Rotor wing and fixed wing dual-mode conversion aircraft and flight control method

Abstract

The invention relates to a rotor and fixed wing dual-mode conversion aircraft and a flight control method, belongs to the technical field of multi-rotor aircrafts, and solves the technical problems of low rotor and fixed wing conversion efficiency, high energy consumption and propeller vortex interference of aircrafts in the prior art. The rotor wing and fixed wing dual-mode conversion aircraft comprises a fuselage, coaxial reverse propellers, a reverse transmission device, a tail thrust propeller mechanism and a variable pitch mechanism, and the switching of the rotor wing and the fixed wing is realized through coaxial reverse propellers and a variable pitch mechanism. In the take-off stage, the aircraft is in a rotor wing type layout, vertical take-off and landing are achieved, the take-off and landing distance is greatly shortened compared with a traditional aircraft, and the aircraft is low in site requirement and suitable for small-area flight; the method further comprises the mode of converting the rotor wings into the fixed wings in the level flight stage, the performance advantages of the rotor wings and the fixed wings can be considered at the same time, extra resistance cannot be generated during vertical take-off and landing, the aircraft can be the same as a fixed wing aircraft in the level flight stage, flight efficiency can be improved, and energy consumption can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of multi-rotor aircraft, and in particular to a rotor-fixed-wing dual-mode conversion aircraft and a flight control method. Background Art

[0002] With the development of low-altitude economy, vertical take-off and landing aircraft have ushered in a huge development prospect. At present, vertical take-off and landing aircraft mostly use multi-rotor or rotor and fixed wing combination, which cannot meet the requirements of efficient flight and the excellent performance of fixed wing at the same time. How to take into account the excellent performance of rotor and fixed wing aircraft is an urgent problem to be solved. Summary of the invention

[0003] In view of the above problems, the present invention provides a rotor and fixed-wing dual-mode conversion aircraft and a flight control method, which solves the technical problems in the prior art of low conversion efficiency between the rotor and fixed wings of aircraft, high energy consumption, and blade-vortex interference.

[0004] The present invention provides a rotary wing and fixed wing dual-mode conversion aircraft, comprising a fuselage, a coaxial reverse propeller, a reverse transmission device, a tail propeller mechanism and a variable pitch mechanism;

[0005] The coaxial reverse propeller and variable pitch mechanism is fixed on the top of the fuselage through a mounting frame, and includes an upper blade and a lower blade;

[0006] The coaxial reverse propeller is connected to the variable pitch mechanism and the reverse transmission device respectively; the variable pitch mechanism is arranged on the upper part of the reverse transmission device.

[0007] Optionally, the upper blades include a first blade and a second blade, and the lower blades include a third blade and a fourth blade.

[0008] Optionally, the pitch-changing mechanism is arranged on the upper part of the reverse transmission device.

[0009] Optionally, the pitch-changing mechanism is connected to the blades of the coaxial counter-propeller via a blade clamping mechanism.

[0010] Optionally, the variable pitch mechanism includes an upper blade drive shaft, a lower blade drive shaft, a servo, a support arm, a push rod, a lower connecting rod, an upper connecting rod and a support arm tilting plate; a lower connecting rod lower tilting plate, a lower connecting rod upper tilting plate 1, a lower connecting rod upper tilting plate 2, a support arm and a top swing arm; the upper blade drive shaft and the lower blade drive shaft are both connected to a blade clamping mechanism.

[0011] Optionally, a reverse transmission device is arranged on a bottom mounting plate of the variable pitch mechanism, and includes a motor, a first gear, a gear set and a second gear; the motor is connected to the first gear to drive it to rotate, the first gear is connected to the upper blade drive shaft, the first gear is meshed with the gear set, the gear set is meshed with the second gear, and the second gear is connected to the lower blade drive shaft.

[0012] Optionally, the gear set includes an upper gear and a lower gear, the upper gear is meshed with the second gear, and the lower gear is meshed with the first gear.

