CN112046743A - Flight control device and control method of bionic bird aircraft - Google Patents
Flight control device and control method of bionic bird aircraft Download PDFInfo
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- CN112046743A CN112046743A CN202010969457.9A CN202010969457A CN112046743A CN 112046743 A CN112046743 A CN 112046743A CN 202010969457 A CN202010969457 A CN 202010969457A CN 112046743 A CN112046743 A CN 112046743A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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Abstract
The invention discloses a flight control device and a control method of a bionic bird aircraft, comprising an aircraft body; the two wing fins are correspondingly arranged on two opposite sides of the fuselage, wherein one end of each wing fin is hinged with the side surface of the fuselage; drive structure, the level setting is in the fuselage, includes: the output shafts of the engines are connected with clutch structures, and the input ends of the clutch structures are connected with the output ends of the engines; and the reciprocating mechanism is arranged below the wing, the input end of the reciprocating mechanism is connected with the output end of the clutch structure, and the output end of the reciprocating mechanism is connected to the bottom of the wing. The invention has simple structure, highly imitates the bird flight process, simultaneously realizes the take-off, landing and steering processes of the aircraft, and is worth popularizing.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a flight control device and a flight control method of a bionic bird aircraft.
Background
According to the normal thinking idea of people, the fact that human beings cannot simulate birds flying in the sky is impossible, and nowadays, bionic robots develop rapidly, especially bionic bird aircrafts, and aircrafts are developed successfully in many countries.
Nowadays, many types of aircraft are manufactured according to the structure of bird structures, but the wing wings of the existing aircraft are unfolded and do not work, only the appearance of a bird is simulated, and the existing aircraft cannot fly by flaring the wing wings like a bird, so that the existing bionic bird aircraft only has no shape and cannot completely fly according to flaring of the wing wings, and secondly, the aircraft needs to take off and land and turn in the air, and therefore, a flight control device and a control method of the bionic bird aircraft are needed to solve the problems.
Disclosure of Invention
In view of the above, the invention provides a flight control device and a flight control method for a bionic bird aircraft, which solve the problem of flight steering of the aircraft by realizing the flaring of wings through a driving structure, a clutch structure and a reciprocating structure aiming at the defects of the prior art.
The technical scheme of the invention is as follows:
a flight control device of a bionic bird aircraft, comprising:
a body;
the two wing wings are arranged on the two corresponding sides of the fuselage;
wing angle adjustment structure for adjusting wing angle includes:
the rotating shaft is horizontally erected in the machine body, two ends of the rotating shaft penetrate through the machine body, and the end part of the rotating shaft is hinged with one end of the corresponding wing;
the driving structure is arranged in the machine body, and the output end of the driving structure is connected with the rotating shaft and is used for driving the rotating shaft to rotate within a certain angle range;
the power structure is horizontally arranged in the fuselage and is used for providing power for flaring up and down for the wing wings;
the driving shaft is horizontally erected below the rotating shaft in the machine body and is connected with the power structure through a transmission structure, and both ends of the driving shaft are provided with clutches;
and the reciprocating mechanism is arranged below the wing, the input end of the reciprocating mechanism is connected with the output end of the clutch, and the output end of the reciprocating mechanism is connected to the bottom of the wing through a universal joint.
Preferably, the reciprocating mechanism comprises a Z-shaped bent shaft, one end of the bent shaft, which is arranged on the bent shaft, penetrates into the body and is connected with the output end of the clutch, the other end of the bent shaft is connected with a connecting block through a bearing, a connecting rod is hinged on the connecting block, and one end of the connecting rod, which deviates from the connecting block, is connected with the wing through a universal joint.
Preferably, the wing is arcuate in cross-section with the concavity facing downwardly.
Preferably, the driving structure comprises a steering engine fixed inside the machine body, a gear I is fixed on an output shaft of the steering engine in a sleeved mode and meshed with a gear II, and the gear II is fixed on the rotating shaft in a sleeved mode.
Preferably, the power structure comprises an engine fixed in the machine body, a gear II I is sleeved and fixed on an output shaft of the engine, a gear III is meshed with a gear IV, and the gear IV is sleeved and fixed on a driving shaft
Preferably, the aircraft further comprises an aileron arranged at the top of the aircraft body, the aileron is parallel to the top of the aircraft body, a plurality of exhaust holes are formed in the aileron, electric control valves are arranged in the exhaust holes and used for controlling the opening and closing of the exhaust holes, and the electric control valves are electrically connected with a controller of the aircraft.
