm 100 , and the second fixing part 520 is disposed on the periphery of the tilting motor 200 and connected to the first fixing part 510 . In some embodiments, the first fixing member 510 includes a motor limiter, which is fixedly disposed on the machine arm 100 and used to limit the sliding of the tilting motor 200 along the axial direction of the machine arm 100 . In one implementation manner, the second fixing member 520 includes a motor sleeve, which is sleeved on the tilting motor 200 and connected to the motor limiter. That is to say, the motor limiter fixes the tilting motor 200 on the machine arm 100 through the motor sleeve, thereby preventing the tilting motor 200 from being displaced, ensuring the installation firmness of the tilting motor 200, and ensuring the stability of the tilting motor 200 run. In an implementation manner, the motor sleeve may be provided with several cooling holes to facilitate the tilting motor 200 to dissipate heat.

Please refer to FIG. 2 again, in one specific embodiment, the tilting structure 10 further includes a limiting assembly 600 disposed on the machine arm 100 . The limit assembly 600 is used to limit the second connecting member 420 along the circumferential direction and/or the axial direction of the machine arm 100 . Specifically, the limiter assembly 600 includes a first limiter 610 and/or a second limiter 620, the first limiter 610 and the second limiter 620 are fixedly installed on the machine arm 100, and are arranged on the second connection both sides of piece 420.

The first limiting member 610 is used to limit the rotation angle of the second connecting member 420 along the circumferential direction of the machine arm 100 . The first limiter 610 can be an angle limiter, and the angle limiter is arranged on the machine arm 100, and is used to limit the rotation angle of the second connecting member 420 that is rotatably connected with the machine arm 100 within a preset range. The preset range may be, for example, 0-90 degrees, 0-180 degrees or 0-360 degrees, but not limited thereto, and the preset range may be the tilting angle range of the power motor assembly 300 .

In this embodiment, the angle limiter is used to limit the range of the rotation angle of the second flange 421 , so as to control the tilt angle of the power motor assembly 300 within a preset range. For example, the rotation angle of the second flange 421 is limited within a range of 0-180 degrees. The angle limiter may be disposed on a side of the second flange 421 facing away from the tilting motor 200 . In one implementation, the angle limiter can be provided with an arc-shaped limit groove, the arc-shaped limit groove is along the rotation direction of the second flange 421, and the opposite arc-shaped limit groove of the second flange 421 is opposite A limit projection is set on the side of the limit projection, the limit projection can be accommodated in the arc limit groove, and can move in the arc limit groove, so that the limit projection can be defined in the arc limit groove Within the range of activities, wherein, the central angle corresponding to the arc-shaped limiting groove is greater than or equal to the maximum rotation angle of the second connecting piece 420 (or the second flange 421), so that the maximum rotation of the second flange 421 can be realized The limitation of the angle can further limit the maximum tilting angle of the power motor assembly 300 .

The second limiting member 620 is used to limit the second connecting member 420 on the machine arm 100 along the axial direction. The second limiter 620 may be an axial limiter, and the axial limiter is used to limit the axial sliding of the second flange 421 , that is, to prevent the second flange 421 from sliding along the length direction of the machine arm 100 . The axial limiter is disposed adjacent to the second flange 421 , and may be located on a side of the second flange 421 facing the tilting motor 200 . The axial limiter can be in sliding contact with the second flange 421 , so that the axial limiter does not affect the rotation of the second flange 421 , but can prevent the second flange 421 from sliding axially. In this way, the setting of the axial limiter ensures the running stability of the tilting structure 10 of the aircraft.

In one of the embodiments, a plurality of second connecting parts 420 can be provided, and the plurality of second connecting parts 420 are arranged at intervals and respectively coaxially connected with the shaft-coupling rotating part 400. The member 420 is rotatably connected to the machine arm 100 . One of the plurality of second connecting parts 420 can be arranged at the end of the shaft-connecting rotating part 400 of the cylindrical structure, and the remaining second connecting parts 420 of the plurality of second connecting parts 420 can be accommodated in In the rotating part 400 of the cylindrical structure. The second connecting member 420 can be a flange bearing, and the shaft-coupling rotating member 400 can be rotatably connected to the machine arm 100 through a plurality of flange bearings. In this way, the radial force borne by the drive shaft of the tilting motor 200 can not only be shared by the first connecting member 410 and the plurality of second connecting members 420 . In this way, the radial force on the drive shaft of the tilt motor 200 is further reduced, effectively reducing the risk of fracture of the drive shaft of the tilt motor 200 , which is beneficial to ensure the flight safety of the aircraft.

In one specific embodiment, the power motor 320 assembly 300 includes a propeller 310 , a power motor 320 and a connector 330 . The power motor 320 is drivingly connected to the propeller 310 , the connecting member 330 is disposed on the first connecting member 410 , and the power motor 320 is disposed on the connecting member 330 . The propeller 310 serves as a component that converts the rotational power of the power motor 320 into propulsion. The power motor 320 is used to drive the propeller 310 to rotate to realize flight action. In an implementation manner, the axis direction of the power motor 320 may be perpendicular to the axis direction of the tilt motor 200 . In this way, it is convenient for the tilt motor 200 to adjust the attitude of the propeller 310 , and it is convenient for the power motor 320 assembly 300 to perform corresponding flight actions.