[0013] Another embodiment of the present invention discloses a flight control method for performing flight control on the aforementioned rotary-wing and fixed-wing dual-mode conversion aircraft, wherein the flight control includes a vertical take-off and landing phase and a level flight phase;

[0014] During the vertical take-off and landing stage of the aircraft, the variable pitch mechanism drives the blades of the coaxial counter-propeller to change the installation angle, the leading edges of one blade of the upper blade and one blade of the lower blade face in opposite directions, the leading edges of another blade of the upper blade and another blade of the lower blade face in opposite directions, the propeller surfaces of the four blades are set at an installation angle to the cross-section of the aircraft, and the angles of the four installation angles are the same; the upper blades and the lower blades are driven by the reverse transmission device to rotate in opposite directions, the tail thrust propeller mechanism stops rotating, and vertical take-off and landing flight is performed.

[0015] During the level flight phase of the aircraft, the reverse transmission device drives the coaxial counter-propeller to stop rotating, the variable pitch mechanism drives the upper and lower blades of the coaxial counter-propeller to level, and the tail thrust propeller mechanism operates to perform level flight.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] (1) During the take-off phase, the aircraft of the present invention presents a rotor-type layout and can rotate at high speed like a propeller to achieve vertical take-off and landing. The take-off and landing distance is greatly shortened compared with traditional aircraft, and the site requirements are greatly reduced. At the same time, the aircraft body is small and maneuverable, suitable for flying in a small area.

[0018] (2) The aircraft of the present invention adopts coaxial counter-propellers to reduce the vibration and noise of the engine; it can improve the efficiency of the aircraft and reduce the fuel consumption rate; the coaxial counter-propellers act as propellers during takeoff and landing, provide lift, and achieve vertical take-off and landing. After reaching the level flight altitude, the blades rotate and level out to act as fixed wings. Compared with existing aircraft, this aircraft does not require additional fixed wings to achieve vertical take-off and landing and level flight cruising, and does not require a tail rotor to balance the anti-torque, which reduces weight and can reduce power loss and improve efficiency.

[0019] (3) The aircraft of the present invention includes a vertical take-off and landing phase and a level flight phase during flight. When switching from the vertical take-off and landing phase to the level flight phase, the rotor is converted into a fixed-wing form, which can take into account the performance advantages of both. During vertical take-off and landing, no additional resistance is generated, and in the level flight phase, it can be the same as a fixed-wing aircraft, which can improve flight efficiency and reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are only for the purpose of illustrating particular embodiments and are not to be construed as limiting the invention.

[0021] Figure 1 is an overall schematic diagram of the aircraft of the present invention;

[0022] Figure 2 It is a schematic diagram of the vertical take-off and landing state of the aircraft of the present invention;

[0023] Figure 3 is a schematic diagram of a level flight state of an aircraft of the present invention;

[0024] Figure 4 is an overall schematic diagram of the internal structure of the aircraft of the present invention;

[0025] Figure 5 is a schematic diagram of a coaxial reverse transmission device of an aircraft of the present invention;

[0026] Figure 6 is a schematic diagram of a variable pitch mechanism of an aircraft of the present invention;

[0027] Figure 7 The variable pitch mechanism of the aircraft of the present invention is enlarged Figure 1 ;

[0028] Figure 8 The variable pitch mechanism of the aircraft of the present invention is enlarged Figure 2 .

[0029] Reference numerals:

[0030] Fuselage 1; coaxial reverse propeller 2; reverse transmission device 3; tail thrust propeller mechanism 4; variable pitch mechanism 5; first blade 6; second blade 7; third blade 8; fourth blade 9; upper blade drive shaft 10; lower blade drive shaft 11; motor 12; first gear 13; gear set 14; second gear 15; steering gear 16; support arm 17; push rod 18; lower connecting rod 19; upper connecting rod 20; blade clamping mechanism 21; support arm tilting plate 22; lower connecting rod lower tilting plate 23; lower connecting rod upper tilting plate 1 24; anti-sway frame 25; ball hinge 26; lower connecting rod upper tilting plate 2 27; support arm 28. DETAILED DESCRIPTION

[0031] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In addition, the present invention can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0032] A specific embodiment of the present invention, as Figure 1-7 , discloses a rotary wing and fixed wing dual-mode conversion aircraft, comprising a fuselage 1, a coaxial reverse propeller 2, a reverse transmission device 3, a tail thrust propeller mechanism 4 and a variable pitch mechanism 5;

[0033] The coaxial reverse propeller 2 and the variable pitch mechanism 5 are fixed on the top of the fuselage through a mounting frame, and include upper blades and lower blades; the upper blades include a first blade 6 and a second blade 7, and the lower blades include a third blade 8 and a fourth blade 9;

[0034] The coaxial reverse propeller 2 is connected to the pitch control mechanism 5 and the reverse transmission device 3 respectively.

