阅读说明：本技术 一种微小型飞行器机翼扭转和反转的限位驱动装置 (Limit driving device for wing torsion and reversal of micro-miniature aircraft ) 是由 贺媛媛 郭士钧 于 2021-10-19 设计创作，主要内容包括：本发明公开的一种微小型飞行器机翼扭转和反转的限位驱动装置,属于飞行器领域。本发明包括驱动器、铰接头、限位管、轴承、限位杆,扭转和反转的被控对象为机翼。根据飞行模式需求,驱动器驱动限位管和限位杆转动预定度时,翼肋在限位杆A或限位杆B的推动下也相应转动预定角度,使机翼按照预定角度实现前后反转,根据飞行模式需求,通过机翼前后反转实现机翼反对称或对称状态转换。当机翼反对称时作为旋翼或扑旋翼工作模式,当机翼对称时作为固定翼或扑翼工作模式。本发明在保持以旋翼或扑旋翼飞行模式垂直起降和悬停性能的前提下,有效提升以固定翼或扑翼飞行模式前飞的巡航效率和速度；通过对机翼扭转角度的微调操控飞行器的飞行姿态和机动性。(The invention discloses a limiting driving device for wing torsion and reversal of a microminiature aircraft, and belongs to the field of aircrafts. The invention comprises a driver, a hinged joint, a limiting pipe, a bearing and a limiting rod, wherein a twisted and reversed controlled object is a wing. According to the requirement of a flight mode, when the driver drives the limiting pipe and the limiting rod to rotate for a preset degree, the wing ribs correspondingly rotate for a preset angle under the pushing of the limiting rod A or the limiting rod B, so that the wings can rotate forwards and backwards according to the preset angle, and the anti-symmetry or symmetry state conversion of the wings can be realized through the forward and backward rotation of the wings according to the requirement of the flight mode. When the wings are antisymmetric, the rotor wing or flapping rotor wing works, and when the wings are symmetric, the fixed wing or flapping wing works. The invention effectively improves the cruising efficiency and speed of flying in a fixed wing or flapping wing flight mode on the premise of keeping the vertical take-off, landing and hovering performances in a rotor wing or flapping rotor wing flight mode; the flying attitude and maneuverability of the aircraft are controlled by fine adjustment of the wing torsion angle.)

1. A limit driving device for wing torsion and reversal of a microminiature aircraft is characterized in that: the device comprises a driver (101), a hinged joint (102), a limiting pipe (201), bearings (202, 203) and limiting rods (204, 205), wherein the twisted and reversed controlled object is a wing; the driver (101) is used for driving the limiting pipe; the limiting pipe (201) is used for limiting the wing leading edge (301) to be in a coaxial relation with the driver (101); the driver (101) is fixedly connected with a hinged joint (102) at the rear end of the driver, the hinged joint (102) is connected with a longitudinal shaft (103) arranged on the aircraft body, and a driving shaft (104) at the front end of the driver (101) is inserted into and fixed at one end of a limiting pipe (201); the outer diameter of the bearing A (202) and the outer diameter of the bearing B (203) are slightly smaller than the inner diameter of the limiting pipe (201), the slightly smaller fingers reserve assembly allowance of the bearing A (202), the bearing B (203) and the limiting pipe (201), the bearing A (202) and the bearing B (203) are installed in the limiting pipe (201), and the outer side face of the bearing is fixed with the inner wall of the limiting pipe (201); the limiting rods comprise a limiting rod A (204) and a limiting rod B (205), the inner ends of the two limiting rods are fixed at the outer end of the limiting tube (201) and rotate along with the limiting tube (201), and the other ends of the two limiting rods are not restricted; the installation included angle gamma between the limiting rod A (204) and the limiting rod B (205) is determined according to the aerodynamic performance and the flight mode of the aircraft.

2. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 1, wherein: the wing comprises a front spar (301), a rib (302), a secondary spar (303) and a wing membrane (304); the wing ribs (302) are arranged along the chord direction, one end of each wing rib is fixed at the position, close to the wing root end, of the front beam (301), and the other end of each wing rib is not restrained; the secondary beam (303) is arranged between the front beam (301) and the wing rib (302), one end of the secondary beam is also fixed at the same position of the root of the front beam, and the other end of the secondary beam is not restricted; the wing membrane (304) covers and is fixed on the wing front beam (301), the secondary beam (303) and the wing rib (302); one end of the root of the wing front beam (301) is inserted into and fixed with the inner diameters of a bearing A (202) and a bearing B (203) which are arranged in a limiting pipe (201); the rib (302) is inserted between the stop lever A (204) and the stop lever B (205).

3. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 2, wherein: when the two limiting rods A (204) and B (205) are locked at one position along with the driver (101) and the limiting pipe (201), the wing front beam (301) freely rotates in the bearing, and the wing rib (302) freely twists in the range of a limiting included angle gamma between the limiting rods A (204) and B (205), namely, the twisting angle of the wing is limited in the range of the limiting included angle gamma; when the driver drives the limiting pipe and drives the limiting rod A (204) and the limiting rod B (205) to rotate by an angle beta, the wing rib (302) rotates by a corresponding angle under the pushing of the limiting rod A (204) or the limiting rod B (205), but is still limited to freely swing within the range of the included angle gamma; the fine adjustment of the wing torsion angle is realized by regulating and controlling the size of the limit included angle gamma, so that the flight attitude and the maneuverability of the aircraft are regulated and controlled; according to the requirement of a flight mode, when the driver drives the limiting pipe and the limiting rod to rotate for a preset degree, the wing ribs correspondingly rotate for a preset angle under the pushing of the limiting rod A (204) or the limiting rod B (205), so that the wings can rotate forwards and backwards according to the preset angle, and the anti-symmetric or symmetric state conversion of the wings can be realized through the forward and backward rotation of the wings according to the requirement of the flight mode; when the wings are in antisymmetric, the rotor wing or flapping rotor wing is in a working mode, and when the wings are in symmetry, the rotor wing or flapping rotor wing is in a working mode of a fixed wing or flapping wing, namely, the conversion between the flight modes of the rotor wing and a fixed wing aircraft is realized, and the conversion between the flight modes of the rotor wing or flapping rotor wing and the flapping wing is also realized;

when the aircraft vertically takes off, lands and hovers, the flight efficiency and performance can be effectively improved by keeping the flight mode of the rotor or the flapping rotor; the cruise efficiency and speed can be effectively improved by keeping the flight mode of the fixed wing or the flapping wing during forward flight.

4. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 3, wherein: in order to achieve the optimal force bearing state of each joint, the limiting rod A (204) and the limiting rod B (205) are both L-shaped limiting rods.

5. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 3, wherein: in order to minimize bending deformation of the root of the wing front beam (301) in the limiting pipe (201), the installation distance between a bearing A (202) and a bearing B (203) is kept as maximum as possible, the bearing A (202) is installed at the outer end close to the driver shaft (104), and the bearing B (203) is installed at the outer end close to the limiting pipe (201).

6. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 3, wherein: for a rotor craft, the angle between the limiting rod A (204) and the horizontal plane is set within the range of 10-20 degrees;

for a flapping rotor aircraft, the angle between the limiting rod A (204) and the horizontal plane is set to be in the range of-10 to 0 degrees.

7. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 3, wherein: in order to change the torsion angle of the wing in a reasonable range, the limiting included angle gamma of the fixed wing, the rotor wing limiting rod A (204) and the limiting rod B (205) is 0 degree; the limiting included angle gamma of the flapping wing limiting rod A (204) and the limiting rod B (205) is 0-10 degrees; the limiting included angle gamma of the flapping rotor wing limiting rod A (204) and the limiting rod B (205) is 20-40 degrees.

8. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 3, wherein: the length ratio of the wing front beam (301) to the wing rib (302) is determined according to the aerodynamic performance of the wing, and the length ratio of the wing front beam (301) to the wing rib (302) of the microminiature aircraft is 3-4.

9. The wing torsion and inversion limiting driving device for the microminiature aircraft as claimed in claim 3, wherein: the wing spars, the wing ribs (302), the secondary beam (303) and the limiting pipe (201) are made of carbon fiber composite materials; the limiting rods (204, 205) are made of aluminum alloy materials; the bearings (202, 203) and the hinge parts are made of metal materials; the wing membrane (304) is made of polyimide; the driver (101) adopts a driver (101) with high reduction ratio and high locked-rotor moment.

10. A limiting driving device for wing torsion and reversal of a microminiature aircraft as claimed in claim 3, 4, 5, 6, 7, 8 or 9, wherein: the flight mode conversion comprises rotor wing-fixed wing flight mode conversion, rotor wing-flapping wing flight mode conversion and flapping rotor wing-flapping wing flight mode conversion;

for a rotorcraft, the wings mounted on either side of the longitudinal axis of rotation (103) in rotorcraft flight mode are in anti-symmetry, the limit drive means being initially set to: the included angle between the limiting rod A (204) and the limiting rod B (205) is 0 degree, and the included angle between the limiting rod A and the horizontal plane is a preset angle, namely the angle of attack of the wing is a preset angle; when the wings need to be reversed according to a flight mode, a driver (101) is started to drive a limiting pipe (201) to rotate anticlockwise for a preset angle, a limiting rod A (204) and a limiting rod B (205) which are fixedly connected with the limiting pipe (201) rotate for the preset angle, wherein the limiting rod A (204) pushes a wing rib (302) to rotate for the preset angle when rotating, finally the wing rib (302) drives a wing front beam (301) and the whole wing to rotate for the preset angle, the limiting rod A (204) and the limiting rod B (205) simultaneously rotate to the positions of the limiting rod A (204 ') and the limiting rod B (205'), the upper position and the lower position of the two limiting rods are exchanged, and the included angle between the two limiting rods and the horizontal plane still keeps the preset angle, namely the preset angle is still kept after the wings are reversed; at the moment, the rotary motion of the wings is locked, and the wings on the two sides form a symmetrical layout, so that the conversion of a rotor wing-fixed wing flight mode or a rotor wing-flapping wing flight mode is realized; if the reverse conversion of the flapping wing or fixed wing-rotor wing flight mode is to be realized, the driver (101) is only required to drive the limiting pipe (201) to rotate clockwise by a preset angle degree, and the rotational freedom degrees of the two wings are released, so that the initial rotor wing state is returned;

