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

Abstract

The application relates to a high-efficiency lift flapping wing, a dragonfly-imitating aircraft and an aircraft flight posture control method. The high-efficiency lift flapping wing comprises a flapping wing body and a plurality of one-way air door blades; a plurality of air vents are arranged on the flapping wing body, each one-way air door blade covers the air vent, and the one-way air door blade is used for allowing airflow to pass through the air vent in one direction. The high-efficiency lift flapping wing, the dragonfly-imitating aircraft and the aircraft flight posture control method have the advantages of high lift efficiency, reduced flapping wing burden, improved aircraft service life and stability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a high-efficiency lift flapping wing and a dragonfly-imitating aircraft. BACKGROUND

[0002] With the development of aircraft, aircraft play an increasingly important role in the fields of agriculture, military, engineering, exploration, etc. However, the design of traditional aircraft is often limited by mechanical structure and engineering principles, which cannot fully meet the increasingly complex demands today. In order to overcome these limitations, the design of aircraft begins to draw inspiration from the biological world and develops bionic aircraft. The dragonfly-imitating aircraft is one of them.

[0003] The existing method of generating lift for the dragonfly-imitating aircraft is mostly by changing the up and down flapping rate of the flapping wing, and generating lift through the rate difference of the up and down flapping of the flapping wing. However, this method will bring great burden to the flapping wing and the driving device, greatly reducing the service life and stability of the dragonfly-imitating aircraft. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a high-efficiency lift flapping wing, a dragonfly-imitating aircraft and an aircraft flight attitude control method, which has the advantages of high lift efficiency, reduced flapping wing burden, improved aircraft service life and stability.

[0005] A high-efficiency lift flapping wing, comprising a flapping wing body and a plurality of one-way air door blades; the flapping wing body is provided with a plurality of air vents, and each one-way air door blade covers the air vent; the one-way air door blade is used to make the airflow pass through the air vent in one direction only.

[0006] The high-efficiency lift flapping wing comprises a flapping wing body and a plurality of one-way air door blades; the flapping wing body is provided with a plurality of air vents, and each one-way air door blade covers the air vent; the one-way air door blade is used to make the airflow pass through the air vent in one direction only.

[0007] Further, the one-way air door blade is a soft blade that can be bent, and each one-way air door blade can only bend towards the same side of the air vent; one side of the one-way air door blade is connected to one side of the air vent, and the one-way air door blade covers the air vent as a whole.

[0008] Further, the one-way air door blade is a hard blade, one side of the one-way air door blade is rotatably connected to one side of the air vent, and at least one of the length or width of the one-way air door blade is greater than the length or width of the air vent; the one-way air door blade covers the air vent as a whole.

[0009] An imitation dragonfly aircraft, comprising: a frame, the aforementioned high-lift flapping wings, a tail, a steering propeller, several flapping wing driving devices and steering driving devices; the high-lift flapping wings are symmetrically arranged on both sides of the frame, the tail is arranged at the tail of the frame and located on the central axis of the frame, and the steering propeller is arranged at the end of the tail; the flapping wing driving devices are arranged in the frame and connected with the high-lift flapping wings respectively; 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 air door blade allows air flow to pass through the air vent only downward.

[0010] Further, the frame is provided with several rotatable flapping wing support shafts, one side of the high-lift flapping wing is connected with the flapping wing support shaft, the flapping wing support shaft is provided with a transmission gear, the transmission gear rotates synchronously with the flapping wing support shaft, and the flapping wing driving device is meshed and connected with the transmission gear.

[0011] Further, the flapping wing driving device comprises a voice coil motor and a transmission rack, the voice coil motor is fixedly arranged in the frame, one end of the transmission rack is connected with the output end of the voice coil motor, and the other end is meshed and connected with the transmission gear.

[0012] Further, it further comprises a flight control system, the flight control system comprises a flight controller and several angle sensors, the flight control system and the angle sensors are arranged on the frame, the sensing end of each angle sensor is connected with the flapping wing support shaft, the angle sensor is electrically connected with the flight control system, the flight control system is electrically connected with the flapping wing driving device and the steering driving device, and the landing gear is arranged below the frame.

[0013] Further, it comprises two pairs of high-lift flapping wings, namely left front lift flapping wing, right front lift flapping wing, left rear lift flapping wing and right rear lift flapping wing, and the center of gravity of the aircraft is located on the vertical line of the intersection point of the intersection lines of the center points of the front and rear lift flapping wings.

