Efficient lift flapping wing, simulated dragonfly aircraft and aircraft flight attitude control method

Abstract

The invention relates to an efficient lift flapping wing, an imitated dragonfly aircraft and an aircraft flight attitude control method. The efficient lift flapping wing comprises a flapping wing main body and a plurality of one-way air door blades, a plurality of ventilation openings are formed in the flapping wing main body, the ventilation openings are covered with the one-way air door blades respectively, and the one-way air door blades are used for enabling air flow to pass through the ventilation openings only in a one-way mode. The efficient lift flapping wing, the dragonfly-imitating aircraft and the aircraft flight attitude control method have the advantages of being high in lift providing efficiency, capable of reducing the flapping wing burden and improving the service life and stability of the aircraft.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, in particular to a high-efficiency lift flapping wing and a dragonfly-like aircraft. Background Art

[0002] With the development of aircraft, aircraft are playing an increasingly important role in agriculture, military, engineering, exploration and other fields. However, traditional aircraft design is often limited by mechanical structure and engineering principles, and cannot fully meet the increasingly complex needs of today. In order to overcome these limitations, aircraft design began to draw inspiration from the biological world and develop bionic aircraft. The dragonfly-like aircraft is one of them.

[0003] The existing methods of generating lift for dragonfly-like aircraft are mostly to change the flapping speed of the wings, and to generate lift through the difference in the speed of the wings flapping up and down. However, this method will bring great burden to the flapping wings and the driving device, greatly reducing the life and stability of the dragonfly-like aircraft. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a high-efficiency lift flapping-wing, dragonfly-like aircraft and aircraft flight attitude control method, which has the advantages of providing high lift efficiency, reducing the flapping-wing burden, and improving the life and stability of the aircraft.

[0005] A high-efficiency lift flapping wing comprises a flapping wing body and a plurality of one-way damper blades; the flapping wing body is provided with a plurality of vents, each of the one-way damper blades covers the vents respectively, and the one-way damper blades are used to allow airflow to pass through the vents in only one direction.

[0006] The high-efficiency lift flapping wing described in the present invention comprises a flapping wing body and a plurality of one-way damper blades; the flapping wing body is provided with a plurality of vents, each of the one-way damper blades covers the vents respectively, and the one-way damper blades are used to allow airflow to pass through the vents in only one direction.

[0007] Furthermore, the one-way damper blades are soft blades that can be bent, and each of the one-way damper blades can only bend toward the same side of the vent; one side of the one-way damper blade is connected to one side of the vent, and the one-way damper blades cover the vent as a whole.

[0008] Furthermore, the one-way damper blade is a hard blade, one side of the one-way damper blade is rotatably connected to one side of the vent, at least one of the length or width of the one-way damper blade is greater than the length or width of the vent; the one-way damper blade integrally covers the vent.

[0009] A dragonfly-like flying device comprises: a frame, the aforementioned high-efficiency lift flapping wings, a tail, a steering propeller, a plurality of flapping wing driving devices and a steering driving device; the high-efficiency lift flapping wings are symmetrically distributed on both sides of the frame, the tail is arranged at the tail of the frame and is located on the central axis of the frame, and the steering propeller is arranged at the end of the tail; the flapping wing driving device is arranged in the frame and is respectively connected with each of the high-efficiency lift flapping wings; the steering driving device is arranged in the frame or on the tail, and the output end of the steering driving device is connected with the steering propeller; the one-way damper blade allows the airflow to pass through the vent only downward.

[0010] Furthermore, the frame is provided with a plurality of rotatable flapping-wing support shafts, one side of the high-efficiency lift flapping wing is connected to the flapping-wing support shaft; the flapping-wing support shaft is provided with a transmission gear, and the transmission gear rotates coaxially and synchronously with the flapping-wing support shaft; the flapping-wing drive device is meshingly connected with the transmission gear.

[0011] Furthermore, the flapping-wing drive device includes a voice coil motor and a transmission rack; the voice coil motor is fixed in the frame, one end of the transmission rack is connected to the output end of the voice coil motor, and the other end is meshedly connected to the transmission gear.

[0012] Furthermore, it also includes a flight control system; the flight control system includes a flight controller and a plurality of angle sensors; the flight control system and the angle sensors are arranged on the frame; the sensing end of each angle sensor is respectively connected to the flapping-wing bracket shaft, the angle sensor is electrically connected to the flight control system, and the flight control system is electrically connected to the flapping-wing drive device and the steering drive device; it also includes a landing gear, and the landing gear is arranged under the frame.

