Electromagnetic servo and aircraft

Abstract

The present application relates to an electromagnetic servo and an aircraft, wherein the electromagnetic servo comprises: a driving coil, a permanent magnet, a coil fixing frame, and a permanent magnet fixing frame, wherein the permanent magnet is installed in a through hole of the permanent magnet fixing frame, the driving coil is installed in a through hole of the coil fixing frame, the permanent magnet is outside the driving coil, the permanent magnet fixing frame is rotatably connected to the coil fixing frame through a rotating shaft, and the permanent magnet drives the permanent magnet fixing frame to rotate synchronously when rotating. When the driving coil is energized, the electromagnetic force generated acts on the permanent magnet, causing the permanent magnet to rotate at a large angle, thereby realizing that the permanent magnet fixing frame rotates synchronously with the permanent magnet.

Description

Technical Field

[0001] The present application relates to the field of bionic robots, and in particular to an electromagnetic servo and an aircraft. Background Art

[0002] Bionic flapping-wing aircraft have a history of more than 30 years, but they are still difficult to commercialize due to the low load capacity and poor autonomous flight capabilities of flapping-wing flight. The flight posture of existing bionic flapping-wing aircraft is very unstable, and it is difficult to maintain stable flight for several minutes even with the help of a remote control.

[0003] Therefore, the existing bionic flapping-wing aircraft has the technical problem of unstable flight. Summary of the invention

[0004] Based on this, it is necessary to provide an electromagnetic servo and aircraft that can enable a bionic flapping-wing aircraft to fly smoothly in response to the above technical problems.

[0005] An electromagnetic steering gear, comprising: a driving coil 10, a permanent magnet 11, a coil fixing frame 12, and a permanent magnet fixing frame 13;

[0006] The permanent magnet 11 is installed in the through hole of the permanent magnet fixing frame 13, and the driving coil 10 is installed in the through hole of the coil fixing frame 12; the permanent magnet 11 is outside the driving coil 10; the permanent magnet fixing frame 13 is rotatably connected to the coil fixing frame 12 via a rotating shaft;

[0007] When the permanent magnet 11 rotates, it drives the permanent magnet fixing frame 13 to rotate synchronously.

[0008] In one embodiment, the permanent magnet fixing frame 13 includes a fixing member 14 , and the through hole is arranged in the middle of the fixing member 14 for accommodating the permanent magnet 11 .

[0009] In one embodiment, the permanent magnet fixing frame 13 further includes a tail rudder support member 15 , and the tail rudder support member 15 is clamped with the permanent magnet 11 , and the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate synchronously through the tail rudder support member 15 .

[0010] In one embodiment, the permanent magnet fixing frame 13 also includes a tail rudder support 15, the permanent magnet fixing frame (13) and the rotating shaft are integrated, the permanent magnet 11 is clamped with the rotating shaft, and the permanent magnet (11) drives the permanent magnet fixing frame 13 to rotate synchronously through the rotating shaft.

[0011] In one of the embodiments, when the drive coil 10 is not energized, the axial direction of the permanent magnet 11 is perpendicular to the axial direction of the drive coil 10; when current is supplied to the drive coil 10, the permanent magnet 11 can rotate to a first position, wherein the first position is a position where the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the drive coil 10 is less than a preset threshold.

[0012] In one embodiment, when the permanent magnet 11 is in the first position, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree.

[0013] In one embodiment, after the permanent magnet 11 rotates to the first position, when a reverse current is supplied to the driving coil 10, the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate 180 degrees from the first position to the second position.

[0014] In one embodiment, the electromagnetic servo further comprises: a limiting mechanism 30; the limiting mechanism 30 is located on the coil fixing frame 12;

[0015] The limiting mechanism 30 is used to limit the permanent magnet fixing frame 13 from switching between a horizontal position and a vertical position.

[0016] An aircraft includes a tail wing 42 and a tail rudder 41. The aircraft also includes the electromagnetic steering gear 40 as described in any of the above embodiments. The tail rudder 41 is connected to the tail wing 42 through the electromagnetic steering gear 40.

[0017] In one embodiment, the tail rudder 41 is a vertical tail rudder, and the vertical tail rudder is connected to the tail wing 42 through the electromagnetic steering gear 40.

[0018] In one embodiment, the tail rudder 41 is a horizontal tail rudder, and the horizontal tail rudder is connected to the tail wing 42 through the electromagnetic steering gear 40.