[0035] Further, see Figure 4 and Figure 6 The pitch-changing mechanism 5 is arranged on the upper part of the reverse transmission device 3; the pitch-changing mechanism 5 is connected to the blades of the coaxial reverse propeller 2 through the blade clamping mechanism 21, thereby controlling the blade pitch change.

[0036] Furthermore, the variable pitch mechanism 5 includes an upper blade drive shaft 10, a lower blade drive shaft 11, a servo 16, a support arm 17, a push rod 18, a lower connecting rod 19, an upper connecting rod 20, a support arm inclined plate 22, a lower connecting rod lower inclined plate 23 and a lower connecting rod upper inclined plate 24; a clamping mechanism 21 is connected to the upper blade drive shaft 10 and the lower blade drive shaft 11.

[0037] The upper blade drive shaft 10 is connected to the first blade 6 and the second blade 7 through a clamping mechanism 21 ; the lower blade drive shaft 11 is connected to the third blade 8 and the fourth blade 9 through a clamping mechanism 21 .

[0038] Further, see Figure 4 and Figure 5 The reverse transmission device 3 is arranged on the bottom mounting plate of the variable pitch mechanism 5, and includes a motor 12, a first gear 13, a gear set 14 and a second gear 15; the motor 12 is connected to the first gear 13 to drive it to rotate, the first gear 13 is connected to the upper blade drive shaft 10, the first gear 13 is meshed with the gear set 14, the gear set 14 is meshed with the second gear 15, and the second gear 15 is connected to the lower blade drive shaft 11.

[0039] Furthermore, the lower blade driving shaft 11 is sleeved outside the upper blade driving shaft 10 .

[0040] Furthermore, the gear set 14 includes an upper gear and a lower gear, the upper gear is meshed with the second gear 15, and the lower gear is meshed with the first gear 13 via a transfer gear.

[0041] Furthermore, if Figure 6-8As shown, the swing arm of the servo 16 is connected to one end of the support arm 17, and the other end of the support arm 17 is connected to the support arm tilting plate 22; the support arm tilting plate 22 is connected to the lower connecting rod lower tilting plate 23, and can move synchronously; the support arm tilting plate 22 and the lower connecting rod lower tilting plate 23 are sleeved on the lower blade drive shaft 11 through a connecting piece, and both achieve the same tilting movement; the lower connecting rod lower tilting plate 23 is connected to one end of the push rod 18, and the other end of the push rod 18 is connected to the blade clamping mechanism 21, and the lower connecting rod lower tilting plate 23 is also connected to one end of the lower connecting rod 19, and the other end of the lower connecting rod 19 is connected to the lower connecting rod upper tilting plate 24; the lower connecting rod upper tilting plate 24 is connected to the lower connecting rod upper tilting plate 24; the lower connecting rod upper tilting plate 24 is connected to the lower connecting rod upper tilting plate 24. The swash plate 27 is connected to one end of the upper connecting rod 20, and the other end of the upper connecting rod 20 is connected to the top rocker arm; the upper swash plate 24 of the lower connecting rod is connected to the upper swash plate 27 of the lower connecting rod through a rolling bearing, and the two can rotate in opposite directions and can synchronously perform axial movement or tilting movement. A gap is left between the upper swash plate 27 of the lower connecting rod and the upper blade drive shaft 10, so that it can perform tilting movement; the middle part of the top rocker arm is rotatably connected to the mounting shaft arranged at the top end of the upper blade drive shaft 10; one end of the support arm 28 is rotatably connected to the upper blade clamping mechanism 21, and the other end of the support arm 28 is rotatably connected to the top rocker arm.