for a flapping-rotor aircraft, the wings mounted on either side of the longitudinal axis of rotation (103) are also in axial symmetry in rotor flight mode, the initial settings of the device are: an included angle between the limiting rod A (204) and the horizontal plane is a preset angle, an included angle between the limiting rod B (205) and the horizontal plane is a preset angle, an included angle between the limiting rod A (204) and the limiting rod B (205) is a preset angle, and the flapping wing between the two limiting rods can be freely twisted between the preset angles; when backward wing reversal is implemented, a driver (101) is started to drive a limiting pipe (201) to rotate anticlockwise by a preset angle, a limiting rod A (204) and a limiting rod B (205) which are fixedly connected with the limiting pipe (201) rotate by the preset angle, wherein the limiting rod A (204) pushes wing ribs (302) to rotate together by the preset angle when rotating, and finally the wing ribs (302) drive a front beam (301) and the whole wing to reverse by the preset angle; at the moment, when the limiting rod A (204) rotates to the position of the limiting rod A (204 '), an included angle between the limiting rod A (204') and the horizontal plane is a preset angle, and when the limiting rod B (205) rotates to the position of the limiting rod B (205 '), an included angle between the limiting rod A (204') and the horizontal plane is a preset angle; although the upper and lower positions of the two limiting rods are interchanged, the wing can still freely twist between preset angles within the range of an included angle formed by the limiting rod A and the limiting rod B after being reversed; at the moment, the rotation of the locking wings is carried out, and the wings on two sides form a symmetrical layout, so that the conversion of the flapping rotor wing-flapping wing flight mode is realized; realizing the reverse conversion of the flight mode of the flapping wings and the flapping rotor wings, driving the limit pipe to rotate clockwise by a preset angle through the driver, releasing the rotational freedom degrees of the two wings, and returning to the initial rotor wing state or the flapping rotor wing state;

the motion of the flapping rotor wing and the flapping wing is divided into flapping degree of freedom and twisting degree of freedom which are simultaneously carried out, wherein the amplitude of a flapping angle is determined by a driving mechanism of the aircraft, and a twisting angle is determined by the positions of the two limiting rods; in the process of beating, the flapping wings freely twist under the action of inertia moment and aerodynamic moment to generate a positive attack angle, and the maximum attack angle is respectively equal to the included angles between the limiting rod B (205) and the limiting rod A (204) and the horizontal plane before and after the flapping wings rotate reversely; in the process of downbeat, the flapping wings generate a low head torsion angle and a minimum attack angle under the action of inertia moment and aerodynamic moment, and the minimum attack angle is respectively equal to the included angles between a limiting rod A (204) and a limiting rod B (205) and the horizontal plane before and after the flapping wings rotate reversely;

after the rotor wing or the flapping rotor wing is inverted into a fixed wing or a flapping wing flight mode with symmetrical layout, the inverted fixed wing or the flapping wing drives the limiting rod to rotate clockwise or anticlockwise by a preset angle delta beta through the driver, so that the attack angle of the wing is changed into alpha +/-delta beta, and the aerodynamic force of the wing is changed to realize the control of the flight attitude;

according to the requirement of a flight mode, the inversion of the wings back and forth is used for realizing the inversion of the wings in a symmetrical or antisymmetric state; when the wings are in antisymmetric state, the flapping-wing aircraft is used as a rotor wing or flapping rotor wing working mode, and when the wings are in symmetric state, the flapping-wing aircraft is used as a fixed wing or flapping wing working mode, namely, the conversion between the flight modes of the rotor wing and the fixed wing aircraft is realized, and the conversion between the flight modes of the flapping rotor wing and the flapping wing aircraft can also be realized;

when the aircraft vertically takes off, lands and hovers, the flight efficiency and performance can be effectively improved by keeping the flight mode of the rotor or the flapping rotor; the cruise efficiency and speed can be effectively improved by keeping the flight mode of the fixed wing or the flapping wing during forward flight.

Technical Field

The invention relates to a limiting driving device for controlling a torsion angle and forward and backward reversal of an aircraft wing, and belongs to the field of aircrafts.