[0013] Furthermore, it comprises two pairs of the efficient lift flapping wings, namely the left front lift flapping wing, the right front lift flapping wing, the left rear lift flapping wing and the right rear lift flapping wing; the center of mass of the aircraft is located on the vertical line of the intersection of the intersection lines of the front and rear lift flapping wing center points.

[0014] A method for controlling the flight attitude of the aforementioned dragonfly-like aircraft, characterized in that it comprises the following steps:

[0015] The four high-efficiency lift flapping wings are moved in a balanced (hovering) manner to generate equal lift, and the sum of the lift is equal to the overall weight of the dragonfly-like aircraft;

[0016] The ascending motion increases the lift generated by the four high-efficiency lift flapping wings by an equal amount on the basis of the balancing motion, so that the total lift generated is greater than the gravity of the aircraft itself;

[0017] The descending motion reduces the lift generated by the four high-efficiency lift flapping wings by an equal amount on the basis of the balancing motion, so that the total lift generated is less than the gravity of the aircraft itself;

[0018] The forward motion increases the lift generated by the two high-efficiency lift flapping wings at the rear side by an equal amount on the basis of the balancing motion, thereby generating a regulating moment that causes the aircraft to tilt forward;

[0019] The lateral movement increases the lift generated by the high-efficiency lift flapping wing on the same side by an equal amount on the basis of the balancing movement, thereby generating a regulating torque that causes the aircraft to tilt to one side;

[0020] The rotational motion rotates the steering propeller based on the balancing motion, thereby generating a torque that causes the aircraft to rotate.

[0021] Furthermore, the upward movement also includes alternating swinging of the front and rear high-efficiency lift flapping wings; when the left front lift flapping wing and the right rear lift flapping wing swing downward, the right front lift flapping wing and the left rear lift flapping wing swing upward; when the left front wing and the right rear wing swing upward, the right front wing and the left rear wing swing downward.

[0022] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional schematic diagram of a high-efficiency lift flapping wing according to an embodiment of the present invention;

[0024] Figure 2 A three-dimensional schematic diagram of a dragonfly-like flying vehicle according to an embodiment of the present invention;

[0025] Figure 3 It is a specific schematic diagram of the connection structure between the high-efficiency lift flapping wing and the frame according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "vertical direction", "up", "down", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a heat-conducting connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or a connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Example

[0030] See also Figure 1 The embodiment of the present application provides a high-efficiency lift flapping wing and a dragonfly-like aircraft. The dragonfly-like aircraft of the embodiment of the present invention comprises a frame 1, a plurality of pairs of high-efficiency lift flapping wings 2, a tail 3, a steering propeller 4, a plurality of flapping wing drive devices 5 and a steering drive device 6.

[0031] The high-efficiency lift flapping wings 2 are symmetrically distributed on both sides of the frame 1, and are used to provide lift for the dragonfly-like aircraft; the tail 3 is arranged at the tail of the frame 1, located on the central axis; the steering propeller 4 is arranged at the end of the tail 3, and is used to control the steering of the dragonfly-like aircraft; the flapping wing drive device 5 is arranged in the frame 1, and is respectively connected to each high-efficiency lift flapping wing 2, and is used to provide power for the high-efficiency lift flapping wing 2; the steering drive device 6 is arranged in the frame 1 or on the tail 3, and the output end of the steering drive device 6 is connected to the steering propeller 4, and is used to provide power for the steering propeller 4.

[0032] The high-efficiency lift flapping wing 2 includes a flapping wing body 201 and a plurality of one-way damper blades 202. The flapping wing body 201 is provided with a plurality of vents, each of which is covered by a one-way damper blade, and the one-way damper blade 202 is used to allow airflow to pass through the vents in only one direction. Further, when the high-efficiency lift flapping wing 2 is provided on the frame 1, the one-way damper blade 202 allows airflow to pass through the vents only downward.