[0042] When in use, the support arm tilting plate 22 is connected to the support arm 17, and an anti-sway frame 25 is provided. The three steering gears 16 drive the three support arms 17 to move respectively. When the three steering gears 16 drive the support arm 17 to move at the same time and the displacement at the connection with the support arm tilting plate 22 is the same, the support arm tilting plate 22 and the lower connecting rod lower tilting plate 23 move axially along the lower blade drive shaft 11, and at this time, the two push rods 18 are driven to move axially synchronously, and the lower blade clamping mechanisms 21 of the two sides are driven to rotate in the same reverse angle. At the same time, the lower connecting rod lower tilting plate 23 is connected to the lower connecting rod 19, and the four lower connecting rods 19 move synchronously axially, driving the lower connecting rod upper tilting plate 1 24 and the lower connecting rod upper tilting plate 2 27 along the upper The blade drive shaft 10 performs axial movement, thereby driving the upper connecting rod 20 to perform axial movement. The upper connecting rod 20 can drive the support arm 28 to move, and the support arm 28 drives the upper blade clamping mechanism 21 on both sides to rotate in opposite directions at the same angle, thereby driving the blades on both sides to rotate; when one or two of the three servos 16 drive the support arm 17 to move, and the other two or one is not driven, the three contact points of the three support arms 17 and the support arm inclined plate 22 have different displacements, and the support arm inclined plate 22 and the lower connecting rod lower inclined plate 23 are tilted around the spherical hinge 26 at the same time, at this time driving the two push rods 18 to move with different displacements, driving the blade clamping devices on both sides to rotate at different angles, thereby changing the angle of the blade. The lower inclined plate 23 of the lower connecting rod tilts, driving the four lower connecting rods 19 to make axial movements of different displacements, causing the upper inclined plate 1 24 and the upper inclined plate 2 27 of the lower connecting rod to tilt, driving the two upper connecting rods 20 to make axial movements of different displacements, driving the two supporting arms 28 to move with different displacements, and further driving the blade clamping mechanisms 21 on both sides to rotate at different angles, so that the angles of the blades on both sides change.

[0043] Furthermore, an anti-sway frame 25 is provided on the bottom mounting plate, a limiting groove is provided on the anti-sway frame 25, and the support arm tilting plate 22 includes a sliding block, and the sliding block is limitedly slidably provided in the limiting groove.

[0044] Furthermore, the limiting direction of the limiting groove is parallel to the axial direction of the lower blade driving shaft 11 .

[0045] Preferably, the support arm tilting plate 22 is connected to the lower connecting rod lower tilting plate 23 by screws; the support arm tilting plate 22 and the lower connecting rod lower tilting plate 23 are linked to the lower blade drive shaft 11 by a spherical hinge 26, and through the spherical hinge 26, the support arm tilting plate 22 and the lower connecting rod lower tilting plate 23 can undergo tilting movement.

[0046] Preferably, the swing arm of the servo 16 is rotatably connected to one end of the support arm 17, and the other end of the support arm 17 is rotatably connected to the support arm on the support arm inclined plate 22; one end of the push rod 18 is rotatably connected to the support arm on the lower inclined plate 23 of the lower link, and the other end of the push rod 18 is rotatably connected to the blade clamping mechanism 21; one end of the lower connecting rod 19 is rotatably connected to the lower inclined plate 23 of the lower connecting rod, and the other end of the lower connecting rod 19 is rotatably connected to the upper inclined plate 1 24 of the lower connecting rod; the lower connecting rod upper inclined plate 27 is rotatably connected to one end of the upper connecting rod 20, and the other end of the upper connecting rod 20 is rotatably connected to the top swing arm.

[0047] Preferably, three groups of servos 16 and support arms 17 are respectively arranged, which are evenly distributed circumferentially on the bottom mounting plate and the support arm inclined plate 22, and the three groups of support arms 17 include a long support arm and two short support arms; two groups of push rods 18 are arranged, and the two groups of push rods 18 are symmetrically arranged; four groups of lower connecting rods 19 are arranged, which are evenly distributed circumferentially on the lower inclined plate 23 of the lower connecting rod and the upper inclined plate 1 24 of the lower connecting rod; four groups of upper connecting rods 20 are arranged, which are evenly distributed circumferentially on the upper inclined plate 27 of the lower connecting rod and the top rocker arm; two groups of support arms 28 are arranged, which are symmetrically arranged on the top rocker arm.

[0048] During flight, the coaxial reverse propeller 2 acts as a wing in level flight, and the reverse transmission device 3 and the variable pitch mechanism 5 can control the pitch change and coaxial reverse rotation of the four blades; Figure 5 The motor 12 drives the first gear 13 to rotate. The first gear 13 is connected to the upper blade drive shaft 10, driving the upper blade drive shaft 10 to rotate, and then driving the upper blade to rotate. The first gear 13 is meshed with the gear set 14. When the first gear 13 rotates, the gear set 14 rotates accordingly. At the same time, the gear set 14 drives the second gear 15 to rotate, and the rotation direction is opposite to that of the first gear 13. The second gear 15 is connected to the lower blade drive shaft 11, driving the shaft 11 to rotate and then driving the lower blade to rotate, and the rotation direction is opposite to that of the upper blade.