Background

Aircraft are broadly divided into three categories, including conventional fixed wing aircraft, rotary wing aircraft, and non-conventional ornithopters. The fixed-wing aircraft flies in a cruising mode of a fixed-wing flight mode, has the advantages of high speed and high efficiency, but does not have hovering or vertical take-off and landing performance; the combined type or tilt rotor aircraft combining the two flying modes can realize dynamic conversion of the two flying modes by changing the thrust direction, but has the cost of additional power and a mechanical system. The mechanism of aerodynamic force generated by the fixed wing and the rotor wing is completely the same, the difference mainly lies in the aspect ratio of the fixed wing and the rotor wing and the symmetrical or anti-symmetrical installation of the two wings, if the rotor wing stops rotating, the backward-going wing on one side of the pair of rotor wings is reversely rotated back and forth and is symmetrical with the forward-going wing on the other side, and the fixed wing and the rotor wing are also the same kind. The flight mode and the pneumatic lift-increasing mechanism of natural flyers are completely different from those of fixed wings and rotor wings, but the flight mode is between the two, so that the flapping mode of the bionic flapping wings is also different according to the flight state, and can be divided into two modes in a hovering state, namely a transverse flapping mode taking fruit flies and hummingbird wings to do back and forth repeated motion in a nearly horizontal plane as a typical example; the second is a longitudinal flapping mode which takes dragonfly wings as an example and does up-and-down repeated motion in a nearly vertical plane; the two wings form a fan-shaped flapping track by taking the wing root as an original point, and the torsion angle in the flapping process is continuously changed in a certain range to obtain the required lift force. In the forward flight state, the first flapping mode is basically kept unchanged, and the thrust component required by forward flight is realized by integral forward tilting like a rotor wing, so that the flapping mode belongs to a rotor wing flight mode, and the advantages and the disadvantages of the flapping mode are the same as those of a traditional rotor wing; the second flapping mode is similar to that of birds flying forwards, but has obvious difference in flapping amplitude and torsion angle, so that the dragonfly has vertical take-off and landing, hovering, flapping wings similar to bird wings, and even gliding flight performance. The flapping rotor wing combining the flapping of the bird-wing imitation and the rotation of the rotor wing has the advantages of higher lift coefficient and high efficiency than the flapping wing and the rotor wing, has vertical take-off and landing performance and hovering performance, still belongs to a rotor wing flight mode, has the same problems as the flapping wing and the rotor wing in a forward flight state, and cannot achieve the flight speed and efficiency of the flapping mode of the bird-wing imitation.

The microminiature aircraft is convenient to carry, has good concealment, is particularly suitable for completing tasks such as exploration, investigation and rescue in narrow space and severe environment, and becomes a research hotspot in the aviation field in the last two decades. The high-performance microminiature aircraft meeting the application requirements, whether a rotor wing or a bionic flapping wing or a flapping rotor wing, not only needs to have the vertical take-off and landing performance, the hovering performance and the agility, but also needs to simplify the operation and control system and greatly improve the cruising efficiency and the cruising ability of forward flight due to the limited capacity of a portable battery. Therefore, a driving mechanism suitable for wing torsion angle control of a micro aircraft and capable of realizing reverse rotation of a rotor wing or a flapping rotor wing becomes a necessary key technology and a necessary device for realizing controllable conversion between a rotor wing-fixed wing flight mode or a flapping rotor wing-flapping wing flight mode of the aircraft.

Disclosure of Invention

Aiming at the problem that various existing micro aircrafts do not have two flight modes of a rotor wing and a fixed wing or can not achieve comprehensive optimal flight performance in hovering and cruising states, the invention discloses a limiting driving device for wing torsion and inversion of the micro aircrafts, which can solve the technical problem that: (1) the conversion between the flight modes of the rotor wing and the fixed wing aircraft can be realized, and the conversion between the flight modes of the rotor wing or the flapping rotor wing and the flapping wing can also be realized; (2) on the premise of keeping the vertical take-off and landing and hovering performances in a rotor wing flight mode, the cruising efficiency and speed of the aircraft flying in a fixed wing or flapping wing flight mode are effectively improved; (3) the flying attitude and maneuverability of the aircraft are controlled by fine adjustment of the wing torsion angle.

The purpose of the invention is realized by the following technical scheme:

the invention discloses a limiting driving device for wing torsion and reversal of a micro aircraft, which comprises a driver, a hinged joint, a limiting pipe, a bearing and a limiting rod, wherein a controlled object for torsion and reversal is a wing. The driver is used for driving the limiting pipe. The limiting pipe is used for limiting the leading edge of the wing to be in a coaxial relation with the driver. The drive is fixedly connected with a hinged joint at the rear end of the drive, the hinged joint is connected with a longitudinal shaft arranged on the aircraft body, and a drive shaft at the front end of the drive is inserted into and fixed at one end of the limiting pipe; the outer diameter of the bearing A and the outer diameter of the bearing B are slightly smaller than the inner diameter of the limiting pipe, the slightly smaller diameter means that assembly allowance of the bearing A, the bearing B and the limiting pipe is reserved, the bearing A and the bearing B are installed in the limiting pipe, and the outer side face of the bearing is fixed with the inner wall of the limiting pipe; the limiting rods comprise a limiting rod A and a limiting rod B, the inner ends of the two limiting rods are fixed at the outer ends of the limiting tubes and rotate along with the limiting tubes, and the other ends of the two limiting rods are not restricted; and the installation included angle gamma between the limiting rod A and the limiting rod B is determined according to the aerodynamic performance and the flight mode of the aircraft.

