Aircraft structure with repeatable hopping and gliding function and working method thereof

Abstract

The application discloses a kind of aircraft structures with repeatable jumping and gliding function, it is related to the field of jumping glider aircraft.The application reduces the additional mass caused by increasing the jumping structure and effectively improves the jumping height of the glider.The aircraft includes a fuselage, a pair of wings and a wing membrane connected to the wings.The fuselage includes a head shell, a base shell and a plurality of carbon fiber rods connected between the two, a jumping drive assembly is provided between the head shell and the base shell for bending the carbon fiber rods, and a folding drive assembly is provided in the base shell for folding the wings.The application effectively improves the movement range of the glider and expands its application range.

Description

Technical Field

[0001] This invention relates to the field of jump-gliding aircraft, and more specifically to an aircraft structure with repeatable jump and gliding capabilities. Background Technology

[0002] For both animals and mobile robots, movement in unstructured environments presents significant challenges. This is because their movement environments (including terrestrial, aquatic, and aerial environments) often exhibit significant variations in structural shape, size, and mechanical properties. Therefore, specific locomotion methods are needed to reduce energy loss when traversing these environments, such as jumping. Consequently, many researchers have drawn inspiration from this, mimicking and utilizing the physiological structures and functions of animals to design jumping robots.

[0003] Subsequently, researchers proposed adding wings to extend the flight time of the jumping robot and utilizing the kinetic and potential energy generated during the jump phase to increase the robot's overall maneuverability. Additionally, adding wings could reduce the destructive impact force upon landing. As early as 2014, M. Woodward et al. proposed the MultiMo Bat, a microrobot with jumping and gliding capabilities, based on the movement of vampire bats. This robot could achieve a jump height of 3 meters and a glide ratio close to 0.9.

[0004] However, in the field of aircraft design, there is no known aircraft design that uses the fuselage as a jump structure. Furthermore, due to the weight limitations of most jump gliders, the energy storage structure can only store a small amount of energy for the jump, resulting in low jump heights, rarely exceeding 50cm. This significantly restricts the aircraft's range of motion. Summary of the Invention

[0005] To address the above problems, this invention proposes an aircraft structure with repeatable jump and gliding functions, which reduces the extra mass caused by adding a jump structure and effectively increases the jump height of the glider.

[0006] The technical solution of the present invention is as follows: the aircraft includes a fuselage, a pair of wings, and a wing membrane 1 connected to the wings;

[0007] The fuselage includes a head shell 8, a base shell 10, and a plurality of carbon fiber rods 7 connected between the two. A jump drive assembly for bending the carbon fiber rods 7 is provided between the head shell 8 and the base shell 10, and a folding drive assembly for retracting the wings is provided in the base shell 10.

[0008] The jump drive assembly includes a motor 23, a railing 14, a latch 802, a reset torsion spring 20, a rope wheel, a connecting rope 9, and a trigger cone 15;

[0009] The motor 23 is fixedly connected to the head housing 8. The railing 14 is hinged to the bottom of the head housing 8 via a pin 22, and a return torsion spring 20 is mounted on the pin 22. The two ends of the return torsion spring 20 abut against the railing 14 and the head housing 8, respectively, so that the railing 14 maintains an upward flipping motion. The top end of the latch 802 is fixedly connected to the side wall of the head housing 8 and is located next to the railing 14. When the railing 14 flips upward to the upper limit position, it overlaps with the latch 802 and is locked by the latch 802. The rope wheel is rotatably connected to the railing 14 and keeps in contact with the output shaft of the motor 23 when the railing 14 flips upward to the upper limit position. The two ends of the connecting rope 9 are fixedly connected to the rope wheel and the base housing 10, respectively, and the trigger cone 15 is fixedly connected to the connecting rope 9.