A flight control method of a bionic bird aircraft is characterized by comprising the following steps:
taking-off control: controlling a steering engine to work to drive the rotating shaft to rotate so as to enable the wing fins to rotate in the horizontal direction, ensuring that the front end surfaces of the wing fins are higher than the rear end surfaces of the wing fins, simultaneously starting an engine, driving the wing fins to flare up and down through a reciprocating mechanism to generate lift force, and finishing takeoff;
linear flight control: when the aircraft takes off and reaches a designated flight height, the steering engine is controlled to work, the rotating shaft is rotated to enable the front end surface of each wing to be higher than the rear end surface, the front end surface of each wing is rotated downwards, namely the front end surface of each wing is lower than the rear end surface, and meanwhile, the engine drives the wings to flare up and down through the reciprocating mechanism, namely the backward thrust of the wings to airflow and the reaction force of the airflow to the wings push the aircraft to move forwards;
controlling the flight direction: when the wing moves to the upper limit point, the clutch is controlled to enable the driving shaft and the Z-shaped bent shaft of one reciprocating mechanism to realize motion separation, so that the wing connected with the reciprocating mechanism ensures the posture of the wing, and the other wing continues to incite under the driving of the engine to realize steering;
controlling the landing: the electronic valves on the ailerons are controlled to be opened, when the two wings move to the top dead center, the engine is controlled to stop working, the aircraft can descend rapidly until the aircraft approaches the ground, the engine is started, the two wings slowly incite, and simultaneously the electronic valves on the ailerons are closed until the aircraft lands on the ground.
Preferably, the aircraft flight direction control comprises left steering control and right steering control;
left steering control: when the left wing and the right wing move to the upper limit point, the clutch is controlled to enable the driving shaft and the reciprocating mechanism connected with the left wing to realize motion separation, and meanwhile, the right wing continues to act;
and (3) right steering control: when the left wing and the right wing move to the upper limit point, the clutch connected with the driving shaft and the Z-shaped bent shaft is controlled to work, the reciprocating mechanism connected with the right wing and the clutch realize motion separation, and the left wing is ensured to continue to act.
Compared with the prior art, the flight control device and the flight control method of the bionic bird aircraft have the beneficial effects that:
1. according to the invention, flaring of the wing wings and actions of the wing wings are realized through the driving structure, the clutch structure and the reciprocating motion structure, and the flight steering, take-off and landing of the aircraft are realized, so that the aircraft highly imitates the bird flight process.
2. The invention has simple structure and is worth popularizing.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the right turn during flight of the overall structure of the present invention;
fig. 3 is a schematic view of the left turn during flight of the overall structure of the present invention.
Detailed Description
The invention provides a flight control device and a flight control method of a bionic bird aircraft, and the invention is explained below with reference to the accompanying drawings 1 to 3.
As shown in fig. 1, a flight control device of a bionic bird aircraft includes: a body 1; the two wing wings are arranged on the two corresponding sides of the fuselage 1; wing angle adjustment structure for adjusting wing angle includes: the rotating shaft 10 is horizontally erected in the machine body 1, two ends of the rotating shaft 10 penetrate through the machine body 1, and the end part of the rotating shaft 10 is hinged with one end of the corresponding wing; the driving structure 9 is arranged in the machine body 1, the output end of the driving structure is connected with the rotating shaft 10, and the driving structure is used for driving the rotating shaft 10 to rotate within a certain angle range; the power structure 3 is horizontally arranged in the fuselage 1 and is used for providing power for the up-and-down flaring of the wing wings; the driving shaft 4 is horizontally erected below the rotating shaft 10 in the machine body 1 and is connected with the power structure 3 through a transmission structure, and the two ends of the driving shaft 4 are provided with clutches 2; and the reciprocating mechanism is arranged below the wing, the input end of the reciprocating mechanism is connected with the output end of the clutch 2, and the output end of the reciprocating mechanism is connected to the bottom of the wing through a universal joint 12.
Furthermore, the reciprocating mechanism comprises a Z-shaped bent shaft 5, one end of the bent shaft 5, which is arranged on the bent shaft 5, penetrates into the machine body 1 and is connected with the output end of the clutch 2, the other end of the bent shaft 5 is connected with a connecting block 6 through a bearing, a connecting rod 7 is hinged on the connecting block 6, and one end, which deviates from the connecting block 6, of the connecting rod 7 is connected with the wing through a universal joint 12.
Furthermore, the cross section of each wing is arc-shaped, and the concave surface faces downwards.