The wing comprises a front spar, a rib, a secondary spar and a wing membrane. The wing ribs are arranged along the chord direction, one end of each wing rib is fixed at the position of the front beam close to the wing root end, and the other end of each wing rib is not restrained; the secondary beam is arranged between the front beam and the wing rib, one end of the secondary beam is also fixed at the same position of the root of the front beam, and the other end of the secondary beam is not restricted; the wing membrane covers and is fixed on the wing front beam, the secondary beam and the wing rib. One end of the root part of the wing front beam is inserted into and fixed with the inner diameters of a bearing A and a bearing B which are arranged in a limiting pipe; the wing ribs are inserted between the limiting rod A and the limiting rod B.

When the two limiting rods A and B are locked at one position along with the driver and the limiting pipe, the front wing beam rotates freely in the bearing, and the wing rib twists freely in the range of a limiting included angle gamma between the limiting rods A and B, namely, the twisting angle of the wing is limited in the range of the limiting included angle gamma; when the driver drives the limiting pipe and drives the limiting rod A and the limiting rod B to rotate by an angle beta, the wing ribs also rotate by corresponding angles under the pushing of the limiting rod A or the limiting rod B, but are still limited to freely swing within the range of an included angle gamma; the wing torsion angle can be finely adjusted by regulating and controlling the size of the limit included angle gamma, so that the flight attitude and maneuverability of the aircraft can be regulated and controlled. According to the requirement of a flight mode, when the driver drives the limiting pipe and the limiting rod to rotate for a preset degree, the wing ribs correspondingly rotate for a preset angle under the pushing of the limiting rod A or the limiting rod B, so that the wings can rotate forwards and backwards according to the preset angle, and the anti-symmetry or symmetry state conversion of the wings can be realized through the forward and backward rotation of the wings according to the requirement of the flight mode. When the wings are in antisymmetric, the rotor wing or flapping rotor wing is in a working mode, and when the wings are in symmetry, the rotor wing or flapping rotor wing is in a working mode of a fixed wing or flapping wing, namely, the conversion between the flight modes of the rotor wing and a fixed wing aircraft is realized, and the conversion between the flight modes of the rotor wing or flapping rotor wing and the flapping wing can also be realized.

When the aircraft vertically takes off, lands and hovers, the flight efficiency and performance can be effectively improved by keeping the flight mode of the rotor or the flapping rotor; the cruise efficiency and speed can be effectively improved by keeping the flight mode of the fixed wing or the flapping wing during forward flight.

In order to achieve the optimal force bearing state at each joint, the limiting rod A and the limiting rod B are preferably L-shaped limiting rods.

In order to minimize the bending deformation of the root of the wing front beam in the limiting pipe and keep the installation distance between the bearing A and the bearing B as maximum as possible, the bearing A is preferably installed at the outer end close to the driver shaft, and the bearing B is preferably installed at the outer end close to the limiting pipe.

For rotor craft, as preferred, the angle setting between gag lever post A and the horizontal plane is in 10 ~ 20 degree ranges.

For a flapping rotor aircraft, the angle between the limiting rod A and the horizontal plane is preferably set to be-10-0 degrees.

In order to change the torsion angle of the wing in a reasonable range, preferably, the limit included angle gamma of the fixed wing, the rotor wing limit rod A and the limit rod B is 0 degree; the limiting included angle gamma of the flapping wing limiting rod A and the limiting rod B is 0-10 degrees; the limiting included angle gamma of the flapping rotor wing limiting rod A and the limiting rod B is 20-40 degrees.

The length ratio of the wing front beam to the wing rib is determined according to the aerodynamic performance of the wing, and preferably, the length ratio of the wing front beam to the wing rib of the microminiature aircraft is 3-4.

Preferably, the wing spars, the wing ribs, the secondary beams and the limiting pipes are made of carbon fiber composite materials; the limiting rod is made of an aluminum alloy material; the bearing and the hinge component are made of metal materials; the wing membrane material adopts polyimide; the driver adopts a driver with high reduction ratio and high locked-rotor torque.

The invention discloses a limit driving device for wing torsion and reversal of a microminiature aircraft.