[0010] Thus, the initial state is as follows Figure 2 As shown, multiple carbon fiber rods 7 are naturally extended. At this time, the head shell 8 and the base shell 10 are spaced far apart. The railing 14 is locked by the latch 802 at its upper limit position, and the rope wheel remains in contact with the output shaft of the motor 23. When it is necessary to make it bounce, the motor can be controlled to drive the rope wheel to rotate, thereby gradually retracting the connecting rope 9, so that the head shell 8 and the base shell 10 gradually move closer, and the carbon fiber rods 7 gradually bend to store energy. Subsequently, as the connecting rope 9 continues to retract, the trigger cone 15 will also continuously approach the latch 802, eventually contacting the latch 802 and pushing it open, as shown. Figure 3 As shown, this causes the rope wheel and the railing to flip downwards, causing the rope wheel to lose power. The carbon fiber rod 7 quickly returns to its original position under the influence of the restoring force, thus enabling the machine to jump.

[0011] After the fuselage completes the jump, due to the presence of the reset torsion spring 20, the railing 14 will also flip upwards to reset and eventually be locked by the latch 802, waiting for the next drive.

[0012] The folding drive assembly includes a second motor 25 fixedly connected to the base housing 10, a drum 26 fixedly connected to the output shaft of the second motor 25, and a second connecting rope 21 fixedly connected to the drum 26 at one end. The wing includes a first wing rod 2 and a second wing rod 5. One end of the second wing rod 5 is hinged to the head housing 8, and the other end is hinged to the first wing rod 2. Torsion springs are fitted at the hinge positions at both ends of the second wing rod 5, so that the first wing rod 2 and the second wing rod 5 maintain an upward flipping motion tendency. The end of the first wing rod 2 away from the second wing rod 5 is also fixedly connected to the second connecting rope 21.

[0013] When the wings are fully deployed, Figure 1 As shown, at this time, wing stick 2 and wing stick 5 are close to being perpendicular to the fuselage under the influence of the torsion spring. When the wing needs to be folded up, motor 25 can be controlled to rotate drum 26, thereby retracting connecting rope 21 and pulling the far end of wing stick 2 to fold the wing up. Figure 2 Or the state shown in Figure 3; if it needs to be unfolded again, simply reverse the control motor 25.

[0014] Furthermore, a nylon cloth 11 is provided at the end of the carbon fiber rod 7, and the nylon cloth 11 is fixedly connected to the head shell 8 or the base shell 10 by a cable tie 12.

[0015] Furthermore, the latch 802 is made of elastic material and is sheet-shaped. The top end of the latch 802 is fixedly connected to the side wall of the head housing 8. The middle part of the latch 802 is provided with a stepped surface for overlapping the railing 14, so that the railing 14 can stably overlap the latch 802 and be locked by it after it is flipped upward and reset.

[0016] The bottom of the latch 802 is arc-shaped, and the upper part of the trigger cone 15 is a cone shape with a smaller top and a larger bottom, so that the bottom can be smoothly triggered after contacting the trigger cone.

[0017] Furthermore, one end of the connecting rope 9 is fixedly connected to the connecting plate 16, the connecting plate 16 is fixedly connected to the base shell 10, and the other end of the connecting rope 9 is fixedly connected to the winding wheel, and is wound several times on the winding wheel.

[0018] Furthermore, one end of the second connecting rope is fixedly connected to the drum 26, and several turns are wound around the drum 26.

[0019] Furthermore, one end of the wing rod 2 is fixedly connected to the connecting rope 21, and the other end is fixedly connected to the joint connector 3. The two ends of the wing rod 5 are respectively fixedly connected to the joint connector 4 and the wing root joint 7.

[0020] The wing root joint 7 is hinged to the head shell 8, and a torsion spring is fitted on the hinge axis of the two to resist the two; similarly, the joint connector 3 is hinged to the joint connector 4, and a torsion spring is fitted on the hinge axis of the two to resist the two.

[0021] Furthermore, the wing membrane 1 is triangular, with one side simultaneously connected to both wing rod 2 and wing rod 5, and the base housing 10 is fixedly connected to the opposite apex of this side.

[0022] Perform the work as follows:

[0023] Control board 13 controls motor 23 to rotate, causing the base shell 10 and head shell 8 to continuously approach each other, and the aircraft enters the energy storage stage. At this time, motor 25 remains stopped, and the wings remain retracted. Until latch 802 is triggered by cone 15 to open, the elastic potential energy is converted into the kinetic energy of the aircraft jumping. At this time, the acceleration sensor in control board 13 collects the change in the aircraft's acceleration, thereby controlling motor 23 to stop rotating. The reset torsion spring 20 resets the railing 14 to reconnect with latch 802, preparing for the next jump.