[0019] In one embodiment, the electromagnetic servo 40 includes a first electromagnetic servo 401 and a second electromagnetic servo 402; the horizontal tail rudder includes a first horizontal tail rudder 411 and a second horizontal tail rudder 412; the first horizontal tail rudder 411 is connected to the tail wing 42 through the first electromagnetic servo 401, and the second horizontal tail rudder 412 is connected to the tail wing 42 through the second electromagnetic servo 402.

[0020] In one embodiment, when current is passed through the driving coil 10 of the first electromagnetic servo 401, the first electromagnetic servo 401 drives the first horizontal tail rudder 411 to move upward or downward, and when current is passed through the driving coil 10 of the second electromagnetic servo 402, the second electromagnetic servo 402 drives the second horizontal tail rudder 412 to move upward or downward.

[0021] The electromagnetic steering gear comprises: a driving coil 10, a permanent magnet 11, a coil fixing frame 12, and a permanent magnet fixing frame 13. The permanent magnet 11 is installed in the through hole of the permanent magnet fixing frame 13, the driving coil 10 is installed in the through hole of the coil fixing frame 12, the permanent magnet 11 is outside the driving coil 10, the permanent magnet fixing frame 13 is rotatably connected with the coil fixing frame 12 through a rotating shaft, and the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate synchronously when rotating. Among them, because the permanent magnet 11 is outside the driving coil 10, when the driving coil 10 is energized, the electromagnetic force generated acts on the permanent magnet 11, so that the permanent magnet 11 rotates at a large angle, thereby realizing that the permanent magnet fixing frame 13 rotates synchronously with the permanent magnet 11, and the electromagnetic steering gear is applied to the aircraft to improve the stability of the flight state by controlling the angle rotation of the permanent magnet 11 on the electromagnetic steering gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a structural diagram of an electromagnetic steering gear in one embodiment;

[0023] Figure 2 is a structural diagram of an electromagnetic steering gear in one embodiment;

[0024] Figure 3 is a relative position diagram of the permanent magnet and the driving coil when the driving coil is not energized in one embodiment;

[0025] Figure 4 is a diagram showing the relative positions of the permanent magnet and the driving coil when a forward current flows through the driving coil in one embodiment;

[0026] Figure 5 is a diagram showing the relative positions of the permanent magnet and the driving coil when a reverse current is passed through the driving coil in one embodiment;

[0027] Figure 6 is a structural diagram of an electromagnetic steering gear in one embodiment;

[0028] Figure 7 It is a position relationship diagram of an electromagnetic steering gear with a limiting mechanism 30 when it is powered on in one embodiment;

[0029] Figure 8 is a position relationship diagram of an electromagnetic steering gear with a limiting mechanism 30 in one embodiment when no power is supplied;

[0030] Fig. 9 is a structural diagram of an aircraft in one embodiment;

[0031] Fig.10 is a structural diagram of a vertical tail rudder in one embodiment;

[0032] Fig.11 is a position relationship diagram of a horizontal tail rudder of an aircraft in one embodiment;

[0033] Fig.12 is a position relationship diagram of a horizontal tail rudder of an aircraft in one embodiment;

[0034] Fig.13 is a position relationship diagram of a horizontal tail rudder of an aircraft in one embodiment;

[0035] Fig.14 1 is a structural diagram of an aircraft in one embodiment. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] In one embodiment, Figure 1 As shown, an electromagnetic steering gear is provided, and the electromagnetic steering gear comprises: a driving coil 10, a permanent magnet 11, a coil fixing frame 12, and a permanent magnet fixing frame 13;

[0038] The permanent magnet 11 is installed in the through hole of the permanent magnet fixing frame 13, and the driving coil 10 is installed in the through hole of the coil fixing frame 12; the permanent magnet 11 is outside the driving coil 10; the permanent magnet fixing frame 13 is rotatably connected to the coil fixing frame 12 via a rotating shaft;

[0039] When the permanent magnet 11 rotates, it drives the permanent magnet fixing frame 13 to rotate synchronously.

[0040] In the embodiment of the present invention, because the permanent magnet 11 is outside the driving coil 10, when the driving coil 10 is energized, the driving coil 10 will generate an electromagnetic field. The electromagnetic field generated by the driving coil 10 and the magnetic field generated by the permanent magnet 11, based on the principle that like poles repel and unlike poles attract, drive the permanent magnet 11 to rotate, so that the permanent magnet 11 rotates at a larger angle, thereby realizing a large angle transformation of the permanent magnet fixing frame 13. Applying the electromagnetic servo to an aircraft can improve the stability of the flight state by controlling the angular rotation of the permanent magnet 11 on the electromagnetic servo.