Further, drive structure 9 is including fixing the steering wheel in fuselage 1 inside, and the output shaft suit of steering wheel is fixed with gear I, and gear I and gear II mesh, and gear II suit is fixed on pivot 9.
Further, the power structure 3 comprises an engine fixed in the machine body 1, a gear III is sleeved and fixed on an output shaft of the engine, a gear I II is meshed with a gear IV, and the gear IV is sleeved and fixed on a driving shaft 4 in the embodiment 2
On the basis of embodiment 1, in order to facilitate the rapid landing of the aircraft, the aircraft further comprises an aileron 13 arranged at the top of the fuselage 1, the aileron 131 is parallel to the top of the fuselage 1, a plurality of exhaust holes are formed in the aileron 13, an electric control valve 131 is arranged in each exhaust hole, the electric control valve 131 is used for controlling the opening and closing of each exhaust hole, and the electric control valve 131 is electrically connected with a controller of the aircraft.
The flight control method of the bionic bird aircraft comprises the following steps:
wherein, take-off control: the steering engine 9 is controlled to work to drive the rotating shaft 10 to rotate so as to enable the wing fins to rotate in the horizontal direction, the front end faces of the wing fins are higher than the rear end faces, meanwhile, the engine is started, the wing fins are driven to incite up and down through the reciprocating mechanism to generate lift force, and the takeoff is finished.
Wherein, the linear flight control: when the aircraft takes off and reaches the designated flight height, the steering engine 9 is controlled to work, the rotating shaft 10 is rotated to enable the front end surface of the wing to be higher than the rear end surface, the front end surface of the wing is rotated downwards, namely the front end surface of the wing is lower than the rear end surface, and meanwhile, the engine drives the wing to stir up and down through the reciprocating mechanism, namely the backward thrust of the wing to the airflow and the reaction force of the airflow to the wing push the aircraft to move forwards.
Wherein, flight direction control: when the wing moves to the upper limit point, the clutch 2 is controlled to make the driving shaft 4 and the Z-shaped bent shaft 5 of one reciprocating mechanism realize the motion separation, so that the wing connected with the reciprocating mechanism can ensure the posture, and the other wing continues to incite under the driving of the engine to realize the steering.
Wherein, the landing control: the electrovalve 131 on the control flap 13 is opened and when the two wings move to top dead centre the engine is controlled to stop working and the aircraft can descend rapidly until it is close to the ground, starting the engine and the two wings flaring slowly while closing the electrovalve 131 on the flap 13 until it lands on the ground.
Further, the flight direction control of the aircraft comprises left steering control and right steering control;
left steering control: when the left wing 12 and the right wing 8 move to the upper limit point, the clutch 2 is controlled to enable the driving shaft 4 and the reciprocating mechanism connected with the left wing 12 to realize motion separation, and meanwhile, the right wing 8 continues to act;
and (3) right steering control: when the left wing 12 and the right wing 8 move to the upper limit point, the clutch 2 connected with the driving shaft 4 and the Z-shaped bent shaft 5 is controlled to work, the reciprocating mechanism connected with the right wing 8 and the clutch 2 realize motion separation, and meanwhile, the left wing 12 is ensured to continue to act
In conclusion, the invention provides a flight control device and a flight control method of a bionic bird aircraft, which realize flaring of the wings and actions of the wings through a driving structure, a clutch structure and a reciprocating motion structure, and realize flight steering, take-off and landing of the aircraft, so that the aircraft highly imitates the bird flight process, and is worthy of popularization.
The above disclosure is only for the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (8)
1. A flight control device of a bionic bird aircraft is characterized by comprising:
a fuselage (1);
the two wing wings are arranged on the two corresponding sides of the fuselage (1);
wing angle adjustment structure for adjusting wing angle includes:
the rotating shaft (10) is horizontally erected in the machine body (1), two ends of the rotating shaft (10) penetrate through the machine body (1), and the end part of the rotating shaft (10) is hinged with one end of the corresponding wing;
the driving structure (9) is arranged in the machine body (1), the output end of the driving structure is connected with the rotating shaft (10) and is used for driving the rotating shaft (10) to rotate within a certain angle range;
the power structure (3) is horizontally arranged in the fuselage (1) and is used for providing power for flaring up and down for the wing wings;
the driving shaft (4) is horizontally erected below the rotating shaft (10) in the machine body (1) and is connected with the power structure (3) through a transmission structure, and both ends of the driving shaft (4) are provided with clutches (2);
the reciprocating mechanism is arranged below the wing, the input end of the reciprocating mechanism is connected with the output end of the clutch (2), and the output end of the reciprocating mechanism is connected to the bottom of the wing through a universal joint (12).