[0024] The acceleration data collected by the acceleration sensor in the control board 13 is integrated to obtain the speed value of the aircraft. The current motion state of the aircraft is determined based on the speed value. When the aircraft jumps to near the highest point, the speed value is close to zero. The control board 13 controls the second motor 25 to rotate forward to unfold the wings and enter the gliding stage. Until the aircraft glides to the ground, the control board 13 controls the second motor 25 to rotate in reverse to retract the wings.

[0025] The beneficial effects of this invention are as follows:

[0026] I. This project uses a carbon fiber rod as the energy storage component for the glider's movement and integrates it with the glider's fuselage. By sharing the components required for jumping and gliding modes, the number of structural components is reduced, thereby reducing the overall mass, improving the overall motion performance, effectively increasing the glider's range of motion, and expanding its application scope.

[0027] Second, due to the small mass and high elastic modulus of carbon fiber materials, it is possible to obtain a large potential energy with a small mass, which reduces the impact of mass on flight performance and achieves a higher jump height, effectively solving the problem of insufficient jump height in jump gliders.

[0028] Third, this design enables repeated jumping. This function increases the glider's range of motion and provides a reliable design for improving the glider's maneuverability.

[0029] Fourth, this design adopts a foldable wing structure, which reduces air resistance during the jump by folding the wings, thereby increasing the jump height and effectively solving the problem of excessive air resistance caused by wings in jump gliders. Attached Figure Description

[0030] Figure 1 This is a structural diagram of the aircraft in this case.

[0031] Figure 2 This is a schematic diagram of the aircraft's wings when they retract in this case.

[0032] Figure 3 yes Figure 2Enlarged view of a section at point I

[0033] Figure 4 This is a structural diagram of the aircraft during the takeoff preparation phase in this case.

[0034] Figure 5 This is a schematic diagram of the jump triggering device in this case.

[0035] Figure 6 yes Figure 5 Sectional view of section AA.

[0036] Figure 7 This is a schematic diagram after the jump trigger device is activated.

[0037] Figure 8 This is a structural diagram of the wing rod joint in this case.

[0038] Figure 9 This is a reference diagram showing the bent wing joint in this case.

[0039] Figure 10 This is a structural diagram of the aircraft base section in this case.

[0040] Figure 11 yes Figure 10 Sectional view of section BB;

[0041] In the diagram, 1 is the wing membrane, 2 is wing rod one, 3 is joint connector one, 4 is joint connector two, 5 is wing rod two, 6 is wing root joint, 7 is carbon fiber rod, 8 is head shell, 801 is baffle, 802 is latch, 9 is connecting rope one, 10 is base shell, 11 is nylon cloth, 12 is cable tie, 13 is control panel, 14 is railing, 15 is trigger cone, 16 is connecting plate, 17 is screw, 18 is nut, 19 is battery, 20 is reset torsion spring, 21 is connecting rope two, 22 is pin, 23 is motor one, 24 is joint torsion spring, 25 is motor two, and 26 is drum. Detailed Implementation

[0042] To clearly illustrate the technical features of this patent, the following detailed description is provided through specific embodiments and in conjunction with the accompanying drawings.

[0043] like Figure 1 As shown, the aircraft structure designed in this invention, which has the functions of repeated jumping and gliding, mainly includes a jumping structure, a reset structure, a wing folding structure, and a wing drive structure.

[0044] like Figure 2-4 As shown, the aircraft's jumping function is mainly achieved by four evenly arranged carbon fiber rods 7. Figure 2 This is the initial stage of the bending of the carbon fiber rod 7. Figure 3This is the final stage of bending the carbon fiber rod 7. Both ends of the carbon fiber rod 7 are provided with nylon cloth 11 bonded to them. Multiple nylon cloths 11 are fixedly connected to the head shell 8 or the base shell 10 by cable ties 12. At the same time, baffles 801 are also provided on both sides of the ends of the carbon fiber rod 7, which are fixedly connected to the head shell 8 or the base shell 10, to ensure that the carbon fiber rod maintains uniform force during bending.