[0041] Furthermore, the electromagnetic servo can be installed on the tail rudder of the aircraft to drive the tail rudder to achieve a turning angle of plus or minus 90 degrees, and in the turning state, it can also provide a greater electromagnetic force to further ensure a stable flight state change.

[0042] It should be noted that, depending on the influence of the surrounding environment on the aircraft, the permanent magnet 11 does not necessarily have to be rotated 90 degrees, but may also be 89 degrees, 85 degrees, etc., and the angle can be fine-tuned according to the influence of the surrounding environment.

[0043] Optionally, in one embodiment, the drive coil 10 may be a self-adhesive coil.

[0044] Optionally, in one embodiment, Figure 2 As shown, the permanent magnet fixing frame 13 includes a fixing member 14, and the through hole is arranged in the middle of the fixing member 14 for accommodating the permanent magnet 11. In addition, the permanent magnet fixing frame 13 also includes a tail rudder support member 15, and the tail rudder support member 15 is clamped with the permanent magnet 11, and the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate synchronously through the tail rudder support member 15.

[0045] Optionally, in another embodiment, the permanent magnet fixing frame 13 includes a fixing member 14, and the through hole is arranged in the middle of the fixing member 14 for accommodating the permanent magnet 11. In addition, the permanent magnet fixing frame 13 also includes a tail rudder support member 15, the permanent magnet fixing frame 13 and the rotating shaft are integrated, the permanent magnet 11 is clamped with the rotating shaft, and the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate synchronously through the rotating shaft.

[0046] Furthermore, the rudder support 15 can be connected to the fixing member 14, so that it can rotate synchronously with the fixing member 14. There are many ways for the rudder support 15 to be connected to the fixing member 14, such as a clamping block that matches the outer surface shape of the fixing member 14 is provided on the side of the rudder support 15 close to the fixing member 14, and the clamping block is connected with the fixing member 14 through the clamping block, so as to achieve synchronous rotation of the two. Or a protrusion is provided on the side of the rudder support 15 close to the fixing member 14, and a groove that matches the protrusion is provided on the side of the fixing member 14 close to the rudder support 15; or the rudder support 15 and the fixing member 14 are threadedly connected, etc., which are not specifically limited here.

[0047] In the embodiment of the present invention, a through hole is provided in the middle of the fixing member 14, and the permanent magnet 11 is installed in the through hole. Because the permanent magnet fixing frame 13 and the coil fixing frame 12 are connected by a rotating shaft, the permanent magnet fixing frame 13 can rotate around the rotating shaft under the drive of the driving coil 10.

[0048] Optionally, in one embodiment, when the drive coil 10 is not energized, the axial direction 20 of the permanent magnet 11 is perpendicular to the axial direction of the drive coil 10; when current is passed through the drive coil 10, the permanent magnet 11 can rotate to a first position, wherein the first position is a position where the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the drive coil 10 is less than a preset threshold.

[0049] In the embodiment of the present invention, according to the influence of the surrounding environment on the aircraft, the permanent magnet 11 does not necessarily have to rotate 90 degrees, but may also be 89 degrees, 85 degrees, etc., and the angle can be fine-tuned according to the influence of the surrounding environment. When the permanent magnet 11 rotates 90 degrees, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the drive coil 10 is 0 degrees; when the permanent magnet 11 rotates 89 degrees, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the drive coil 10 is 1 degree; when the permanent magnet 11 rotates 85 degrees, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the drive coil 10 is 5 degrees.

[0050] Optionally, the preset threshold is 90 degrees. When current is supplied to the driving coil 10, the permanent magnet 11 can rotate to a first position, where the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is between 0 and 90 degrees.

[0051] Optionally, in one embodiment, when the permanent magnet 11 is in the first position, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree.

[0052] In the embodiment of the present invention, without being affected by environmental factors, when the permanent magnet 11 is in the first position, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degree.