For a rotorcraft, the wings mounted on either side of the longitudinal axis in rotorcraft mode are antisymmetric, the initial setting of the limit drive being: the included angle between the limiting rod A and the limiting rod B is 0 degree, and the included angle between the limiting rod A and the limiting rod B and the horizontal plane is a preset angle, namely the wing attack angle is a preset angle. When the wings need to be reversed according to a flight mode, a driver is started to drive the limiting pipe to rotate anticlockwise for a preset angle, the limiting rod A and the limiting rod B which are fixedly connected with the limiting pipe also rotate for the preset angle, the limiting rod A pushes the wing rib to rotate for the preset angle when rotating, finally the wing rib drives the wing front beam and the whole wing to rotate for the preset angle, the limiting rod A and the limiting rod B simultaneously rotate to corresponding limiting positions respectively, the upper position and the lower position of the two limiting rods are exchanged, the included angle between the two limiting rods and the horizontal plane is still kept at the preset angle, and the preset attack angle is still kept after the wings are reversed. At the moment, the rotary motion of the wings is locked, the wings on the two sides form a symmetrical layout, and the conversion of a rotor wing-fixed wing flight mode or a rotor wing-flapping wing flight mode is realized. If the reverse conversion of the flapping wing or fixed wing-rotor wing flight mode is to be realized, the driver is only required to drive the limiting pipe to rotate clockwise by a preset angle degree, and the rotational freedom degrees of the two wings are released, so that the initial rotor wing state is returned.

For a flapping rotor aircraft, the wings mounted on both sides of the longitudinal axis are also in axial symmetry in rotor flight mode, the initial settings of the device are: the included angle between the limiting rod A and the horizontal plane is a preset angle, the included angle between the limiting rod B and the horizontal plane is a preset angle, the included angle between the limiting rod A and the limiting rod B is a preset angle, and the flapping wing positioned between the two limiting rods can be freely twisted between the preset angles. When the backward wing reversal is implemented, the driver is started to drive the limiting pipe to rotate anticlockwise by a preset angle, the limiting rod A and the limiting rod B which are fixedly connected with the limiting pipe rotate by the preset angle, the limiting rod A pushes the wing ribs to rotate together by the preset angle when rotating, and finally the wing ribs drive the front beam and the whole wing to reverse by the preset angle. At the moment, the limiting rod A rotates to a corresponding limiting position, the included angle between the limiting rod A and the horizontal plane is a preset angle, and the limiting rod B rotates to a corresponding limiting position, and the included angle between the limiting rod B and the horizontal plane is a preset angle. Although the upper position and the lower position of the two limiting rods are interchanged, the wing can still freely twist between preset angles in the range of an included angle formed by the limiting rod A and the limiting rod B after being reversed. At the moment, the rotation of the locking wings forms symmetrical layout of wings at two sides, so that the conversion of the flapping rotor wing-flapping wing flight mode is realized. The reverse conversion of the flight mode of the flapping wings and the flapping rotor wings is realized, the driver drives the limiting pipe to rotate clockwise by a preset angle, and the rotational freedom degrees of the two wings are released, so that the flapping rotor wings return to the initial rotor wing state or the initial rotor wing state.

The flapping rotor wing-flapping wing movement is divided into flapping and twisting two degrees of freedom which are carried out simultaneously, wherein the amplitude of the flapping angle is determined by the driving mechanism of the aircraft, and the twisting angle is determined by the positions of the two limiting rods. In the process of shooting, the flapping wings freely twist under the action of inertia moment and aerodynamic moment to generate a positive attack angle, and the maximum attack angle is respectively equal to the included angles between the limiting rod B and the limiting rod A and the horizontal plane before and after the flapping wings rotate reversely; in the process of downflapping, the flapping wings generate a low head torsion angle and a minimum attack angle under the action of inertia moment and aerodynamic moment, and the minimum attack angle is respectively equal to the included angles between the limiting rod A and the limiting rod B and the horizontal plane before and after the flapping wings rotate reversely.

After the rotor wing or the flapping rotor wing is inverted into a fixed wing or a flapping wing flight mode with symmetrical layout, the inverted fixed wing or the flapping wing drives the limiting rod to rotate clockwise or anticlockwise by a preset angle delta beta through the driver, so that the attack angle of the wing is changed into alpha +/-delta beta, and the aerodynamic force of the wing is changed to realize the control of the flight attitude.

And according to the requirement of a flight mode, the reverse rotation of the wing is used for realizing the inversion symmetry or symmetry state conversion of the wing. When the wings are in antisymmetric, the flapping-wing aircraft can be used as a rotor wing or a flapping rotor wing, and when the wings are in symmetric, the flapping-wing aircraft can be used as a fixed wing or a flapping wing, namely, the switching between the flight modes of the rotor wing and the fixed wing aircraft is realized, and the switching between the flight modes of the flapping rotor wing and the flapping wing aircraft can also be realized.

When the aircraft vertically takes off, lands and hovers, the flight efficiency and performance can be effectively improved by keeping the flight mode of the rotor or the flapping rotor; the cruise efficiency and speed can be effectively improved by keeping the flight mode of the fixed wing or the flapping wing during forward flight.