[0033] When the dragonfly-like aircraft flies, the high-efficiency lift flapping wing 2 swings back and forth up and down; when the high-efficiency lift flapping wing 2 swings upward, the air generates downward air resistance to the one-way damper blade 202, the one-way damper blade 202 is opened, and the airflow can pass through the vent, so that the resistance to the high-efficiency lift flapping wing 2 swinging upward is small; when the high-efficiency lift flapping wing 2 swings downward, the air generates upward air resistance to the one-way damper blade 202, the one-way damper blade 202 remains closed, and the airflow cannot pass through the vent, so that the resistance to the high-efficiency lift flapping wing 2 swinging downward is large. Since the air resistance of the high-efficiency lift flapping wing 2 swinging upward is less than the air resistance of the low-efficiency lift flapping wing 2, the high-efficiency lift flapping wing 2 can generate greater lift for the aircraft.

[0034] In some embodiments, the one-way damper blades 202 are soft blades that can bend, and each one-way damper blade 202 can only bend toward the same side of the vent; thereby, the one-way damper blades 202 can only be opened in one direction toward the vent; one side of the one-way damper blade 202 is connected to one side of the vent, and the one-way damper blade covers the vent as a whole.

[0035] In other embodiments, the one-way damper blade 202 is a hard blade, one side of the one-way damper blade 202 is rotatably connected to one side of the vent, and at least one of the length or width of the one-way damper blade 202 is greater than the length or width of the vent, so that the one-way damper blade 202 can only be opened in one direction toward the vent; the one-way damper blade is integrally arranged to cover the vent. Furthermore, one side of the one-way damper blade 202 is connected to one side of the vent via a hinge 202a, and a torsion spring is arranged on the hinge 202a, so that the one-way damper blade 202 is in a damper closed state when the wing is stationary.

[0036] In some embodiments, the high-efficiency lift flapping wing 2 of the embodiment of the present application is provided with two rows of side-by-side vents at intervals, and the total area of ​​the vents is greater than 30% of the area of ​​the high-efficiency lift flapping wing 2 .

[0037] Furthermore, the dragonfly-like aircraft of the embodiment of the present application has a plurality of rotatable flapping-wing support shafts 101 on its frame 1, one side of the high-efficiency lift flapping wing 2 is connected to the flapping-wing support shaft 101, and a transmission gear 101a is provided on the flapping-wing support shaft 101, and the transmission gear 101a rotates coaxially and synchronously with the flapping-wing support shaft 101; the flapping-wing drive device 5 is meshedly connected with the transmission gear 101a, thereby driving the high-efficiency lift flapping wing 2 to swing.

[0038] In some embodiments, the flapping-wing drive device 5 includes a voice coil motor 501 and a transmission rack 502. The voice coil motor 501 is fixed in the frame 1, one end of the transmission rack 502 is connected to the output end of the voice coil motor 501, and the other end is meshed and connected with the transmission gear 101a. The voice coil motor 501 drives the transmission rack 502 to reciprocate, and the transmission rack 502 drives the transmission gear 101a to rotate back and forth, thereby driving the high-efficiency lift flapping wing 2 to swing up and down. The voice coil motor 501 can provide reciprocating power, so that the high-efficiency lift flapping wing 2 swings back and forth; compared with other types of motors, since the output frequency and output amplitude of the voice coil motor 501 are controllable, the smoothness of the swing of the high-efficiency lift flapping wing 2 can be improved; other types of motors, such as servos and stepper motors, can usually only control one of the output speed (frequency) or output amplitude.

[0039] Furthermore, the dragonfly-like aircraft of the embodiment of the present invention also includes a flight control system. The flight control system includes a flight controller 701 and a plurality of angle sensors 702; the flight control system and the angle sensors 702 are arranged on the frame 1; the sensing ends of the angle sensors 702 are respectively connected to the flapping-wing support shaft 101, the angle sensors 702 are electrically connected to the flight control system, and the flight control system is electrically connected to the flapping-wing drive device 5 and the steering drive device 6. The flight control system can control the actions of the flapping-wing drive device 5 and the steering drive device 6, and then change the flight attitude of the dragonfly-like aircraft by controlling the actions of the high-efficiency lift flapping wing 2 and the steering propeller 4; the angle sensor 702 can detect the current angle attitude of the high-efficiency lift flapping wing 2, and feed it back to the flight controller 701, thereby improving the control accuracy of the flight controller 701.

[0040] In some embodiments, the dragonfly-like aircraft of the present application further includes a landing gear, which is disposed under the frame 1 and is used to assist the dragonfly-like aircraft in taking off and landing.