[0053] In the embodiment of the present invention, when the driving coil 10 is not energized, the driving coil 10 does not generate an electromagnetic field, and no electromagnetic force acts on the permanent magnet 11, and the permanent magnet 11 and the permanent magnet fixing frame 13 can rotate freely around the rotating shaft. Figure 3 The figure shows the relative positions of the permanent magnet 11 and the driving coil 10 when the driving coil 10 is not energized, and the axial direction 20 of the permanent magnet 11 from the N pole to the S pole is perpendicular to the axial direction 21 of the driving coil 10. The permanent magnet 11 may be an axisymmetric structure, and the two ends of the permanent magnet 11 along the symmetry axis are the N pole and the S pole, respectively. When the permanent magnet 11 is in the initial position, the direction of the permanent magnet 11 from the magnetic pole N pole to the S pole, that is, the axial direction 20 of the permanent magnet 11, is substantially parallel to the plane where the driving coil 10 is located. In the embodiment of the present invention, the permanent magnet 11 may be a cylindrical structure.

[0054] In the embodiment of the present invention, Figure 4 As shown, the driving coil 10 includes two leads, and the two leads are led out from the holes (for example, the holes at the rear end) on the coil fixing frame 12. When current (for example, a forward current) is passed through the two leads, the permanent magnet 11 can rotate from the initial position to the first position, wherein the first position is a position where the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is less than a preset threshold, that is, the axial direction of the permanent magnet 11 forms a certain angle with the plane where the driving coil 10 is located. In this embodiment, the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is used as an example for explanation, and the angle can be greater than 0 and equal to less than 90 degrees, and can be specifically set as needed. Among them, when the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degrees, that is, the axial direction of the permanent magnet 11 is substantially perpendicular to the plane where the driving coil 10 is located, the suction force generated by the driving coil 10 and the permanent magnet 11 is greater.

[0055] It can be understood that the forward current here does not specify a specific direction, but is only used to distinguish it from the reverse current described later. For example, the drive coil 10 includes two leads, namely a first lead and a second lead. If the direction in which the current flows from the first lead to the second lead is called the forward current, the direction of the corresponding reverse current described later is the direction in which the current flows from the second lead to the first lead; if the direction in which the current flows from the second lead to the first lead is called the forward current, the direction of the corresponding reverse current described later is the direction in which the current flows from the first lead to the second lead.

[0056] Optionally, in one embodiment, after the permanent magnet 11 rotates to the first position, when a reverse current is supplied to the driving coil 10, the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate 180 degrees from the first position to the second position.

[0057] In the embodiment of the present invention, as in the above embodiment, when a forward current is passed through the driving coil 10 (assuming that the direction in which the current flows from the first lead to the second lead is referred to as a forward current), the permanent magnet 11 rotates to a position where the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degrees. Thereafter, when a reverse current is passed through the driving coil 10 (at this time, the direction in which the current flows from the second lead to the first lead is referred to as a reverse current), the direction of the magnetic field generated by the driving coil 10 will be reversed. At this time, the electromagnetic field generated by the driving coil 10 and the magnetic field direction of the permanent magnet 11 will be opposite. Under the principle that like poles repel and unlike poles attract, the permanent magnet 11 will rotate 180 degrees from the first position (the position where the angle between the axial direction 20 of the permanent magnet 11 and the axial direction 21 of the driving coil 10 is 0 degrees), thereby rotating the permanent magnet 11 and the permanent magnet fixing frame 13 to the second position (the angle between the second position and the first position is 180 degrees). Figure 5 As shown, the permanent magnet 11 drives the permanent magnet fixing frame 13 to rotate 180 degrees, and the angle between the axial direction 20 of the rotated permanent magnet 11 and the axial direction 21 of the driving coil 10 is still smaller than the preset threshold position, thereby achieving the reversal of the direction of the permanent magnet fixing frame 13.

[0058] In the embodiment of the present invention, no matter whether a forward current is passed through the drive coil 10 (the permanent magnet 11 rotates to the first position) or a reverse current is passed through the drive coil 10 (the permanent magnet 11 rotates to the second position), when the current is stopped, the electromagnetic field generated by the drive coil 10 will disappear, and the permanent magnet 11 and the permanent magnet fixing frame 13 will return to a state without force.

[0059] In one embodiment, Figure 6 As shown, in addition to the driving coil 10, permanent magnet 11, coil fixing frame 12 and permanent magnet fixing frame 13 described in the above embodiment, the electromagnetic steering gear also includes: a limiting mechanism 30; the limiting mechanism 30 is located on the coil fixing frame 12; the limiting mechanism 30 is used to limit the state switching of the permanent magnet fixing frame 13 between the horizontal position and the vertical position.

[0060] In the embodiment of the present invention, when the permanent magnet fixing frame 13 is only required to provide two states of positions, a limiting mechanism 30 can be added to one side of the coil fixing frame 12 of the electromagnetic servo, thereby limiting the permanent magnet fixing frame 13 to switch between the horizontal position and the vertical position.

