CN114701649A - Rotor wing structure, aircraft and flight control method - Google Patents

Abstract

The invention provides a rotor wing structure, an aircraft and a flight control method, and particularly relates to the technical field of aircraft. The flight control method of the invention is used for controlling the flight of an aircraft, wherein the aircraft comprises at least one rotor structure, the rotor structure comprises at least one blade, and the flight control method comprises the following processes: and when the horizontal component speed of the aircraft is greater than a first set threshold value, controlling the extending direction of the blade to be parallel or approximately parallel to the heading direction of the aircraft. The flight control method can reduce the aerodynamic resistance of the aircraft in the cruise mode and increase the effective navigation time of the aircraft.

Description

Rotor wing structure, aircraft and flight control method

Technical Field

The invention relates to the technical field of aircrafts, in particular to a rotor wing structure, an aircraft and a flight control method.

Background

Among the current aircraft, rotor craft need not the run-off, can the vertical lift, and shared space is less, is difficult for receiving the place restraint, but its continuation of journey performance is relatively poor, is not suitable for load and long-time flight, can't satisfy various practical application demands to the aircraft at present stage. The fixed wing aircraft has higher cruising performance, but occupies larger space, needs a longer runway for taking off and landing, and has strict requirements on taking off and landing conditions. And the aircraft that rotor and fixed wing combine obtains rapid development owing to have the characteristics of rotor vertical lift and fixed wing when long voyage simultaneously concurrently.

At present, an aircraft with a rotor and a fixed wing is limited by various factors such as layout space of blades and mechanical requirements, and the aerodynamic upper limit of the aircraft is generally increased by increasing the number of blades at a single moving point of the rotor, but the increase of the number of blades also causes aerodynamic drag of the aircraft in a cruise mode. Therefore, it is desirable to develop a rotor structure that can control the opening and closing of the blades to reduce the aerodynamic drag in cruise mode.

Disclosure of Invention

In view of the above disadvantages of the prior art, the present invention provides a rotor structure, an aircraft and a flight control method to improve the problem of large aerodynamic drag in the cruise mode of the aircraft.

To achieve the above and other related objects, the present invention provides a flight control method for controlling the flight of an aircraft, the aircraft including at least one rotor structure including at least one blade, the flight control method comprising the steps of: and when the horizontal component speed of the aircraft is greater than a first set threshold value, controlling the extending direction of the blade to be parallel or approximately parallel to the heading direction of the aircraft.

In an example of the invention, the rotor structure comprises a first blade and a second blade, and the second blade is fixed in a crossed state with the first blade when the vertical component speed of the aircraft is greater than a second set threshold value.

In an example of the invention, the rotor structure comprises a first blade and a second blade, the extension direction of the second blade being parallel or approximately parallel to the heading of the aircraft when the horizontal component velocity of the aircraft is greater than a first set threshold value.

In an example of the invention, a switching device is provided between the first and second paddles, and the second paddle is rotatable relative to the first paddle between a first position and a second position by the switching device.

In an example of the invention, when the first blade and the second blade are in a crossed state or a parallel state or an approximately parallel state with the heading direction of the aircraft, the first blade and the second blade are locked relatively through a position locking device.

In an example of the present invention, a return assembly is provided between the first and second paddles to return the second paddle to a first position relative to the first paddle.

In one example of the invention, a position sensor is arranged in the motor of the rotor structure, and the position of the rotor of the motor is fed back to the flight control system through the position sensor.

In an example of the present invention, the flight control system includes an upper computer and a hovering electronic controller, and the hovering electronic controller is in signal connection with the upper computer through a CAN or a serial port.

In an example of the present invention, the position sensor feeds back the position of the rotor of the motor to the hovering electric controller, the hovering electric controller feeds back the position to the upper computer, and the upper computer sends out a control instruction after receiving a feedback signal of the hovering electric controller, and controls the motor through the hovering electric controller.

In another aspect, the present invention provides a rotor structure comprising a first blade, a second blade, and a switching device disposed between the first blade and the second blade and configured to enable the second blade to rotate relative to the first blade between a first position and a second position; when the first paddle is driven to rotate by external force, the second paddle is unlocked at a first position and locked after being rotated from the first position to a second position under the action of inertia force and/or airflow resistance; when the first paddle stops rotating, the second paddle is unlocked at the second position and is locked after rotating from the second position to the first position.