[0041] Furthermore, the dragonfly-like flying machine of the embodiment of the present invention comprises two pairs of high-efficiency lift flapping wings 2, namely, the left front lift flapping wing, the right front lift flapping wing, the left rear lift flapping wing and the right rear lift flapping wing. The center of mass of the flying machine is located on the vertical line of the intersection of the center points of the front and rear lift flapping wings (the line connecting the center points of the left front lift flapping wing and the right rear lift flapping wing, the line connecting the center points of the right front lift flapping wing and the right rear lift flapping wing, the two intersecting to form a cross line).

[0042] In some embodiments, the dragonfly-like aircraft further includes a body shell (not shown), the body shell covers the frame 1, and the high-efficiency lift flapping wings 2 and the tail 3 pass through the frame 1 and are exposed outside the body shell.

[0043] Based on the above-mentioned high-efficiency lift flapping wing 2 and a dragonfly-like aircraft, an embodiment of the present invention further provides a method for controlling the flight attitude of an aircraft. The method for controlling the flight attitude of an aircraft specifically comprises the following steps:

[0044] S1 balance (hovering) motion: four high-efficiency lift flapping wings 2 generate equal amounts of lift, and the sum of the lifts is equal to the overall weight of the dragonfly-like aircraft.

[0045] S2 ascending motion: on the basis of balanced motion, the lift generated by the four high-efficiency lift flapping wings 2 is increased in equal amounts, so that the total lift generated is greater than the gravity of the aircraft itself, thereby making the aircraft ascend.

[0046] S3 descending motion: on the basis of the balanced motion, the lift generated by the four high-efficiency lift flapping wings 2 is reduced by an equal amount, so that the total lift generated is smaller than the gravity of the aircraft itself, thereby making the aircraft descend.

[0047] S4 forward motion: On the basis of balanced motion, the lift generated by the two high-efficiency lift flapping wings 2 (left rear lift flapping wing and left rear lift flapping wing) at the rear is increased by an equal amount, generating a regulating torque that causes the aircraft to tilt forward, thereby moving the aircraft forward.

[0048] S5 lateral movement: On the basis of balanced movement, the lift generated by the high-efficiency lift flapping wing 2 (the left front lift flapping wing and the left rear lift flapping wing, or the right front lift flapping wing and the right rear lift flapping wing) on ​​the same side is increased by an equal amount, generating a regulating torque that causes the aircraft to tilt to one side, thereby causing the aircraft to move laterally toward the tilted side.

[0049] S6 Rotational movement: On the basis of the balanced movement, the steering propeller 4 is rotated to generate a torque that causes the aircraft to rotate, thereby causing the aircraft to rotate.

[0050] In the ascending movement of step S1, the four high-efficiency lift flapping wings 2 generate equal lift, specifically including: the front and rear high-efficiency lift flapping wings 2 swing alternately; when the left front lift flapping wing and the right rear lift flapping wing swing downward, the right front lift flapping wing and the left rear lift flapping wing swing upward, and when the left front wing and the right rear wing swing upward, the right front wing and the left rear wing swing downward. Under the premise of ensuring sufficient lift, the swing amplitude of the high-efficiency lift flapping wings 2 is minimized.

[0051] Furthermore, increasing or decreasing the lift generated by the high-efficiency lift flapping wing 2 can be achieved by increasing or decreasing the frequency of the flapping of the high-efficiency lift flapping wing 2, or by increasing or decreasing the amplitude of the flapping of the high-efficiency lift flapping wing 2.

[0052] The four high-efficiency lift flapping wings 2 and the steering propeller 4 of the dragonfly-like aircraft of the embodiment of the present invention can be independently controlled. Therefore, the dragonfly-like aircraft can also make various flight postures actually required under the control of the flight controller 701.

[0053] The dragonfly-like aircraft and the aircraft flight attitude control method of the present application can reduce the swing amplitude of the high-efficiency lift flapping wings 2, reduce the load of the flapping-wing drive device 5, and make the flight attitude of the dragonfly-like aircraft more stable, because the high-efficiency lift flapping wings 2 can provide more sufficient lift.

[0054] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. A high-efficiency lift flapping wing, characterized in that: include: A flapping wing body and a plurality of one-way damper blades; the flapping wing body is provided with a plurality of vents, each of the one-way damper blades covers the vents respectively, and the one-way damper blades are used to allow airflow to pass through the vents in only one direction.