[0061] in, Figure 7 The figure shows the positional relationship when the electromagnetic steering gear with the limit mechanism 30 is powered on. Figure 8 The positional relationship when the electromagnetic steering gear with the limit mechanism 30 is not energized is shown.

[0062] In one embodiment, Fig. 9 As shown, an aircraft is provided, the aircraft includes a tail wing 42 and a tail rudder 41 , the aircraft also includes an electromagnetic steering gear 40 as described in any of the above embodiments, and the tail rudder 41 is connected to the tail wing 42 through the electromagnetic steering gear 40 .

[0063] In the embodiment of the present invention, Fig. 9 As shown, the tail rudder 41 can be a horizontal tail rudder, wherein the horizontal tail rudder refers to a steerable tail rudder blade in a direction parallel to the fuselage, that is, under the influence of wind force in a natural flight state, the tail rudder blade is parallel to the tail wing 42. When the electromagnetic steering gear 40 is set on the horizontal tail rudder, it can drive the horizontal tail rudder to move upward or downward, or to be in a horizontal state, so as to adjust the flight direction and flight speed.

[0064] In another embodiment, if Fig.10As shown, the tail rudder 41 may be a vertical tail rudder, wherein the vertical tail rudder refers to a steerable tail rudder piece in a direction perpendicular to the fuselage, that is, the tail rudder piece is perpendicular to the tail wing 42 in a natural state. The vertical tail rudder is connected to the tail wing 42 through an electromagnetic steering gear 40. When the electromagnetic steering gear 40 is set on the vertical tail rudder, it can drive the vertical tail rudder to swing left or right, thereby controlling the flight direction to turn left or right.

[0065] Furthermore, in an embodiment of the present invention, the tail 42 adopts the above-mentioned horizontal tail, and the electromagnetic servo 40 is horizontally installed on the horizontal tail of the fuselage, so there is no need to install the electromagnetic servo in the vertical direction, and the vertical tail can be omitted, so that the structure and flight posture of the aircraft are closer to the bionic bird, and the flight speed of the aircraft can be adjusted.

[0066] Optional, such as Fig.11 As shown, in one embodiment, the electromagnetic steering gear 40 includes a first electromagnetic steering gear 401 and a second electromagnetic steering gear 402; the tail rudder 41 adopts a horizontal tail rudder, and the horizontal tail rudder includes a first horizontal tail rudder 411 and a second horizontal tail rudder 412; the first horizontal tail rudder 411 is connected to the tail wing 42 through the first electromagnetic steering gear 401, and the second horizontal tail rudder 412 is connected to the tail wing 42 through the second electromagnetic steering gear 402.

[0067] When current is passed through the driving coil 10 of the first electromagnetic steering gear 401, the first electromagnetic steering gear 401 drives the first horizontal tail rudder 411 to move upward or downward. When current is passed through the driving coil 10 of the second electromagnetic steering gear 402, the second electromagnetic steering gear 402 drives the second horizontal tail rudder 412 to move upward or downward.

[0068] In one embodiment, it can be set that when a positive current is passed through the driving coil 10 of the first electromagnetic servo 401, the first electromagnetic servo 401 drives the first horizontal tail rudder 411 to move upward; when a reverse current is passed through the driving coil 10 of the first electromagnetic servo 401, the first electromagnetic servo 401 drives the first horizontal tail rudder 411 to move downward; similarly, when a positive or reverse current is passed through the driving coil 10 of the second electromagnetic servo 402, the second electromagnetic servo 402 drives the second horizontal tail rudder 412 to move upward or downward. It should be noted that the corresponding relationship between the passing of a positive or reverse current through the driving coil 10 and the upward or downward movement of the tail rudder can be set arbitrarily, and the present invention does not limit this.

[0069] By energizing the driving coil 10 of the first electromagnetic servo 401 or the second electromagnetic servo 402, the adjustment of the flight direction or flight speed of the aircraft can be specifically divided into four situations. Among them, since the upward or downward movement of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 has the same adjustment principle for the flight direction or flight speed of the aircraft, the upward or downward movement of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 is not distinguished and explained here. The corresponding figure takes the upward movement of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 as an example, and the four situations are explained respectively below.