In an example of the present invention, the conversion apparatus includes a first seat, a second seat, and a position locking structure, the first seat is mounted on the first blade, and the second seat is mounted on the second blade and is rotatably connected to the first seat; the position locking structure is arranged between the first seat body and the second seat body and used for locking the second seat body.

In an example of the present invention, the first seat and the second seat are connected through a rotating structure, one end of the rotating structure is fixedly connected to the first seat, and the other end of the rotating structure is rotatably connected to the second seat.

In an example of the present invention, the rotating structure includes a rotating shaft and a bearing, one end of the rotating shaft is fixed on the first seat, and the other end of the rotating shaft is rotatably connected to the second seat through the bearing.

In an example of the present invention, the conversion apparatus further includes a reset component, disposed between the first seat and the second seat, for driving the second seat to rotate between a first position and a second position compared to the first seat.

In an example of the present invention, the reset component includes a torsion spring, one end of the torsion spring is detachably and fixedly connected to the first seat or the rotating shaft, and the other end of the torsion spring is detachably and fixedly connected to the second seat.

In an example of the present invention, a first mounting structure engaged with the torsion spring is disposed on the first seat or the rotating shaft, a second mounting structure engaged with the torsion spring is disposed on the second seat, and two ends of the torsion spring are respectively inserted into the first mounting structure and the second mounting structure.

In an example of the present invention, the first seat body is provided with a limiting sliding groove near a rotation center, and the second seat body is provided with a moving structure corresponding to the limiting sliding groove; or the second seat body is provided with a limiting sliding groove at a position close to the rotating center, and the first seat body is provided with a moving structure corresponding to the limiting sliding groove.

In an example of the present invention, a buffer elastic body is disposed on a working surface of the moving structure and the limiting chute.

In an example of the present invention, the position locking device includes a holder, a sliding pin, and a return spring, a through hole penetrating in a radial direction of the first seat is provided in the holder, the sliding pin is held in the through hole, and the sliding pin is switchable between a first position and a second position under the action of the return spring and a centrifugal force.

In an example of the present invention, the position locking device further includes a first locking structure and a second locking structure cooperating with the sliding pin, and the first locking structure and the second locking structure are disposed on the second seat.

In an example of the present invention, the first locking structure is disposed on a side close to a rotation center of the second housing, the second locking position is disposed on a side away from the rotation center of the second housing, and a radial distance between the first locking structure and the second locking structure along the second housing corresponds to a sliding distance of the sliding pin between the first position and the second position.

In an example of the present invention, a connection line of the first locking structure to the rotation center of the second seat is perpendicular to a connection line of the second locking structure to the rotation center of the second seat.

In an example of the present invention, the rotor structure further comprises a driving device, the driving device comprises a motor, a position sensor is arranged in the motor, and the position sensor can feed back the position of a rotor of the motor to a flight control system.

The invention also provides an aircraft adopting the flight control method to control flight.

The invention also provides an aircraft which comprises an airframe, fixed wings and rotor structures, wherein the fixed wings are arranged on two sides of the airframe, the rotor structures are arranged on the fixed wings, and the rotor structures are the rotor structures.

The invention provides a flight control method, which is characterized in that a flight control system is used for controlling the state of a rotor wing structure, when the horizontal component speed of an aircraft is greater than a first set threshold value (namely the aircraft is in a cruising state), the flight control system controls the extending direction of blades of the rotor wing structure to be parallel or approximately parallel to the course direction of the aircraft, so that the starting resistance of the aircraft during cruising is reduced, and the effective cruising time of the aircraft is increased. In order to improve the thrust of the aircraft in the vertical state, two or more blades are arranged in the rotor wing structure, the state of each blade is controlled by a flight control system, and when the numerical component speed of the aircraft is greater than a second set threshold value (namely the aircraft is in the vertical state), each layer of blades are in a cross rotating state to provide the thrust for the vertical state of the aircraft; when the horizontal component speed of the aircraft is greater than a first set threshold value, the extending direction of each blade is parallel or approximately parallel to the course of the aircraft, so that the air resistance of the aircraft during cruising is reduced.