[0045] like Figure 4 and Figure 6 As shown, one end of the connecting rope 9 is glued to the shaft of the motor 23, and the other end is bound to the connecting plate 16. The connecting plate 16 is connected to the base housing 10 by screws on both sides. Therefore, the connecting rope 9 can be wound around the shaft by rotating the shaft of the motor 23, thereby shortening the distance between the head housing 8 and the base housing 10 to bend the four carbon fiber rods 7, thus accumulating elastic potential energy.

[0046] like Figure 4-7 As shown, the jump triggering structure of the aircraft mainly consists of a head shell 8, a railing 14, a trigger cone 15, a latch 802, and a pin 22. When the elastic potential energy accumulates to a critical value, a triggering structure is needed to release it. The trigger cone 15 is connected in series with the connecting rope 9, and under the action of gravity, the trigger cone 15 will always be on the upper surface of the connecting plate 16. When the jump structure is not triggered, one end of the railing 14 is hinged to the head shell 8 via the pin 22, and the other end is placed on the latch 802. Figure 5 As can be seen, connecting rope 9 wraps around the shaft on railing 14. When the elastic potential energy accumulates to a critical value, that is, when trigger cone 15, under the action of connecting plate 16, pushes latch 802 outward as trigger cone 15 continues to rise, until latch 802 disengages from railing 14. At this point, one side of railing 14 loses support and rotates downward around pin 22 under the force of connecting rope 9 wrapped around railing 14. Immediately afterwards, connecting rope 9 wrapped around the shaft of motor 23 will quickly detach downward, and carbon fiber rod 7, having lost its restraint, will quickly spring back and straighten, thus realizing the conversion of elastic potential energy into kinetic energy.

[0047] like Figure 4 and Figure 7As shown, the aircraft's reset structure mainly consists of a 120-degree reset torsion spring 20, a railing 14, and a head shell 8. The reset torsion spring 20 and the railing 14 share the same pin 22 and are hinged to the head shell 8. One end of the reset torsion spring 20 is close to the head shell 8, and the other end is close to the railing 14. When the jump structure is triggered, the railing 14 rotates downward around the pin 22. At this time, the elastic force on the reset torsion spring 20 increases until the force on the connecting rope 9 is released. Then, under the action of the elastic force of the reset torsion spring 20, the railing 14 rotates upward around the pin 22, returning to the top of the latch 802, preparing for the next jump, thus realizing the function of repeated jumps.

[0048] like Figure 1 and Figure 8-9 As shown, the folding structure of the aircraft wing mainly consists of a wing membrane 1, wing rod one 2, wing rod two 5, joint connector one 3, joint connector two 4, wing root joint 6, joint torsion spring 24, screw 17, and nut 18. Joint connector one 3, joint connector four, and the 180-degree joint torsion spring 24 share the same screw 17 for hinge connection. The connection method at the wing root joint 6 is similar and will not be described further.

[0049] The wings of the aircraft are symmetrically arranged on both sides, so only the structure of one wing will be described. The upper end of the wing membrane 1 is connected to wing rod 2 and wing rod 5 by tape, and the lower end is glued to the base shell 10. The wing membrane 1 can retract within a maximum range of 90° with the wing root joint 6, and rotate around the screw 17 with wing rod 2 and wing rod 5.

[0050] The joint torsion spring 24 can achieve passive deployment of the wing. When no external force is applied, the elastic force of the joint torsion spring 24 can keep the wing rod 2 and wing rod 5 on the same straight line and deploy the wing horizontally.

[0051] like Figure 4 and Figure 10-11 As shown, the retraction or deployment structure of the aircraft wing mainly consists of a second motor 25, a drum 26, a second connecting rope 20, and a base shell 10. Both the second motor 25 and the drum 26 are housed inside the base shell 10, with the upper end of the second motor 25 constrained by a connecting plate 16. The second connecting rope 21 passes through two small holes at the lower end of the drum 26, and its two ends are fixed to the ends of two wing rods 2. Thus, by controlling the rotation of the second motor 25, the connecting rope 20 is wound around the drum, thereby achieving wing retraction. Simultaneously, simply rotating the second motor 25 in the opposite direction allows the wing to deploy under the elastic force of the joint torsion spring 24.