[0014] A flight attitude control method for the aforementioned imitation dragonfly aircraft, comprising the following steps:

[0015] In the balanced (hovering) motion, four high-lift flapping wings generate equal lift, and the total lift is equal to the total weight of the imitation dragonfly aircraft;

[0016] In the ascending motion, the lift generated by the four high-lift flapping wings is increased by the same amount on the basis of the balanced motion, so that the total lift generated is greater than the gravity of the aircraft itself;

[0017] The descending motion is based on the balance motion, and the lift force generated by the four high-efficiency lift flapping wings is reduced by the same amount, so that the total lift force is less than the gravity of the aircraft itself;

[0018] The advancing motion is based on the balance motion, and the lift force generated by the two high-efficiency lift flapping wings at the back is increased by the same amount, so that the adjusting moment that makes the aircraft tilt forward is generated;

[0019] The lateral motion is based on the balance motion, and the lift force generated by the high-efficiency lift flapping wings on the same side is increased by the same amount, so that the adjusting moment that makes the aircraft tilt to one side is generated;

[0020] The rotating motion is based on the balance motion, and the steering propeller is rotated, so that the torsion that makes the aircraft rotate is generated.

[0021] Further, the ascending motion further includes that the high-efficiency lift flapping wings at the front and the back 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; when the left front wing and the right rear wing swing upward, the right front wing and the left rear wing swing downward.

[0022] In order to better understand and implement, the present application will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a three-dimensional schematic diagram of the high-efficiency lift flapping wing of the embodiment of the present application;

[0024] Figure 2 It is a three-dimensional schematic diagram of the dragonfly-like aircraft of the embodiment of the present application;

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

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0027] In the description of the present application, it should be noted that the terms "vertical direction", "upper", "lower", "horizontal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, "first", "second", "third", "fourth" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be a heat-conducting connection, or a detachable connection, or an integral connection, it can be a mechanical connection, or an electrical connection, it can be a direct connection, or a connection through an intermediate medium, or a communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] Embodiments

[0030] Please refer to 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 application 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 driving devices 5 and a steering driving device 6.

[0031] The high-efficiency lift flapping wings 2 are symmetrically arranged 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 and is located on the center 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 driving devices 5 are arranged in the frame 1 and are respectively connected with each high-efficiency lift flapping wing 2, and are used to provide power for the high-efficiency lift flapping wing 2; the steering driving device 6 is arranged in the frame 1 or on the tail 3, and the output end of the steering driving device 6 is connected with the steering propeller 4, and is used to provide power for the steering propeller 4.

[0032] The high-efficiency lift flapping wing 2 comprises a flapping wing body 201 and a plurality of one-way air door blades 202. The flapping wing body 201 is provided with a plurality of air vents, and each one-way air door blade covers the air vent, and the one-way air door blade 202 is used to make the airflow pass through the air vent in one direction only. Further, when the high-efficiency lift flapping wing 2 is arranged on the frame 1, the one-way air door blade 202 makes the airflow pass through the air vent downward only.

[0033] When the dragonfly-like aircraft is flying, the high-efficiency lift flapping wing 2 swings up and down; when the high-efficiency lift flapping wing 2 swings upward, the air generates downward air resistance to the one-way air door blade 202, the one-way air door blade 202 opens, the airflow can pass through the air vent, so that the resistance of 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 air door blade 202, the one-way air door blade 202 remains closed, the airflow cannot pass through the air vent, so that the resistance of the high-efficiency lift flapping wing 2 swinging downward is large. Because the air resistance of the high-efficiency lift flapping wing 2 swinging upward is smaller than that of swinging downward, the high-efficiency lift flapping wing 2 can generate greater lift for the aircraft.

[0034] In some embodiments, the one-way air door blade 202 is a soft blade that can be bent, and each one-way air door blade 202 can only bend to one side of the air vent; so that the one-way air door blade 202 can only open to one side of the air vent; one side of the one-way air door blade 202 is connected with one side of the air vent, and the one-way air door blade 202 covers the air vent as a whole.

[0035] In other embodiments, the one-way air door blade 202 is a hard blade, one side of the one-way air door blade 202 is rotatably connected with one side of the air vent, and at least one of the length or width of the one-way air door blade 202 is larger than that of the air vent; so that the one-way air door blade 202 can only open to one side of the air vent; the one-way air door blade 202 covers the air vent as a whole. Further, one side of the one-way air door blade 202 is connected with one side of the air vent through a hinge 202a, and a torsion spring is arranged on the hinge 202a, so that the one-way air door blade 202 is in the air door 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 air vents in parallel, and the total area of the air vents is greater than 30% of the area of the high-efficiency lift flapping wing 2.