The invention also provides a rotor structure, which is characterized in that a switching device is arranged between a first blade and a second blade, and the second blade can rotate between a first position and a second position relative to the first blade by using the switching device, so that the blades can be opened and closed to meet the suspension and cruise states of an aircraft, namely, power can be provided in a suspension mode, and aerodynamic resistance can be reduced in a cruise mode. The position locking structure of the conversion device utilizes inertia to enable the sliding pin to slide between the first position and the second position, and the second paddle is fixed to the first position and the second position of the first paddle through the locking structure, so that the relative rotation between the paddles is prevented from influencing the operation of the aircraft when the aircraft works in different modes. A position sensor is arranged in a driving motor of the rotor wing structure, and the position of a motor rotor is fed back to a flight control system by means of the position sensor, so that the movement of the driving motor is controlled, and the purpose of controlling the working mode of the blades is achieved. The rotor structure of the invention can comprise two layers of blades or a plurality of layers of blades, and the relative motion between the layers of blades is controlled by the conversion device between each layer of blades, thus the structure is simple and the control is convenient.

The invention provides an aircraft comprising a rotor structure, which can provide thrust for the vertical of the aircraft through the rotation of a plurality of blades when the aircraft is in a vertical mode, and can close the plurality of blades and enable the extending direction of the blades to be parallel or approximately parallel to the course direction of the aircraft when the aircraft is in a cruise mode, so that the aerodynamic resistance of the aircraft during cruise is reduced, and the effective voyage time of the aircraft is increased.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the aircraft in a droop mode according to the present invention;

FIG. 2 is a schematic illustration of a cruise mode configuration of the aircraft of the present invention;

FIG. 3 is an exploded view of a rotor structure according to an embodiment of the present invention;

FIG. 4 is an exploded view of a conversion device in one embodiment of a rotor structure of the present invention;

fig. 5 is a schematic structural view of a first base of a rotor structure according to an embodiment of the present invention;

fig. 6 is a schematic top view of a first base of a rotor structure according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a second base of the rotor structure according to an embodiment of the invention;

fig. 8 is a schematic bottom view of the rotor structure according to an embodiment of the invention;

fig. 9 is a schematic view illustrating the first seat and the torsion spring of the rotor structure according to an embodiment of the present invention;

fig. 10 is a schematic view showing the internal structure of a position locking device in one embodiment of the rotor structure of the present invention;

fig. 11 is a schematic structural view of a conversion device according to an embodiment of the rotor structure of the present invention;

figure 12 is a cross-sectional view of the conversion means taken along the direction B-B with the rotor structure of the present invention in a first position;

figure 13 is a cross-sectional view of the conversion means taken along the direction B-B when the rotor structure of the present invention is in the second position.

FIG. 14 is a schematic control logic diagram of the aircraft flight control method of the present invention.

Description of the element reference numerals

100. A rotor structure; 110. a first blade; 120. a second blade; 130. a conversion device; 131. a first seat body; 1311. a first mounting structure; 13111. mounting blocks; 13112. a limiting groove; 1312. a limiting chute; 1313. a stepped columnar structure; 13131. a first step; 13132. a second step; 1314. a limiting boss; 132. a second seat body; 1321. a second mounting structure; 1322. a swimming structure; 133. a rotating structure; 1331. a rotating shaft; 1332. a bearing; 134. a reset assembly; 1341. a torsion spring; 135. a position locking device; 1351. a holder; 13511. a through hole; 1352. a slide pin; 1353. a return spring; 1354. a first locking structure; 13541. a locking body; 13542. a locking groove; 1355. a second locking structure; 136. an axial limiting device; 140. fastening a bolt; 150. a drive assembly; 151. a motor; 200. a body; 300. and a fixed wing.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict. It is also to be understood that the terminology used in the examples is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention. Test methods in which specific conditions are not specified in the following examples are generally carried out under conventional conditions or under conditions recommended by the respective manufacturers.

It should be understood that the terms "upper", "lower", "left", "right", "middle" and "one" used herein are for clarity of description only, and are not intended to limit the scope of the invention, and that changes or modifications in the relative relationship may be made without substantial technical changes and modifications.