[0052] like Figure 1-11As shown, the overall motion mode control of the aircraft is mainly achieved by the control board 13, motor 23, motor 25, and battery 19. The control board 13 and battery 19 are both connected to the head shell 8 using tape. The control board 13 is connected to the slot above the latch 802, and the two batteries 19 are respectively connected to the two sides of the head shell 8. The control board 13 has functional modules such as an acceleration sensor, a motor drive module, and a TF card read / write module, which can realize functions such as switching the aircraft's motion mode, acquiring motion data, and controlling the forward and reverse rotation of the motors.

[0053] This aircraft can perform both repeatable jumps and gliding. The movement and mode switching of the aircraft can be controlled via the acceleration sensor and motor drive module on the control board 13. The overall movement process of the aircraft is as follows: the control board 13 controls motor 23 to rotate, causing the base shell 10 and head shell 8 to continuously approach each other, and the aircraft enters the energy storage phase. At this time, motor 25 remains stationary, and the wings remain retracted. Until the latch 802 is triggered by the cone 15, the elastic potential energy is converted into the kinetic energy of the aircraft's jump. At this time, the acceleration sensor in the control board 13 collects the change in the aircraft's acceleration, thereby controlling motor 23 to stop rotating. The reset torsion spring 20 resets the railing 14 to re-engage with the latch 802, preparing for the next jump.

[0054] Acceleration data collected by the accelerometer in control board 13 is integrated to obtain the aircraft's velocity value. Based on this velocity value, the aircraft's current motion state is determined. When the aircraft jumps to near its highest point, the velocity value is close to zero. Control board 13 then controls motor 25 to rotate forward, causing the wings to unfold and entering the gliding phase. Until the aircraft glides to landing, control board 13 controls motor 25 to rotate in reverse, retracting the wings. At the same time, it controls motor 23 to rotate, entering the next energy storage phase.

[0055] The aircraft's ability to repeatedly jump and glide helps it move quickly through rugged terrain, and by adding an image transmission module, it can conduct reconnaissance operations in unknown areas.

[0056] This aircraft uses four carbon fiber rods as both the fuselage and the jump structure. By taking advantage of the high elastic modulus, light weight, and easy availability of carbon fiber, a high specific energy is achieved, which reduces the weight of the aircraft, lowers the manufacturing cost, and improves the aircraft's maneuverability.

[0057] This aircraft can perform two major functions: repeatable jumping and gliding. Experimental measurements show that the maximum jump height of this aircraft can reach 4m, which effectively enhances the glider's maneuverability. In addition, it has a simple structure, light weight, simple control for switching motion states, low cost, and good maneuverability.

[0058] There are many specific ways to implement this invention. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.

Claims

1. An aircraft structure with repeatable jumping and gliding capabilities, characterized in that, The aircraft includes a fuselage, a pair of wings, and a wing membrane (1) attached to the wings; The fuselage includes a head shell (8), a base shell (10), and a plurality of carbon fiber rods (7) connected between the two. A jump drive assembly for bending the carbon fiber rods (7) is provided between the head shell (8) and the base shell (10), and a folding drive assembly for retracting the wings is provided in the base shell (10). The jump drive assembly includes a motor (23), a railing (14), a latch (802), a reset torsion spring (20), a rope wheel, a connecting rope (9), and a trigger cone (15); The motor (23) is fixedly connected to the head shell (8). The railing (14) is hinged to the bottom of the head shell (8) by a pin (22), and a return torsion spring (20) is fitted on the pin (22). The two ends of the return torsion spring (20) abut against the railing (14) and the head shell (8) respectively, so that the railing (14) maintains an upward flipping motion. The top of the latch (802) is fixedly connected to the side wall of the head shell (8) and is in a position where... On one side of the railing (14), when the railing (14) is flipped upward to the upper limit position, it is engaged with the latch (802) and locked by the latch (802); the rope wheel is rotatably connected to the railing (14) and is in contact with the output shaft of the motor (23) when the railing (14) is flipped upward to the upper limit position; the two ends of the connecting rope (9) are respectively fixedly connected to the rope wheel and the base shell (10), and the trigger cone (15) is fixedly connected to the connecting rope (9); The folding drive assembly includes a second motor (25) fixedly connected to the base housing (10), a drum (26) fixedly connected to the output shaft of the second motor (25), and a second connecting rope (21) fixedly connected to the drum (26) at one end. The wing includes a first wing rod (2) and a second wing rod (5). One end of the second wing rod (5) is hinged to the head housing (8), and the other end is hinged to the first wing rod (2). Torsion springs are fitted at the hinge positions at both ends of the second wing rod (5) so that the first wing rod (2) and the second wing rod (5) maintain an upward flipping motion tendency. The end of the first wing rod (2) away from the second wing rod (5) is also fixedly connected to the second connecting rope (21).