[0049] Furthermore, if Figure 6 A swing arm is provided on the steering gear 16, and one end of the support arm 17 is connected to one end of the swing arm. The steering gear 16 rotates the upper and lower rocker arm to drive the support arm 17 to move up and down. The movement of the support arm 17 drives one end of the push rod 18 to move up and down. The other end of the push rod 18 is connected to the lower blade clamping mechanism 21, driving the lower blade clamping mechanism 21 to rotate around the horizontal line, thereby causing the lower blade to rotate around the horizontal line. The upper and lower movement of the support arm 17 will also drive the lower connecting rod 19 to move up and down. The upper and lower movement of the lower connecting rod 19 drives the upper connecting rod 20 to move. The upper connecting rod 20 is connected to the lower blade clamping mechanism 21, driving the lower blade to rotate, thereby changing the pitch.

[0050] Furthermore, the fuselage 1 is a small ellipsoidal shell.

[0051] The tail thrust propeller mechanism 4 is located at the tail of the fuselage 1, and provides power when the aircraft is in level flight. The coaxial counter-propeller 2 can change the installation angle through the variable pitch mechanism. The coaxial counter-propeller 2 presents a propeller shape during vertical take-off and landing, which can meet the aerodynamic characteristics during vertical take-off and landing. At the same time, the upper and lower layers of the coaxial counter-propeller 2 rotate in opposite directions at the same speed, which can provide sufficient lift while offsetting each other's anti-torque.

[0052] See also Figure 6 The variable pitch mechanism 5 is used to control the radial axis of the blades of the coaxial reverse propeller 2 to rotate 360°.

[0053] Furthermore, in the level flight stage, the blades of the coaxial counter-propeller 2 are adjusted by the variable pitch mechanism 5 so that the blades of the coaxial counter-propeller 2 are flattened and the leading edges of the blades on both sides are facing the flight direction of the aircraft, so that it can act as a fixed wing and can meet the aerodynamic performance of a fixed wing.

[0054] Furthermore, the reverse transmission device 3 controls the rotation of the coaxial reverse propeller 2 .

[0055] The present invention is mainly divided into two states: a vertical take-off and landing stage and a level flight stage.

[0056] like Figure 2 As shown, during the vertical take-off and landing stage of the aircraft, the variable pitch mechanism driving 5 drives the blades of the coaxial counter-propeller 2 to change the installation angle. At this time, the leading edges of the first blade 6 and the fourth blade 9 face opposite directions, the leading edges of the second blade 7 and the third blade 8 face opposite directions, the leading edges of the first blade 6 and the second blade 7 face opposite directions, and the leading edges of the third blade 8 and the fourth blade 9 face opposite directions; the paddle surfaces of the four blades are arranged at an installation angle with the cross section of the aircraft, and the angles of the four installation angles are the same; the reverse transmission device 3 drives the upper blades and the lower blades to rotate in opposite directions at high speed to provide sufficient lift to achieve vertical take-off and landing, and the lift size is changed by changing the rotation speed of the coaxial counter-propeller 2.

[0057] like Figure 3 As shown, the aircraft is in the level flight stage. At this time, after the aircraft reaches a certain height after vertical takeoff, the reverse transmission device 3 drives the coaxial counter-propeller 2 to stop rotating, and the variable pitch mechanism 5 drives the four blades of the coaxial counter-propeller 2 to be flat (the paddle surfaces of the four blades are horizontal to the cross-section of the aircraft). At this time, the leading edges of the first blade 6 and the fourth blade 9 face the direction of flight, and the front edges of the second blade 7 and the third blade 8 face the direction of flight, and the aircraft is converted into a fixed wing.

[0058] It can be understood that when the upper blades and the lower blades rotate coaxially in the opposite direction, the servo 16, the support arm 17, the push rod 18, the lower connecting rod 19, the blade clamping mechanism 21, the support arm tilting plate 22, the lower connecting rod lower tilting plate 23, the anti-sway frame 25 and the ball hinge 26 rotate together with the lower blades, and the upper connecting rod 20, the upper blade clamping mechanism 21, the upper tilting plate 27 and the support arm 28 rotate in the opposite direction together with the upper blades.