Referring to fig. 1 to 2, the present invention provides a flight control method for controlling the flight of an aircraft, the aircraft including at least one rotor structure 100, wherein the rotor structure 100 includes at least one blade, the flight control method includes the following processes: and when the horizontal component speed of the aircraft is greater than a first set threshold value, controlling the extending direction of the blade to be parallel or approximately parallel to the heading direction of the aircraft. In the embodiment, when the component speed of the aircraft in the horizontal direction is greater than a first set threshold value, the aircraft enters a cruise mode, and at the moment, the flight control system controls all blades of the rotor wing structure to rotate to a position where the extension direction is parallel or approximately parallel to the course of the aircraft and to keep the position, so that the aerodynamic resistance of the aircraft in the cruise mode is reduced, and the effective flight time of the aircraft is increased. It should be noted that, when the aircraft has a plurality of rotor structures, although the effect of reducing the drag can be already achieved by controlling the extending direction of the blades in one rotor structure to be parallel or approximately parallel to the heading of the aircraft when the horizontal component velocity of the aircraft is greater than the first set threshold value, preferably, when the aircraft has a plurality of rotor structures, the extending directions of the blades in all the rotor structures are controlled to be parallel or approximately parallel to the heading of the aircraft when the horizontal component velocity of the aircraft is greater than the first set threshold value, so as to achieve a better drag reduction effect.

Referring to fig. 1 and 2, in an embodiment, the rotor structure includes a first blade 110 and a second blade 120, and the second blade 120 is disposed above and below the first blade 110, for example, the first blade 110 is disposed below the second blade 120 is disposed above the first blade 110; of course, in other embodiments, the second blade 120 may be disposed on a lower layer, and the first blade 110 may be disposed on an upper layer of the second blade 120. In this embodiment, the control process of the flight control method is as follows: when the vertical component velocity of the aircraft is greater than a second set threshold, the second blade 120 and the first blade 110 are fixed in a crossed state and rotate under the driving of external force; when the horizontal component velocity of the aircraft is greater than the first set threshold, the direction of extension of the second blade 120 is made parallel or approximately parallel to the heading of the aircraft. Namely, a first set threshold value and a second set threshold value are set through a flight control system, wherein the first set threshold value is used as an aircraft horizontal component speed threshold value set when an aircraft enters a cruise mode, and the second set threshold value is used as an aircraft vertical component speed threshold value set when the aircraft enters a vertical mode; when the component velocity of the aircraft in the vertical direction is greater than a second set threshold value, the aircraft enters a droop mode, the aircraft droop needs a rotor structure to provide upward thrust for the aircraft, at the moment, the flight control system controls the second blades 110 and the first blades 120 to be fixed in a crossed state, and the first blades 110 and the second blades 120 keep rotating synchronously; when the aircraft reaches a certain height, the component speed of the aircraft in the horizontal direction is greater than a first set threshold value, the aircraft enters a cruise mode, the first blade 110 and the second blade 120 are combined, and the extending direction of the blades is parallel or approximately parallel to the heading direction of the aircraft, so that the cruise aerodynamic resistance of the aircraft is reduced.

Referring to fig. 3, in order to make the rotor structure better fit the flight mode of the aircraft, the present invention provides a rotor structure 100, which includes a first blade 110 and a second blade 120, a switching device 130 is disposed between the first blade 110 and the second blade 120, and the second blade 120 can rotate between a first position and a second position relative to the first blade 110 through the switching device 130. Wherein, when the second blade 120 is at the first position, it is parallel or approximately parallel to the extending direction of the first blade 110; when the second blade 120 is at the second position, the second blade intersects with the extending direction of the first blade 110; the switching device 130 is disposed between the first blade 110 and the second blade 120 and may enable the second blade 120 to rotate between a first position and a second position relative to the first blade 110; when the first paddle 110 is driven by external force to rotate, the second paddle 120 is unlocked at the first position and locked after rotating from the first position to the second position under the action of inertia force and/or airflow resistance; when the first blade 110 stops rotating, the second blade 120 is unlocked at the second position and locked after rotating from the second position to the first position.

The rotor structure of the invention can also comprise a plurality of layers of blades such as a third blade, a fourth blade and the like, the blades are in an upper-lower laminated structure, a switching device is arranged between the adjacent blades for adjusting the merging or crossing state of the blades, and the two layers of blades are taken as an example and further described below.

Referring to fig. 3 and 4, when the first blade 110 and the second blade 120 are in a crossing state or in a parallel or approximately parallel state with the aircraft heading, the first blade 110 and the second blade 120 are locked relatively by a position locking device 135 in the switching device 130. In an embodiment of the present invention, the converting apparatus 130 includes a first base 131, a second base 132 and a position locking apparatus 135, the first base 131 is disposed on the first blade 110 and fixedly connected thereto, the second base 132 is disposed on the second blade 120 and fixedly connected thereto, the second base 132 is rotatably connected to the first base 131, and the position locking apparatus 135 is disposed between the first base 131 and the second base 132 for locking the second base 132 to prevent relative rotation between the first base 131 and the second base 132 (the first blade 110 and the second blade 120).