2. The high-efficiency lift flapping wing according to claim 1, characterized in that: The one-way damper blades are soft blades that can be bent, and each of the one-way damper blades can only bend toward the same side of the vent; one side of the one-way damper blade is connected to one side of the vent, and the one-way damper blades integrally cover the vent.

3. The high-efficiency lift flapping wing according to claim 1, characterized in that: The one-way damper blade is a hard blade, one side of which is rotatably connected to one side of the vent, and at least one of the length or width of the one-way damper blade is greater than the length or width of the vent; the one-way damper blade integrally covers the vent.

4. A dragonfly-like flying vehicle, characterized in that: include: A frame, a plurality of high-efficiency lift flapping wings as described in any one of claims 1 to 3, a tail, a steering propeller, a plurality of flapping wing drive devices and a steering drive device; The high-efficiency lift flapping wings are symmetrically distributed on both sides of the frame, the tail is arranged at the tail of the frame and is located on the central axis of the frame, and the steering propeller is arranged at the end of the tail; the flapping wing drive device is arranged in the frame and is respectively connected with each of the high-efficiency lift flapping wings; the steering drive device is arranged in the frame or on the tail, and the output end of the steering drive device is connected with the steering propeller; the one-way damper blade allows the airflow to pass through the vent only downward.

5. The dragonfly-like flying device according to claim 4, characterized in that: The frame is provided with a plurality of rotatable flapping-wing support shafts, one side of the high-efficiency lift flapping wing is connected to the flapping-wing support shaft; the flapping-wing support shaft is provided with a transmission gear, and the transmission gear rotates coaxially and synchronously with the flapping-wing support shaft; the flapping-wing drive device is meshedly connected with the transmission gear.

6. The dragonfly-like flying device according to claim 5, characterized in that: The flapping-wing driving device comprises a voice coil motor and a transmission rack; the voice coil motor is fixed in the frame, one end of the transmission rack is connected to the output end of the voice coil motor, and the other end is meshedly connected to the transmission gear.

7. The dragonfly-like flying machine according to claim 5, characterized in that: It also includes a flight control system; the flight control system includes a flight controller and a plurality of angle sensors; the flight control system and the angle sensors are arranged on the frame; the sensing end of each angle sensor is respectively connected to the flapping-wing bracket shaft, the angle sensor is electrically connected to the flight control system, and the flight control system is electrically connected to the flapping-wing drive device and the steering drive device; it also includes a landing gear, which is arranged under the frame.

8. The dragonfly-like flying vehicle according to any one of claims 4 to 7, characterized in that: It comprises two pairs of efficient lift flapping wings, namely a left front lift flapping wing, a right front lift flapping wing, a left rear lift flapping wing and a right rear lift flapping wing; the center of mass of the aircraft is located on a vertical line of the intersection of the intersection lines of the front and rear lift flapping wing center points.

9. A method for controlling the flight attitude of a dragonfly-like aircraft according to claim 8, characterized in that: The following steps are involved: The four high-efficiency lift flapping wings are moved in a balanced (hovering) manner to generate equal lift, and the sum of the lift is equal to the overall weight of the dragonfly-like aircraft; The ascending motion increases the lift generated by the four high-efficiency lift flapping wings by an equal amount on the basis of the balancing motion, so that the total lift generated is greater than the gravity of the aircraft itself; The descending motion reduces the lift generated by the four high-efficiency lift flapping wings by an equal amount on the basis of the balancing motion, so that the total lift generated is less than the gravity of the aircraft itself; The forward motion increases the lift generated by the two high-efficiency lift flapping wings at the rear side by an equal amount on the basis of the balancing motion, thereby generating a regulating moment that causes the aircraft to tilt forward; The lateral movement increases the lift generated by the high-efficiency lift flapping wing on the same side by an equal amount on the basis of the balancing movement, thereby generating a regulating torque that causes the aircraft to tilt to one side; The rotational motion rotates the steering propeller based on the balancing motion, thereby generating a torque that causes the aircraft to rotate.

10. The method for controlling the flight attitude of an aircraft according to claim 9, characterized in that: The ascending motion also includes the alternating swinging of the front and rear high-efficiency lift flapping wings; when the left front lift flapping wing and the right rear lift flapping wing swing downward, the right front lift flapping wing and the left rear lift flapping wing swing upward; when the left front wing and the right rear wing swing upward, the right front wing and the left rear wing swing downward.

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