2. The aircraft structure with repeatable jumping and gliding functions according to claim 1, characterized in that, The carbon fiber rod (7) is provided with nylon cloth (11) at its end, and the nylon cloth (11) is fixedly connected to the head shell (8) or the base shell (10) by cable ties (12).

3. The aircraft structure with repeatable jumping and gliding functions according to claim 1, characterized in that, The latch (802) is made of elastic material and is sheet-shaped. The top of the latch (802) is fixedly connected to the side wall of the head shell (8). The middle part of the latch (802) is provided with a stepped surface for connecting the railing (14). The bottom of the latch (802) is arc-shaped, and the upper part of the trigger cone (15) is a cone shape with a smaller top and a larger bottom.

4. The aircraft structure with repeatable jumping and gliding functions according to claim 1, characterized in that, One end of the connecting rope (9) is fixedly connected to the connecting plate (16), the connecting plate (16) is fixedly connected to the base shell (10), and the other end of the connecting rope (9) is fixedly connected to the winding wheel and is wound around the winding wheel several times.

5. The aircraft structure with repeatable jumping and gliding functions according to claim 1, characterized in that, One end of the second connecting rope is fixedly connected to the drum (26) and is wound around the drum (26) several times.

6. The aircraft structure with repeatable jumping and gliding functions according to claim 1, characterized in that, One end of the first wing rod (2) is fixedly connected to the second connecting rope (21), and the other end is fixedly connected to the first joint connector (3). The two ends of the second wing rod (5) are respectively fixedly connected to the second joint connector (4) and the wing root joint (6). The wing root joint (6) is hinged to the head shell (8), and a torsion spring is fitted on the hinge axis of the two to resist the two; similarly, the joint connector one (3) is hinged to the joint connector two (4), and a torsion spring is fitted on the hinge axis of the two to resist the two.

7. The aircraft structure with repeatable jumping and gliding functions according to claim 1, characterized in that, The wing membrane (1) is triangular, with one side connected to both wing rod one (2) and wing rod two (5), and the base shell (10) is fixedly connected to the opposite apex of this side.

8. A method for operating the aircraft structure with repeatable jumping and gliding functions as described in claim 1, characterized in that, Perform the work as follows: The control panel (13) controls the first motor (23) to rotate, causing the base shell (10) and the head shell (8) to continuously approach each other, and the aircraft enters the energy storage stage. At this time, the second motor (25) remains stopped, and the wings remain in a retracted state. Until the latch (802) is triggered by the cone (15) to open, the elastic potential energy is converted into the kinetic energy of the aircraft jumping. At this time, the acceleration sensor in the control panel (13) collects the change in the acceleration of the aircraft, thereby controlling the first motor (23) to stop rotating. The reset torsion spring (20) resets the railing (14) to reconnect with the latch (802), preparing for the next jump. The acceleration data collected by the acceleration sensor in the control board (13) is integrated to obtain the speed value of the aircraft. The current motion state of the aircraft is determined based on the speed value. When the aircraft jumps to near the highest point, the speed value is close to zero. The control board (13) controls the second motor (25) to rotate forward to unfold the wings and enter the gliding stage. Until the aircraft glides to the ground, the control board (13) controls the second motor (25) to rotate in reverse to retract the wings.

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