[0070] The first one, such as Fig.11 As shown, when current is only supplied to the driving coil 10 of the first electromagnetic servo 401, the first electromagnetic servo 401 drives the first horizontal tail rudder 411 (the tail rudder on the right side of the fuselage as shown) to move upward or downward, and the second horizontal tail rudder 412 (the tail rudder on the left side of the fuselage as shown) remains in a horizontal state. In this way, the first horizontal tail rudder 411 is subjected to greater resistance, while the second horizontal tail rudder 412 is subjected to less resistance. During the flight, the aircraft will turn to the right (towards the side with greater resistance) to adjust the flight direction.

[0071] The second type is that when only the driving coil 10 of the second electromagnetic servo 402 is supplied with current, the second electromagnetic servo 402 drives the second horizontal tail rudder 412 to move upward or downward, and the first horizontal tail rudder 411 is still in a horizontal state. In this way, the second horizontal tail rudder 412 is subjected to greater resistance, and the first horizontal tail rudder 411 is subjected to less resistance. The aircraft will turn to the left during flight, thereby adjusting the flight direction.

[0072] The third type, such as Fig.12 As shown, when no current is passed through the driving coil 10 of the first electromagnetic servo 401 and the driving coil 10 of the second electromagnetic servo 402, the first horizontal tail rudder 411 and the second horizontal tail rudder 412 are both in a horizontal state. In this state, the flight resistance of the aircraft is small and the flight speed is fast, thereby adjusting the flight speed.

[0073] The fourth type, such as Fig.13 As shown, when current is passed through the driving coil 10 of the first electromagnetic servo 401 and the driving coil 10 of the second electromagnetic servo 402, the first horizontal tail rudder 411 and the second horizontal tail rudder 412 are both in an upward moving state, or are both in a downward moving state, or one of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 moves upward and the other moves downward. In the three states, the resistance to the flight of the aircraft is large, and the flight speed is reduced, thereby adjusting the flight speed.

[0074] In one embodiment, Fig.14As shown, an aircraft is provided, the aircraft comprising a body 100, a controller 200 and an electromagnetic steering gear 40; the body 100 comprises a tail wing 42 and a tail rudder 41, the tail rudder 41 is connected to the tail wing 42 through the electromagnetic steering gear 40; the controller 200 is electrically connected to the electromagnetic steering gear 40;

[0075] The controller 200 is used to generate a flight control instruction and control the power-on state of the electromagnetic steering gear 40 according to the flight control instruction;

[0076] The electromagnetic steering engine 40 is used to adjust the state of the tail rudder 41 of the body 100 according to the power-on state, so as to achieve control of the aircraft.

[0077] The flight control instruction in the embodiment of the present invention is an instruction for controlling the power-on state of the electromagnetic steering gear 40 , including powering on the electromagnetic steering gear 40 and not powering on the electromagnetic steering gear 40 .

[0078] The controller in the embodiment of the present invention refers to a device that controls the power-on state of the electromagnetic steering gear 40 by changing the wiring of the main circuit or the control circuit in a predetermined order.

[0079] In the embodiment of the present invention, when the electromagnetic servo 40 is powered on, it can drive the tail rudder 41 to move upward or downward. The state of the tail rudder 41 (moving upward, downward, or horizontal) can affect the flight speed and flight direction of the aircraft. Therefore, the electromagnetic servo adjusts the state of the tail rudder of the aircraft body according to the power-on state to achieve control of the aircraft.

[0080] Optionally, in one embodiment, the aircraft further comprises at least one sensor;

[0081] The at least one sensor is connected to the controller, and the at least one sensor is used to collect flight data and send the flight data to the controller, so that the controller generates the flight control instruction according to the flight data.

[0082] In an embodiment of the present invention, at least one sensor collects flight data in real time and can be set at any position of the aircraft. The flight data can be data such as flight speed and obstacle information, and the flight data is sent to the controller, and then the controller generates a flight control instruction based on the flight data.

[0083] like Fig.11As shown, when the flight control instruction is to energize the first electromagnetic servo 401 and not to energize the second electromagnetic servo, the controller is used to control the power-on state of the first electromagnetic servo 401 to be a closed state according to the flight control instruction, and to control the power-on state of the second electromagnetic servo 402 to be a disconnected state according to the flight control instruction; the first electromagnetic servo 401 is used to drive the first horizontal tail rudder 411 to move upward or downward in the closed state; the second electromagnetic servo is used to drive the second horizontal tail rudder 412 to maintain a horizontal state in the disconnected state.