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

[0038] In some embodiments, the flapping wing driving device 5 comprises 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 with the output end of the voice coil motor 501, and the other end is engaged 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 to make the high-efficiency lift flapping wing 2 swing back and forth; compared with other types of motors, the output frequency and the output amplitude of the voice coil motor 501 are controllable, so that the smoothness of the swing of the high-efficiency lift flapping wing 2 can be improved; other types of motors, such as a steering motor and a stepping motor, can usually only control one of the output speed (frequency) and the output amplitude.

[0039] Further, the dragonfly-like aircraft of the embodiment of the present application further comprises a flight control system. The flight control system comprises 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 with the flapping wing support shaft 101, the angle sensors 702 are electrically connected with the flight control system, and the flight control system is electrically connected with the flapping wing driving device 5 and the steering driving device 6. The flight control system can control the actions of the flapping wing driving device 5 and the steering driving device 6, thereby changing 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 sensors 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 comprises a landing gear arranged below the frame 1, which is used to assist the take-off and landing of the dragonfly-like aircraft.

[0041] Further, the dragonfly-like aircraft of the embodiment of the present application comprises two pairs of high-efficiency lift flapping wings 2, namely left front lift flapping wings, right front lift flapping wings, left rear lift flapping wings and right rear lift flapping wings. The center of mass of the aircraft is located on the vertical line of the intersection point of the intersection line of the center points of the front and rear lift flapping wings (the line connecting the center point of the left front lift flapping wing with the center point of the right rear lift flapping wing, and the line connecting the center point of the right front lift flapping wing with the center point of the right rear lift flapping wing, which intersect with each other to form the intersection line).

[0042] In some embodiments, the dragonfly-like aircraft further comprises a body shell (not shown in the figure), which 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 high-efficiency lift flapping wing 2 and the dragonfly-imitating aircraft, the embodiment of the present application further provides an aircraft flight attitude control method.

[0044] S1 balance (hover) movement: the four high-efficiency lift flapping wings 2 generate equal amounts of lift, and the total amount of the lift is equal to the total weight of the dragonfly-imitating aircraft.

[0045] S2 ascending movement: on the basis of the balance movement, the four high-efficiency lift flapping wings 2 generate equal amounts of increased lift, so that the total lift generated is greater than the gravity of the aircraft itself, thereby causing the aircraft to ascend.

[0046] S3 descending movement: on the basis of the balance movement, the four high-efficiency lift flapping wings 2 generate equal amounts of decreased lift, so that the total lift generated is less than the gravity of the aircraft itself, thereby causing the aircraft to descend.

[0047] S4 forward movement: on the basis of the balance movement, the two high-efficiency lift flapping wings 2 at the back (the left rear lift flapping wing and the right rear lift flapping wing) generate equal amounts of increased lift, so that the adjusting moment that causes the aircraft to lean forward is generated, thereby causing the aircraft to move forward.

[0048] S5 lateral movement: on the basis of the balance movement, the high-efficiency lift flapping wings 2 on the same side (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) generate equal amounts of increased lift, so that the adjusting moment that causes the aircraft to lean to one side is generated, thereby causing the aircraft to move laterally to the side to which it leans.

[0049] S6 rotating movement: on the basis of the balance movement, the steering propeller 4 is rotated, so that the torsion that causes the aircraft to rotate is generated, thereby causing the aircraft to rotate.

[0050] In the step S1 ascending movement, the four high-efficiency lift flapping wings 2 generate equal amounts of lift, which specifically includes: the high-efficiency lift flapping wings 2 at the front and the back 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. On the premise of ensuring sufficient lift, the swing amplitude of the high-efficiency lift flapping wing 2 is minimized.

[0051] Further, the increase or decrease of the lift generated by the high-efficiency lift flapping wing 2 can be realized 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 dragonfly-imitating aircraft of the embodiment of the present application can independently control the four high-efficiency lift flapping wings 2 and the steering propeller 4, so that the dragonfly-imitating aircraft can also make various flight attitudes required in practice 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 provide more sufficient lift due to the high-efficiency lift flapping wing 2, the aircraft flight attitude control method can reduce the swing of the high-efficiency lift flapping wing 2, reduce the load of the flapping wing driving device 5, and make the flight attitude of the dragonfly-like aircraft more stable.