[0059] The support arm tilting plate 22 and the lower connecting rod lower tilting plate 23 are connected by screws and can move synchronously. The two are connected to the lower blade drive shaft 11 through the spherical hinge 26. The support arm tilting plate 22 and the lower connecting rod lower tilting plate 23 can be tilted through the spherical hinge 26.

[0060] The lower connecting rod upper inclined plate 1 24 and the lower connecting rod upper inclined plate 2 27 are connected by rolling bearings. The two can rotate in opposite directions and can synchronously perform axial movement or tilting movement. A gap is left between the lower connecting rod upper inclined plate 27 and the upper blade drive shaft 10 so that it can tilt.

[0061] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A rotary wing and fixed wing dual-mode conversion aircraft, characterized in that: It includes a fuselage, a coaxial reverse propeller, a reverse transmission device, a tail propeller mechanism and a variable pitch mechanism; The coaxial reverse propeller and variable pitch mechanism is fixed on the top of the fuselage through a mounting frame, and includes an upper blade and a lower blade; The coaxial reverse propeller is connected to the variable pitch mechanism and the reverse transmission device respectively; the variable pitch mechanism is arranged on the upper part of the reverse transmission device.

2. The rotary-wing and fixed-wing dual-mode conversion aircraft according to claim 1, characterized in that: The upper blades include a first blade and a second blade, and the lower blades include a third blade and a fourth blade.

3. The rotary-wing and fixed-wing dual-mode conversion aircraft according to claim 1, characterized in that: The pitch-changing mechanism is arranged on the upper part of the reverse transmission device.

4. The rotary-wing and fixed-wing dual-mode conversion aircraft according to claim 2, characterized in that: The pitch-changing mechanism is connected to the blades of the coaxial counter-propeller through a blade clamping mechanism.

5. The rotary-wing and fixed-wing dual-mode conversion aircraft according to claim 4, characterized in that: The variable pitch mechanism includes an upper blade drive shaft, a lower blade drive shaft, a servo, a support arm, a push rod, a lower connecting rod, an upper connecting rod and a support arm tilting plate; a lower connecting rod lower tilting plate, a lower connecting rod upper tilting plate 1, a lower connecting rod upper tilting plate 2, a support arm and a top swing arm; the upper blade drive shaft and the lower blade drive shaft are both connected with a blade clamping mechanism.

6. The rotary-wing and fixed-wing dual-mode conversion aircraft according to claim 1, characterized in that: The reverse transmission device is arranged on the bottom mounting plate of the variable pitch mechanism, and includes a motor, a first gear, a gear set and a second gear; the motor is connected to the first gear to drive it to rotate, the first gear is connected to the upper blade drive shaft, the first gear is meshed with the gear set, the gear set is meshed with the second gear, and the second gear is connected to the lower blade drive shaft.

7. The rotary-wing and fixed-wing dual-mode conversion aircraft according to claim 6, characterized in that: The gear set comprises an upper gear and a lower gear, the upper gear is meshed with the second gear, and the lower gear is meshed with the first gear.

8. A flight control method for performing flight control on a rotary-wing and fixed-wing dual-mode conversion aircraft according to any one of claims 1 to 7, characterized in that: Flight control includes vertical take-off and landing phases and level flight phases; During the vertical take-off and landing stage of the aircraft, the variable pitch mechanism drives the blades of the coaxial counter-propeller to change the installation angle, the leading edges of one blade of the upper blade and one blade of the lower blade face in opposite directions, the leading edges of another blade of the upper blade and another blade of the lower blade face in opposite directions, the propeller surfaces of the four blades are set at an installation angle to the cross-section of the aircraft, and the angles of the four installation angles are the same; the upper blades and the lower blades are driven by the reverse transmission device to rotate in opposite directions, the tail thrust propeller mechanism stops rotating, and vertical take-off and landing flight is performed. During the level flight phase of the aircraft, the reverse transmission device drives the coaxial counter-propeller to stop rotating, the variable pitch mechanism drives the upper and lower blades of the coaxial counter-propeller to level, and the tail thrust propeller mechanism operates to perform level flight.

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