[0084] In the embodiment of the present invention, when there are obstacles in front and on the left, at least one sensor will collect these data and send the collected data to the controller, which analyzes the received data and generates a flight control instruction, which is to energize the first electromagnetic steering gear 401 and not energize the second electromagnetic steering gear 402. When only the first electromagnetic steering gear 401 is energized, the first electromagnetic steering gear 401 drives the first horizontal tail rudder 411 to move upward or downward, and the second horizontal tail rudder 412 is still in a horizontal state, so that the first horizontal tail rudder 411 is subjected to greater resistance, and the second horizontal tail rudder 412 is subjected to less resistance, and the aircraft will turn to the right during flight, thereby adjusting the flight direction.

[0085] When the flight control instruction is to not energize the first electromagnetic servo 401 and energize the second electromagnetic servo 402, the controller is used to control the power-on state of the first electromagnetic servo 401 to be in an off state according to the flight control instruction, and to control the power-on state of the second electromagnetic servo 402 to be in a closed state according to the flight control instruction; the first electromagnetic servo 401 is used to keep the first horizontal tail rudder 411 in a horizontal state in the off state; the second electromagnetic servo 402 is used to drive the second horizontal tail rudder 412 to move upward or downward in the closed state.

[0086] In the embodiment of the present invention, when there are obstacles both in the front and on the right, at least one sensor will collect these data and send the collected data to the controller, which analyzes the received data and generates a flight control instruction, which is not to energize the first electromagnetic servo 401 and to energize the second electromagnetic servo 402. When only the second electromagnetic servo 402 is energized, the second electromagnetic servo 402 drives the second horizontal tail rudder 412 to move upward or downward, and the first tail rudder 411 is still in a horizontal state, so that the second horizontal tail rudder 412 is subjected to greater resistance, and the first tail rudder 411 is subjected to less resistance, and the aircraft will turn to the left during flight, thereby adjusting the flight direction.

[0087] like Fig.13As shown, when the flight control instruction is to power on the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402 at the same time, the controller is used to control the power-on state of the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402 to be a closed state according to the flight control instruction; the first electromagnetic steering gear 401 is used to drive the first horizontal tail rudder 411 to move upward or downward in the closed state; the second electromagnetic steering gear 402 is used to drive the second horizontal tail rudder 412 to move upward or downward in the closed state.

[0088] In the embodiment of the present invention, when the flight data collected by at least one sensor is the speed of the aircraft, at least one sensor sends the collected data to the controller, and the controller analyzes the received data. If the speed is greater than a preset threshold (indicating that the speed is too fast and needs to be reduced), a flight control instruction is generated, and the flight control instruction is to power on the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402. When the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402 are both powered on, the first horizontal tail rudder 411 and the second horizontal tail rudder 412 are both in an upward moving state, or both are in a downward moving state, or one of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 moves upward and the other moves downward. In the three states, the resistance of the aircraft flight is large, and the flight speed is reduced, so the flight speed is adjusted to be reduced, which solves the problem that the existing aircraft cannot adjust the speed.

[0089] like Fig.12 As shown, when the flight control instruction is to not energize the first electromagnetic servo 401 and the second electromagnetic servo 402, the controller is used to control the energization state of the first electromagnetic servo 401 and the second electromagnetic servo 402 to be disconnected according to the flight control instruction; the first electromagnetic servo 401 is used to drive the first horizontal tail rudder 411 to maintain a horizontal state in the disconnected state; the second electromagnetic servo 402 is used to drive the second horizontal tail rudder 412 to maintain a horizontal state in the disconnected state.

[0090] In the embodiment of the present invention, when the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402 are both powered on, the first horizontal tail rudder 411 and the second horizontal tail rudder 412 are both in an upward moving state, or both in a downward moving state, or one of the first horizontal tail rudder 411 and the second horizontal tail rudder 412 is moving upward and the other is moving downward. In the above three states, when the data collected by at least one sensor indicates that there are no obstacles in front, on the left and on the right, the sensor sends the collected data to the controller, and the controller analyzes the received data and finds that it is not necessary to turn or fly at a very slow speed, then generates a flight control instruction, which is not to power on the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402. When the first electromagnetic steering gear 401 and the second electromagnetic steering gear 402 are not powered on, the first horizontal tail rudder 411 and the second horizontal tail rudder 412 are both in a horizontal state, in which the resistance of the aircraft flying is small and the flying speed is fast, so the flying speed is adjusted, solving the problem that the existing aircraft cannot adjust the speed.