Referring to fig. 3 and 4, the structures of the first seat 131 and the second seat 132 are not limited, and preferably, the first seat 131 and the second seat 132 both adopt a cylindrical structure, which can reduce air resistance during rotation. The first base body 131 is fixed to the first blade 110 by the fastening bolts 140, the second base body 132 is fixed to the second blade 120 by the fastening bolts 140, for example, a plurality of screw holes are formed in the first base body 131 along the circumferential direction, a plurality of screw holes are correspondingly formed in the first blade 131, and the first blade 110 is connected to the first base body 131 and the screw holes of the first blade 110 by the fastening bolts 140 in a one-to-one correspondence manner, so as to achieve the fixed connection between the first base body 131 and the first blade 110. Similarly, the second base 132 and the second blade 120 are provided with a plurality of screw holes, and the fastening bolts 140 are used to connect the screw holes of the second base 132 and the second blade 120 in a one-to-one correspondence manner, so as to achieve the fixed connection between the second base 132 and the second blade 120.

Referring to fig. 4 to 8, in an embodiment, the first base 131 is rotatably connected to the second base 132 through a rotating structure 133, the rotating structure 133 includes a rotating shaft 1331 and a bearing 1332, one end of the rotating shaft 1331 is fixedly connected to the first base 131, and the other end is rotatably connected to the second base 132 through the bearing 1332. Specifically, a first through hole is formed in the rotation center of the first base 131, a second through hole is formed in the rotation center of the second base 132, one end of the rotating shaft 1331 passes through the first through hole and is fixedly connected to the first through hole, and the other end of the rotating shaft 1331 sequentially passes through the second through hole of the second base 132 and the through hole of the second blade 120 and is rotatably connected to the second through hole through the bearing 1332. Preferably, the upper end of the second blade 120 is provided with an axial limiting device 136 for limiting the axial direction of the conversion device 130, so as to prevent the blade from shaking or falling off during the rotation process. The axial limiting device 136 may be, for example, a nut, and the rotating shaft 1331 is provided with a thread matching with the nut, so that the axial limitation of the conversion device 130 is realized through the matching of the nut and the thread. In other embodiments, the axial limiting device 136 may also be selected from other locking structures, and any structure capable of axially fixing the conversion device is within the scope of the present invention.

Referring to fig. 4, 5, 7 and 9, a restoring assembly 134 is disposed between the first blade 110 and the second blade 120 for restoring the second blade 120 to a first position relative to the first blade 110. In an embodiment, the restoring element 134 is disposed between the first fastening structure 131 and the second fastening structure 132, and is used for driving the second fastening structure 132 to rotate between the first position and the second position compared to the first fastening structure 131. In an embodiment, the reset assembly 134 includes a torsion spring 1341, the torsion spring 1341 is sleeved on the rotating shaft 1331, and one end of the torsion spring 1341 is connected to the first seat 131 or the rotating shaft 1331, and the other end is connected to the second seat 132. Preferably, two ends of the torsion spring 1341 are respectively detachably and fixedly connected to the first seat 131 and the second seat 132, for example, a first mounting structure 1311 is disposed on the first seat 131, a second mounting structure 1321 is disposed on the second seat 132, the first mounting structure 1311 and the second mounting structure 1321 have the same structure, and are each formed by two mounting blocks 13111 disposed oppositely, the two mounting blocks 13111 are disposed at an interval, and the distance between the two mounting blocks 13111 is smaller than the diameter of the end of the torsion spring 1341, an arc-shaped surface is disposed on each of the opposite side surfaces of the two mounting blocks 13111, and the shape and size of the limiting groove 13112 formed between the two arc-shaped surfaces are matched with the end of the torsion spring 1341. When the torsion spring 1341 is installed, the torsion spring 1341 is firstly sleeved on the rotating shaft 1331, and then the two ends of the torsion spring are respectively clamped into the limiting grooves 13112 from the side. In other embodiments, the reset assembly may also be a rubber elastomer, a hydraulic or pneumatic elastomer, or other elastic components.