Has the advantages that:

1. according to the limit driving device for wing torsion and reversal of the microminiature aircraft, when the driver drives the limit pipe and the limit rod to rotate for a preset degree according to flight mode requirements, the wing rib correspondingly rotates for a preset angle under the pushing of the limit rod A or the limit rod B, so that the wing is reversed back and forth according to the preset angle, and the wing inversion or symmetrical state conversion is realized through the wing inversion back and forth according to the flight mode requirements. When the wings are in antisymmetric, the flapping-wing aircraft can be used as a rotor wing or a flapping rotor wing, and when the wings are in symmetric, the flapping-wing aircraft can be used as a fixed wing or a flapping wing, namely, the switching between the flight modes of the rotor wing and the fixed wing aircraft is realized, and the switching between the flight modes of the flapping rotor wing and the flapping wing aircraft can also be realized.

2. The invention discloses a limiting driving device for wing torsion and reversal of a micro-miniature aircraft, which can effectively improve the flight efficiency and performance by keeping a rotor wing or flapping rotor wing flight mode during vertical take-off, landing and hovering on the basis of realizing the beneficial effect 1; the cruise efficiency and speed can be effectively improved by keeping the flight mode of the fixed wing or the flapping wing during forward flight. Even if a single aircraft is switched to a flight mode under a multitask target to obtain the optimal flight performance.

3. When two limiting rods A and B are locked at one position along with a driver and a limiting pipe, a wing front beam freely rotates in a bearing, a wing rib freely twists in the range of an included angle gamma between the limiting rods A and B, namely, the twisting angle of the wing is limited in the range of the included angle gamma; when the driver drives the limiting pipe and drives the limiting rod A and the limiting rod B to rotate by an angle beta, the wing ribs also rotate by corresponding angles under the pushing of the limiting rod A or the limiting rod B, but are still limited to freely swing within the range of an included angle gamma; the wing torsion angle can be finely adjusted by regulating the size of the limit included angle gamma, so that the flight attitude and maneuverability of the aircraft can be regulated, and the wing torsion angle regulating device has the advantage of simplicity and convenience in operation.

4. The invention discloses a limiting driving device for wing torsion and reversal of a microminiature aircraft, which can realize control of flight attitude by controlling the torsion angle of the wing in a fixed wing or flapping wing flight mode without an aileron control surface. The reversed fixed wing or flapping wing drives the limiting rod to rotate clockwise or anticlockwise by a preset angle delta beta through the driver, so that the attack angle alpha of the wing is changed into alpha +/-delta beta, and the aerodynamic force of the wing is changed to realize the control of the flight attitude.

Drawings

FIG. 1 is a schematic view of a transition device mounted on a side of a rear wing of a rotorcraft or flapping rotorcraft according to the present invention;

FIG. 2 is a schematic representation of a rear wing of a rotary wing or flapping rotary wing aircraft having a transition device mounted to one side thereof, according to the present invention, after reversal;

FIG. 3 is a schematic representation of a transition device of the present invention before and after reversal of the rotor and the aft wing on one side of the flapping rotorcraft, with FIG. 3(a) showing the change in position of the rotor before and after reversal; FIG. 3(b) is a diagram showing the change in position of the flapping rotor before and after reversal;

wherein:

101-driver, 102-wing joint, 103-aircraft power longitudinal axis, 104-driver drive shaft;

201-limit tube, 202-bearing A, 203-bearing B, 204-limit rod A, 205-limit rod B;

301-wing front spar, 302-wing rib, 303-wing secondary spar, 304-wing membrane.

Detailed Description

For a better understanding of the objects and advantages of the present invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Example 1:

as shown in fig. 1, the limiting driving device for wing torsion and inversion of a micro aircraft disclosed in this embodiment includes a driver 101, an articulated joint 102, a limiting pipe 201, bearings 202 and 203, and limiting rods 204 and 205, and the controlled object for torsion and inversion is a wing.

As shown in fig. 1, the driving device 1 includes a driver 101, an articulated joint 102 and a motor driving shaft 104; the turnover mechanism 2 comprises a limiting pipe 201, a bearing A202, a bearing B203, a limiting rod A204 and a limiting rod B205; the wing 3 comprises a front spar 301, a rib 302, a secondary spar 303, and a foil 304.

The drive 101 is connected in an articulated manner to the power longitudinal shaft 103 of the aircraft and to the aircraft fuselage by means of an articulation 102.

The driver 101 drives the driving shaft 104 and is fixedly connected with the limiting pipe 201 to drive the limiting pipe 201 to rotate together.

The bearing A202 and the bearing B203 are installed in the limiting pipe 201 and are bonded on the inner wall of the limiting pipe 201, and the inner wheel of the bearing is bonded and fixed with the root of the wing front beam 301.

One end of the limiting rod A204 and one end of the limiting rod B205 are fixed at the outer end of the limiting tube 201 and rotate together with the limiting tube 201.

The wing rib 302 is vertically adhered to the position of the wing front beam 301 close to the root, is positioned in the space between the L-shaped limiting rod A204 and the L-shaped limiting rod B205 after being installed, and can freely rotate in the included angle defined between the L-shaped limiting rod A204 and the L-shaped limiting rod B205.