The above embodiments describe the tilting structure provided by the embodiments of the present application. Correspondingly, the present application also provides an embodiment of an aircraft. The aircraft provided in this embodiment includes the tilting structure 10 described in any of the above embodiments.

The aircraft provided in this embodiment includes a fuselage and an arm 100 disposed on the fuselage. The arm 100 is provided with a tilting structure 10. The tilting structure 10 includes a tilting motor 200 mounted on the arm 100 and a tilting motor 200 connected with the tilting structure. The drive shaft of the rotary motor 200 drives the connected power motor assembly 300 . Wherein, the machine arm 100 may be a cylindrical rod-shaped structure for supporting the tilting motor 200 . The tilting motor 200 may be a servo motor, and the driving shaft of the tilting motor 200 is connected to the power motor assembly 300 through a transmission relationship, so as to realize the tilting of the power motor assembly 300 . The power motor assembly 300 is used to drive the aircraft to perform flight maneuvers.

Having described various embodiments of the present application above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or improvement of technology in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein.

Claims

A tilting structure is characterized by comprising:

a machine arm, a tilting motor mounted on the machine arm, and a power motor assembly connected to the drive shaft of the tilting motor;

It also includes a shaft-connected rotating part, the connecting shaft rotating part is provided with a first connecting part and a second connecting part, the drive shaft of the tilting motor is connected to the shaft-connecting rotating part through the first connecting part, so The connecting shaft rotating member is rotatably connected to the machine arm through the second connecting member;

Wherein, the machine arm, the shaft-connected rotating member, the first connecting member and the second connecting member are arranged coaxially.
The tilting structure according to claim 1, characterized in that:

The first connecting piece includes a first flange;

The second connecting piece includes a second flange;

The first flange and the second flange are respectively fixedly connected with the shaft-connected rotating member.
The tilting structure according to claim 2, characterized in that:

The arm is rotatably connected to the second flange;

The drive shaft of the tilting motor and the power motor assembly are fixedly connected to the first flange respectively.
The tilting structure according to claim 1, characterized in that:

The tilting motor includes a stator and a rotor;

The stator is fixedly connected to the machine arm, and the rotor is fixedly connected to the shaft-connected rotating member through the first connecting member.
The tilting structure according to claim 2, characterized in that:

The shaft-connected rotating member is configured as a hollow cylindrical structure;

The first flange and the second flange are respectively connected to the cylindrical structure and arranged at intervals.
The tilting structure according to claim 1, further comprising:

a mounting assembly for mounting the tilting motor;

The mounting assembly includes a first fixing part and a second fixing part;

The first fixing part is used to fix the tilting motor to the machine arm, and the second fixing part is arranged on the periphery of the tilting motor and connected to the first fixing part.
The tilting structure according to claim 2, characterized in that:

The second connecting part also includes a rotating part arranged between the second flange and the arm;

The second flange is rotatably connected to the machine arm through the rotating member.
The tilting structure according to claim 1, characterized in that:

It also includes a limit assembly arranged on the arm;

The limiting component is used to limit the second connecting member along the circumferential direction and/or the axial direction of the machine arm.
The tilting structure according to claim 8, characterized in that:

The limiter assembly includes a first limiter and/or a second limiter installed on the arm, the first limiter and the second limiter are arranged on the second connecting member both sides;

The first limiting member is used to limit the rotation angle of the second connecting member along the circumferential direction of the machine arm;

The second limiting member is used to axially limit the second connecting member on the machine arm.
The tilting structure according to claim 9, characterized in that:

The first limiting member is provided with an arc-shaped limiting groove, the arc-shaped limiting groove is along the rotation direction of the second connecting member, and the second connecting member is opposite to the arc-shaped limiting groove. One side is provided with a limit protrusion, the limit protrusion can be accommodated in the arc limit groove, and can move in the arc limit groove, wherein the central angle corresponding to the arc limit groove greater than or equal to the maximum rotation angle of the second connecting member.
The tilting structure according to claim 5, characterized in that:

The first flange is mounted on one end of the shaft-connected rotating member in the direction of the rotation axis, and the second flange is mounted on the other end of the shaft-connected rotating member in the direction of the rotation axis;

The shaft-connected rotating member, the first flange and the second flange jointly define a receiving cavity, and the tilting motor is stored in the receiving cavity.
The tilting structure according to claim 11, characterized in that:

A cooling hole is opened on the shaft-connected rotating member, and the cooling hole communicates with the inner side and the outer side of the storage cavity.
The tilting structure according to claim 6, characterized in that:

The first fixing member includes a motor stopper, and the motor stopper is fixedly arranged on the machine arm for limiting the axial sliding of the tilting motor along the machine arm;

The second fixing part includes a motor sleeve, and the motor sleeve is sleeved on the tilting motor and connected to the motor limiter.
The tilting structure according to claim 1, characterized in that:

A plurality of the second connecting parts are provided, and the plurality of the second connecting parts are arranged at intervals, and the shaft-coupling rotating part is rotatably connected to the machine arm through the plurality of the second connecting parts.
An aircraft, characterized by comprising the tilting structure according to any one of claims 1-14.