Referring to fig. 5 to 8, the conversion device 130 further includes a limiting structure, the limiting structure includes a limiting sliding groove 1312 and a moving structure 1322 cooperating with the limiting sliding groove 1312, the limiting sliding groove 1312 is disposed on the first seat body 131, and the moving structure 1322 is disposed on the second seat body 132. Specifically, a stepped cylindrical structure 1313 is disposed on the first seat 131 along an outer circumference of a rotation center thereof, and the rotating shaft 1331 passes through the center of the stepped cylindrical structure 1313 and is fixed to the first seat 131. Stepped columnar structure 1313 includes first step 13131 and second step 13132, and a limit slide channel 1312 is disposed between first step 13131 and second step 13132, and has one end corresponding to a first position of rotor structure 130 and the other end corresponding to a second position of rotor structure 130. The two ends of the limit sliding groove 1312 are respectively limited by a limit boss 1314 protruding out of the limit sliding groove, and the limit sliding groove 1312 and the limit boss 1314 are transited through an arc-shaped surface. Preferably, the stepped columnar structure 1313 is provided with a plurality of limiting sliding grooves 1312 around the outer circumference of the rotating shaft 1331. The moving structure 1322 is disposed on a side of the second base 132 facing the first base 131, and a shape of the moving structure 1322 is identical to a shape of the limiting sliding groove 1312, and when the first blade 110 and the second blade 120 rotate relatively, the moving structure 1322 slides freely in the limiting sliding groove 1312. Of course, in other embodiments, the limiting sliding groove 1312 may be disposed on the second seat 132, and the floating structure 1322 may be disposed on the first seat 131. In order to prevent the sliding structure 1322 and the limit sliding groove 1312 from failing due to impact, a buffer elastic body (not shown) is disposed on the working surfaces of the sliding structure 1322 and the limit sliding groove 1312, the buffer elastic body may be disposed on the sliding structure 1322, the limit sliding groove 1312, or both the sliding structure 1322 and the limit sliding groove 1312. The arrangement of the buffering elastic body can buffer the impact force between the floating structure 1322 and the limit sliding groove 1312, and the service life of the limit structure is prolonged.

Referring to fig. 4 and 10 to 13, the position locking structure 135 of the switching device 130 cooperates with the position limiting structure to lock the first blade 110 and the second blade 120 at the first position and the second position. The position locking structure 135 may take any form that can achieve position locking, and may be driven by inertial force, such as centrifugal force, rotation speed variation, etc., or may be driven by electric force, such as electromagnetism, steering engine, etc. In an embodiment, the position locking structure 135 adopts a centrifugal position locking structure, and includes a retainer 1351, a sliding pin 1352, a return spring 1353, a first locking structure 1354 and a second locking structure 1355, wherein the retainer 1351 is mounted on the first seat 131, the retainer 1351 is provided with a through hole 13511 penetrating in a radial direction of the first seat 131, the return spring 1353 is sleeved on the sliding pin 1352, the sliding pin 1352 is always retained in the through hole 13511 of the retainer 1351 by the return spring 1353, and the sliding pin 1352 can reciprocate along two directions of the through hole 13511 under the combined action of the return spring 1353 and a centrifugal force. A first locking structure 1354 and a second locking structure 1355 are provided on the second seat 132, the first locking structure 1354 includes a locking body 13541 and a locking groove 13542, the locking body 13541 is fixed on the second seat 132, a locking groove 13542 is provided at an end of the locking body 13541 facing the first seat 131, and an opening size of the locking groove 13542 corresponds to a size of the sliding pin 1352. The second locking structure 1355 corresponds to the first locking structure 1354, the first locking structure 1354 is disposed at one side near the center of rotation of the second seat 132, and the second locking structure 1355 is disposed at an outer side of the first locking structure 1354. The distance between the first and second locking structures 1354 and 1355 in the radial direction of the second housing 132 corresponds to the distance that the sliding pin 1352 slides within the holder 1351. When the sliding pin 1352 protrudes toward the end of the rotating shaft 1331, the first locking structure 1354 locks the sliding pin 1352 in the locking groove 13542, with the first paddle 110 and the second paddle 120 in a first position and fixed relative to each other; when the sliding pin 1352 is extended to the end facing away from the shaft 1334, the second locking structure 1355 locks the sliding pin 1352 in the locking groove, with the first paddle 110 and the second paddle 120 in a second position and fixed relative to each other.