[0091] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An electromagnetic steering gear, characterized in that: The electromagnetic steering engine comprises: a driving coil (10), a permanent magnet (11), a coil fixing frame (12), and a permanent magnet fixing frame (13); The permanent magnet (11) is installed in a through hole of the permanent magnet fixing frame (13), and the drive coil (10) is installed in a through hole of the coil fixing frame (12); the permanent magnet (11) is located outside the drive coil (10); the permanent magnet fixing frame (13) is rotatably connected to the coil fixing frame (12) via a rotating shaft, wherein the permanent magnet fixing frame comprises a fixing member (14), the permanent magnet (11) is accommodated in a through hole of the fixing member (14), and the angle between the axial direction (20) of the permanent magnet (11) and the axial direction (21) of the drive coil (10) has a value range of [0°, 90°]; The electromagnetic steering engine further comprises a limiting mechanism (30), wherein the limiting mechanism (30) is located on the coil fixing frame (12), and the limiting mechanism (30) is used to limit the permanent magnet fixing frame (13) from switching between a horizontal position and a vertical position; The permanent magnet fixing frame (13) comprises a fixing member (14), and the through hole is arranged in the middle of the fixing member (14) for accommodating the permanent magnet (11); The permanent magnet fixing frame (13) further comprises a tail rudder support member (15), wherein the tail rudder support member (15) is clamped with the permanent magnet (11), and the permanent magnet (11) drives the permanent magnet fixing frame (13) to rotate synchronously via the tail rudder support member (15); or, The permanent magnet fixing frame (13) further comprises a tail rudder support member (15); the permanent magnet fixing frame (13) and the rotating shaft are integrated; the permanent magnet (11) is clamped with the rotating shaft; and the permanent magnet (11) drives the permanent magnet fixing frame (13) to rotate synchronously via the rotating shaft; When the permanent magnet (11) rotates, it drives the permanent magnet fixing frame (13) to rotate synchronously, and the tail rudder support component (15) is connected to the fixing component (14).

2. The electromagnetic steering gear according to claim 1, characterized in that: When the drive coil (10) is not energized, the axial direction (20) of the permanent magnet (11) is perpendicular to the axial direction (21) of the drive coil (10); when current is supplied to the drive coil (10), the permanent magnet (11) can rotate to a first position, wherein the first position is a position where the angle between the axial direction (20) of the permanent magnet (11) and the axial direction (21) of the drive coil (10) is less than a preset threshold.

3. The electromagnetic steering gear according to claim 2, characterized in that: When the permanent magnet (11) is in the first position, the angle between the axial direction (20) of the permanent magnet (11) and the axial direction (21) of the drive coil (10) is 0 degrees.

4. The electromagnetic steering gear according to claim 3, characterized in that: After the permanent magnet (11) rotates to the first position, when a reverse current is supplied to the drive coil (10), the permanent magnet (11) drives the permanent magnet fixing frame (13) to rotate 180 degrees from the first position to a second position.

5. An aircraft, characterized in that: The aircraft comprises a tail wing (42) and a tail rudder (41), and the aircraft further comprises an electromagnetic steering gear (40) as claimed in any one of claims 1 to 4, and the tail rudder (41) is connected to the tail wing (42) through the electromagnetic steering gear (40).

6. The aircraft according to claim 5, characterized in that The tail rudder (41) is a vertical tail rudder, and the vertical tail rudder is connected to the tail wing (42) through the electromagnetic steering gear (40).

7. The aircraft according to claim 5, characterized in that: The tail rudder (41) is a horizontal tail rudder, and the horizontal tail rudder is connected to the tail wing (42) through the electromagnetic steering gear (40).

8. The aircraft according to claim 7, characterized in that The electromagnetic steering gear (40) comprises a first electromagnetic steering gear (401) and a second electromagnetic steering gear (402); the horizontal tail rudder comprises a first horizontal tail rudder (411) and a second horizontal tail rudder (412); the first horizontal tail rudder (411) is connected to the tail wing (42) via the first electromagnetic steering gear (401), and the second horizontal tail rudder (412) is connected to the tail wing (42) via the second electromagnetic steering gear (402).

9. The aircraft according to claim 8, characterized in that When current is passed through the driving coil (10) of the first electromagnetic steering gear (401), the first electromagnetic steering gear (401) drives the first horizontal tail rudder (411) to move upward or downward, and when current is passed through the driving coil (10) of the second electromagnetic steering gear (402), the second electromagnetic steering gear (402) drives the second horizontal tail rudder (412) to move upward or downward.

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