[0054] The above-mentioned embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, and the present application also intends to include these modifications and improvements.

Claims

1. A dragonfly-imitating aircraft characterized by comprising: It comprises: a frame, several high-lift flapping wings, a tail, a steering propeller, several flapping wing driving devices and a steering driving device; the high-lift flapping wing comprises a flapping wing body and several one-way air door blades; the flapping wing body is provided with several air vents, and each one-way air door blade covers the air vent; the one-way air door blade is used for allowing airflow to pass through the air vent in one direction only; the high-lift flapping wing is symmetrically arranged on both sides of the frame, the tail is arranged at the tail of the frame and located on the central axis of the frame, and the steering propeller is arranged at the tail end of the tail; the flapping wing driving device is arranged in the frame and connected with each high-lift flapping wing; 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 air door blade allows airflow to pass through the air vent in one direction only; the frame is provided with several rotatable flapping wing support shafts, one side of the high-lift flapping wing is connected with the flapping wing support shaft; the flapping wing support shaft is provided with a transmission gear, the transmission gear rotates synchronously with the flapping wing support shaft; the flapping wing driving device is meshed and connected with the transmission gear; the flapping wing driving device comprises a voice coil motor and a transmission rack; the voice coil motor is fixedly arranged in the frame, one end of the transmission rack is connected with the output end of the voice coil motor, and the other end is meshed and connected with the transmission gear.

2. The dragonfly-imitating aerial vehicle according to claim 1, characterized by: The one-way air door blade is a soft blade that can be bent, and each one-way air door blade can only bend towards the same side of the air vent; one side of the one-way air door blade is connected with one side of the air vent, and the one-way air door blade covers the air vent as a whole.

3. The dragonfly-imitating aerial vehicle according to claim 1, characterized by: The one-way air door blade is a hard blade, one side of the one-way air door blade is rotatably connected with one side of the air vent, and the length or width of the one-way air door blade is greater than that of the air vent; the one-way air door blade covers the air vent as a whole.

4. The dragonfly-imitating aerial vehicle according to claim 1, characterized by: It also comprises a flight control system; the flight control system comprises a flight controller and several angle sensors; the flight controller and the angle sensors are arranged on the frame; the sensing end of each angle sensor is connected with the flapping wing support shaft, the angle sensor is electrically connected with the flight control system, and the flight control system is electrically connected with the flapping wing driving device and the steering driving device; it also comprises a landing gear, and the landing gear is arranged below the frame.

5. The dragonfly-imitating aerial vehicle according to any one of claims 1-4, wherein: It comprises two pairs of high-lift flapping wings, namely left front high-lift flapping wing, right front high-lift flapping wing, left rear high-lift flapping wing and right rear high-lift flapping wing; the center of mass of the aircraft is located on the vertical line of the intersection point of the intersection line of the center points of the front and rear high-lift flapping wings.

6. A method for controlling the flight attitude of the dragonfly-imitating aircraft of claim 5, characterized by, It comprises the following steps: balanced motion, four high-lift flapping wings generate equal lift, and the total lift is equal to the total weight of the dragonfly-like aircraft; ascending motion, on the basis of the balanced motion, the lift generated by the four high-lift flapping wings is increased equally, so that the total lift generated is greater than the gravity of the aircraft itself; a descending motion, on the basis of the balanced motion, equally reducing the lift generated by the four high-lift flapping wings, so that the total lift generated is less than the weight of the aircraft itself; a forward motion, on the basis of the balanced motion, equally increasing the lift generated by the two rear high-lift flapping wings, generating a regulating moment that tilts the aircraft forward; a lateral motion, on the basis of the balanced motion, equally increasing the lift generated by the high-lift flapping wings on the same side, generating a regulating moment that tilts the aircraft to one side; a rotating motion, on the basis of the balanced motion, rotating the steering propellers, generating a torsion that rotates the aircraft.

7. The aircraft flight attitude control method according to claim 6, characterised in that: The ascending motion further comprises the front and rear high-lift flapping wings swinging alternately; when the left front high-lift flapping wing and the right rear high-lift flapping wing swing downward, the right front high-lift flapping wing and the left rear high-lift flapping wing swing upward; when the left front high-lift flapping wing and the right rear high-lift flapping wing swing upward, the right front high-lift flapping wing and the left rear high-lift flapping wing swing downward.

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