Referring to fig. 1, 2 and 8, in an embodiment, when the first blade 110 and the second blade 120 are folded (the included angle between the first blade and the second blade is 0 °) to define a first position, and when the first blade 110 and the second blade 120 are crossed (the included angle between the first blade and the second blade is 90 °), to define a second position, a connection line between the first locking structure 1354 and the rotation center of the second seat body 132 is perpendicular to a connection line between the second locking structure 1355 and the rotation center of the second seat body 132, and the second blade 120 and the first blade 110 can rotate relatively by 0 ° to 90 °.

Referring to fig. 3, 4, 10, 12 and 13, the rotor structure 100 further includes a rotation driving assembly 150 for driving the blades, in an embodiment, the driving assembly 150 includes a motor 151, such as a dc brushless motor, a rotor of the motor is fixedly connected to the first blade 110, the rotor of the motor rotates to drive the first blade 110 to rotate, the first blade 110 drives the first base 131 and the rotating shaft 1331 to rotate, and further drives the second blade 120 to rotate. Because the restoring assembly 134 is disposed between the first base body 131 and the second base body 132, there is relative rotation between the first blade 110 and the second blade 120, that is, when the first blade 110 drives the first base body 131 to rotate, the position locking device 135 drives the sliding pin 1352 to move in the holder 1351 under the action of centrifugal force, and when the centrifugal force is smaller than the acting force of the restoring spring 1353, the sliding pin 1352 extends toward the center of rotation, and at this time, the first locking structure 1354 locks the sliding pin 1352, and the second blade 120 and the first blade 110 are in the first position (closed); when the centrifugal force is greater than the force of the return spring 1353, the sliding pin 1352 protrudes to the side away from the center of rotation, and the second locking structure 1355 locks the sliding pin 1352, and the second paddle 120 is in the second position (cross) with the first paddle 110. In order to feed back the position of the rotor structure in time, a position sensor (not shown) is arranged in the motor 151 of the rotor structure, and the position of the rotor of the motor is fed back to the flight control system through the position sensor; the position sensor, such as a Hall position sensor, is used for detecting the real-time position of the motor rotor and feeding back a position signal to the flight control system, and the flight control system receives the position signal and then sends out a motor rotation and rotating speed instruction according to a flight program.

Referring to fig. 14, the flight control system of the aircraft includes an upper computer and a hovering electronic controller, where the upper computer, such as a Flight Control Computer (FCC), is in signal connection with the hovering electronic controller through a CAN or a serial port. The flight control logic of the invention is as follows: the flying pipe computer (FCC) sends the required rotating speed to the hovering electric regulation (ESC) through the CAN bus (or the serial port), the hovering electric regulation analyzes the digital signal of the flying pipe computer and then sends out specific rotating speed requirement to the Motor (Motor) to execute, the Motor executes the instruction of the hovering electric regulation and simultaneously feeds back the state (including the position of the rotor) information of the current Motor to the hovering electric regulation, and the hovering electric regulation is fed back to the flying pipe computer (FCC) through the CAN bus (or the serial port).

Referring to fig. 1, the present invention provides an aircraft, which includes a fuselage 200, fixed wings 300 and a rotor structure, wherein the fixed wings 300 are disposed on two sides of the fuselage 200, and the rotor structure 100 is disposed above the fixed wings 300, wherein the rotor structure 100 is the rotor structure of the present invention. The aircraft of the present invention comprises at least one rotor structure 100, and preferably, the aircraft comprises a plurality of rotor structures 100, wherein the plurality of rotor structures 100 are symmetrically arranged on two fixed wings 200.

The flight control method of the aircraft comprises the following processes:

when the aircraft is on the ground, the blades of the rotor wing structure are in a combined state, and the direction of the blades is in a free state;

when the aircraft enters a vertical state (the component speed in the vertical direction is greater than a second set threshold value), the rotor structure starts to rotate, the position locking structure is unlocked after a certain rotating speed is reached, the multi-blade is locked again by the position locking structure after being opened, and the multi-blade rotates to provide pulling force for the vertical state of the aircraft;

when the aircraft vertically rises to a preset height and enters a cruising state (the component speed in the horizontal direction is greater than a first set threshold value), the rotating speed of the blades of the rotor structure is reduced, the position locking structure is unlocked, the multiple blades enter a linear folding state under the action of the reset assembly and are locked by the position locking structure, and the control system rotates the linear folding blades to the position conforming to the course and locks the linear folding blades so as to reduce the aerodynamic resistance during cruising;

when the aircraft needs to adjust the flight state in the cruising process, the rotor wing structure is started, and the suspension state and the cruising state are repeated.