2. The flight control device of the bionic bird aircraft as claimed in claim 1, wherein the reciprocating mechanism comprises a Z-shaped bent shaft (5), one end of the bent shaft (5) penetrates into the aircraft body (1) and is connected with the output end of the clutch (2), the other end of the bent shaft (5) is connected with a connecting block (6) through a bearing, a connecting rod (7) is hinged on the connecting block (6), and one end, away from the connecting block (6), of the connecting rod (7) is connected with a wing through a universal joint (12).
3. The flight control device of a bionic bird aircraft as claimed in claim 1, wherein the cross section of the wing is arc-shaped, and the concave surface faces downwards.
4. The flight control device of a bionic bird aircraft according to claim 1, wherein the driving structure (9) comprises a steering engine fixed inside the aircraft body (1), an output shaft of the steering engine is sleeved and fixed with a gear I, the gear I is meshed with a gear II, and the gear II is sleeved and fixed on the rotating shaft (9).
5. The flight control device of a bionic bird aircraft according to claim 1, wherein the power structure (3) comprises an engine fixed in the aircraft body (1), the output shaft of the engine is sleeved and fixed with a gear III, the gear III is meshed with a gear IV, and the gear IV is sleeved and fixed on the driving shaft (4).
6. The flight control device of the bionic bird aircraft as claimed in claim 1, further comprising an aileron (13) arranged on the top of the aircraft body (1), wherein the aileron (131) is parallel to the top of the aircraft body (1), a plurality of exhaust holes are formed in the aileron (13), an electric control valve (131) is arranged in each exhaust hole, the electric control valve (131) is used for controlling the opening and closing of each exhaust hole, and the electric control valve (131) is electrically connected with a controller of the aircraft.
7. A flight control method of a bionic bird aircraft is characterized by comprising the following steps:
taking-off control: controlling a steering engine (9) to work to drive a rotating shaft (10) to rotate so as to enable the wing fins to rotate in the horizontal direction, ensuring that the front end surfaces of the wing fins are higher than the rear end surfaces, simultaneously starting an engine, driving the wing fins to flare up and down through a reciprocating mechanism to generate lift force, and finishing taking off;
linear flight control: when the aircraft takes off and reaches a designated flight height, the steering engine (9) is controlled to work, the rotating shaft (10) is rotated to enable the front end surface of each wing to be higher than the rear end surface of each wing, the front end surface of each wing is rotated downwards, namely the front end surface of each wing is lower than the rear end surface of each wing, and meanwhile, the engine drives the wings to flare up and down through the reciprocating motion mechanism, namely the backward thrust of each wing to airflow and the reaction force of the airflow to the wings push the aircraft to move forwards;
controlling the flight direction: when the wing moves to the upper limit point, the clutch (2) is controlled to enable the driving shaft (4) and the Z-shaped bent shaft (5) of one reciprocating mechanism to realize motion separation, so that the wing connected with the reciprocating mechanism ensures the posture thereof, and the other wing continues to incite under the driving of the engine to realize steering;
controlling the landing: the electronic valve (131) on the control flap (13) is opened and when the two wings move to the top dead centre the engine is controlled to stop working and the aircraft can descend rapidly until it approaches the ground, starting the engine and the two wings flaring slowly while closing the electronic valve (131) on the flap (13) until landing on the ground.
8. The method of claim 7, wherein the aircraft flight direction control comprises left steering control and right steering control;
left steering control: when the left wing (12) and the right wing (8) move to the upper limit point, the clutch (2) is controlled to enable the driving shaft (4) and the reciprocating mechanism connected with the left wing (12) to realize motion separation, and meanwhile, the right wing (8) continues to act;
and (3) right steering control: when the left wing (12) and the right wing (8) move to the upper limit point, the clutch (2) connected with the driving shaft (4) and the Z-shaped bent shaft (5) is controlled to work, the reciprocating mechanism connected with the right wing (8) and the clutch (2) are separated in movement, and meanwhile the left wing (12) is guaranteed to continue to act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010969457.9A CN112046743A (en) | 2020-09-15 | 2020-09-15 | Flight control device and control method of bionic bird aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010969457.9A CN112046743A (en) | 2020-09-15 | 2020-09-15 | Flight control device and control method of bionic bird aircraft |
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| CN202010969457.9A Pending CN112046743A (en) | 2020-09-15 | 2020-09-15 | Flight control device and control method of bionic bird aircraft |
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Application publication date: 20201208 |