The position at which the rotor or flapping rotor completes the reversal, as shown in fig. 2, allows the aircraft to fly in either fixed-wing or flapping-wing flight modes.

As shown in fig. 3(a), the position of the rotor changes before and after the reverse rotation.

As shown in fig. 3(b), the position of the flapping rotor changes before and after the inversion.

The working method of the limiting driving device for wing torsion and inversion of the microminiature aircraft disclosed by the embodiment is as follows:

for rotorcraft in which the wings mounted on either side of the longitudinal axis of rotation 103 are in axial symmetry in the rotorcraft flight mode, the initial setup of the device shown in figure 1 for the trailing wing is: when the wing is reversed, the driver 101 is started to drive the limiting tube 201 to rotate counterclockwise by 160 degrees, as shown in fig. 3(a) (side view from the wing tip to the wing root), the L-shaped limiting rod a204 and the L-shaped limiting rod B205 fixedly connected with the limiting tube 201 rotate 160 degrees with the wing, wherein the limiting rod a204 pushes the wing rib 302 to rotate 160 degrees when rotating, and finally the wing rib 302 drives the wing front beam 301 and the whole wing to rotate 160 degrees, so that the limiting rod a204 and the limiting rod B205 rotate to the positions 204 'and 205' shown in fig. 3(a) simultaneously, the upper and lower positions of the two limiting rods are interchanged, but the included angle with the horizontal plane is still 10 degrees, that is, the angle of attack α remains 10 degrees after the wing is reversed. At the moment, the rotary motion of the wings is locked, the wings on the two sides form a symmetrical layout, and the conversion of a rotor wing-fixed wing flight mode or a rotor wing-flapping wing flight mode is realized. Conversely, to realize the reverse conversion of the flapping wing or fixed wing-rotor flight mode, the driver 101 drives the limit pipe 201 to rotate clockwise by 160 degrees, and the rotational freedom degrees of the two wings are released, so that the initial rotor state is returned.

For a flapping rotor aircraft, the wings mounted on either side of the longitudinal axis 103 are also in axial symmetry in flapping rotor flight mode, as shown for the rear wing shown in FIG. 1, the device is initially set up as: the included angle between the L-shaped limiting rod A204 and the horizontal plane is-10 degrees, the included angle between the limiting rod B205 and the horizontal plane is 30 degrees, the included angle between the limiting rod A204 and the limiting rod B205 is 40 degrees, and therefore the wing rib 302 between the two limiting rods and the flapping wing can freely twist between alpha and-10 to 30 degrees. When the backward wing reversal is implemented, the starting driver 101 drives the limiting tube 201 to rotate 160 degrees counterclockwise, as shown in fig. 3(B), the limiting rod a204 and the limiting rod B205 fixedly connected to the limiting tube 201 also rotate 160 degrees, wherein the limiting rod a204 pushes the wing rib 302 to rotate 160 degrees together when rotating, and finally the wing rib 302 drives the wing front spar 301 and the whole wing to reverse 160 degrees. At this time, the stopper rod A204 is rotated to the position 204 'shown in FIG. 3(B), and the included angle between the stopper rod A204 and the horizontal plane is 30 degrees, and the stopper rod B205 is rotated to the position 205' and the included angle between the stopper rod A and the horizontal plane is-10 degrees. Although the upper and lower positions of the two limiting rods are interchanged, the wing can still freely twist within the range of an included angle of 40 degrees formed by the limiting rod A and the limiting rod B, and the angle alpha is-10-30 degrees after the wing rotates reversely. At the moment, the locking wings rotate, and the wings on the two sides form a symmetrical layout, so that the conversion of the flapping rotor wing-flapping wing flight mode is realized. And conversely, when the reverse conversion of the flight modes of the flapping wings, the flapping rotors or the rotors is realized, the driver drives the limiting pipe to rotate clockwise by 160 degrees, and the rotational freedom degrees of the two wings are released, so that the initial rotor or flapping rotor state is returned.

The flapping rotor wing-flapping wing movement is divided into flapping and twisting two degrees of freedom which are carried out simultaneously, wherein the amplitude of the flapping angle is determined by the driving mechanism of the aircraft, and the twisting angle is determined by the positions of the two L-shaped limiting rods. As shown in fig. 3(B), in the process of upward flapping, the flapping wing is freely twisted under the action of inertia moment and aerodynamic moment to generate a positive attack angle, and the maximum attack angle is respectively equal to the included angles between the L-shaped limiting rod B205 and the limiting rod a 204' and the horizontal plane before and after the flapping wing rotates reversely; in the process of downbeat, the flapping wings generate a low head torsion angle and a minimum attack angle under the action of inertia moment and aerodynamic moment, and the minimum attack angle is respectively equal to the included angles between the L-shaped limiting rod A204 and the horizontal plane and between the L-shaped limiting rod B205' and the horizontal plane before and after the flapping wings rotate reversely.

The above detailed description is intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above detailed description is only exemplary of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.