According to the flight control method, the state of the rotor wing structure is controlled through the flight control system, so that in a vertical state, blades of the rotor wing structure provide power for the vertical rotation through rotation; under the cruising state, the extending direction of the blades of the rotor wing structure is parallel or approximately parallel to the course of the aircraft, so that the starting resistance of the aircraft during cruising is reduced, and the effective cruising time of the aircraft is increased. The rotor structure comprises a plurality of layers of blades, the folding and crossing of the blades are realized through the conversion device so as to adapt to the cruising and drooping modes of the aircraft, and the cruising aerodynamic resistance of the multi-rotor reinforced fixed-wing aircraft structure is reduced. Therefore, the invention effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (15)

1. A flight control method for controlling the flight of an aircraft comprising at least one rotor structure including at least one blade, characterized in that it comprises the following steps:

and when the horizontal component speed of the aircraft is greater than a first set threshold value, controlling the extending direction of the blade to be parallel or approximately parallel to the heading direction of the aircraft.

2. The method according to claim 1, characterized in that said rotor structure comprises a first blade and a second blade, said second blade being fixed crosswise to said first blade when the vertical component of the speed of said aircraft is greater than a second set threshold value.

3. The method of claim 1, wherein the rotor structure includes a first blade and a second blade, and wherein the first blade and the second blade extend in a direction parallel or approximately parallel to a heading of the aircraft when a horizontal component velocity of the aircraft is greater than a first set threshold.

4. A flight control method according to claim 2 or 3, wherein a switch is provided between the first and second blades, and the second blade is rotatable relative to the first blade between a first position and a second position by the switch.

5. The flight control method according to claim 4, wherein the first blade and the second blade are relatively locked by a position locking device when the first blade and the second blade are in a crossed state or in a parallel or approximately parallel state with a heading of the aircraft.

6. The flight control method of claim 5, wherein a return assembly is provided between the first and second blades that returns the second blade to a first position relative to the first blade.

7. The flight control method according to claim 1, wherein a position sensor is provided in the motor of the rotor structure, and the position of the rotor of the motor is fed back to the flight control system by the position sensor.

8. The flight control method according to claim 7, wherein the flight control system comprises an upper computer and a hovering electric tilt, and the hovering electric tilt is in signal connection with the upper computer through a CAN or a serial port.

9. The flight control method according to claim 8, wherein the position sensor feeds back the position of the rotor of the motor to the hovering electronic controller, the hovering electronic controller feeds back the position to the upper computer, and the upper computer sends out a control instruction after receiving a feedback signal of the hovering electronic controller and controls the motor through the hovering electronic controller.

10. A rotor structure, comprising:

a first blade;

a second blade;

a switching device disposed between the first and second paddles and enabling the second paddle to rotate between a first position and a second position relative to the first paddle;

when the first paddle is driven to rotate by external force, the second paddle is unlocked at a first position and locked after being rotated from the first position to a second position under the action of inertia force and/or airflow resistance; when the first paddle stops rotating, the second paddle is unlocked at the second position and is locked after rotating from the second position to the first position.

11. A rotor structure according to claim 10, wherein the conversion device includes a first housing, a second housing, and a position locking structure, the first housing being mounted on the first blade, the second housing being mounted on the second blade and being rotatably coupled to the first housing; the position locking structure is installed between the first seat body and the second seat body and used for locking the second seat body at the first position or the second position.

12. A rotor structure according to claim 11, wherein the first housing and the second housing are connected by a swivel structure, one end of the swivel structure being fixedly connected to the first housing and the other end being rotatably connected to the second housing.

13. A rotor structure according to claim 11, wherein the conversion device further comprises a return assembly disposed between the first housing and the second housing for driving the second housing to rotate between a first position and a second position relative to the first housing.

14. An aircraft, characterized in that the flight is controlled using the flight control method according to any one of claims 1 to 9.

15. An aircraft comprising a fuselage, a fixed wing and a rotor structure, characterized in that the rotor structure is a rotor structure according to any one of claims 10 to 13.

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