A micro bionic flapping-wing aircraft based on gear pair amplification mechanism

Abstract

The present application relates to a kind of micro bionic flapping wing aircraft based on gear pair amplification mechanism, including frame, wing and tail, the frame is connected with tail by carbon rod framework, and the number of wing is provided with two, and is connected to the two sides of carbon rod framework by wing root.This application relates to the technical field of bionic aircraft.The aircraft uses crank rocker mechanism to convert hollow cup motor rotary motion into reciprocating rotation of double-layer gear, further transmission is the reciprocating rotation of left wing pinion and right wing pinion larger amplitude, the aircraft has the characteristics of compact structure, small size, light weight, easy to assemble, high reliability etc.The aircraft uses the combination of wing root and tail control, and gives consideration to the efficient use of lift and the miniaturization design of aircraft.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic aircraft, and particularly to a micro bionic flapping wing aircraft based on gear pair amplification mechanism. BACKGROUND

[0002] In nature, birds and insects mainly use the flapping, bending and twisting of wings to realize various flight modes. Through the learning and imitation of animal activities, humans have manufactured various flapping wing aircrafts.

[0003] At present, the micro bionic flapping wing aircraft has attracted extensive attention of domestic and foreign scholars and research institutions due to the characteristics of light weight, small size, good operability, strong stealth, low cost, portability and the like. Compared with fixed wings and rotors, the flapping wing aircraft has high miniaturization degree and stronger maneuverability. From the perspective of aerodynamics, the propulsion efficiency of the flapping wing aircraft is higher than that of the conventional propulsion system, and can reach 85%. This new type of flapping wing aircraft has both the advantages of high speed of fixed wing aircraft and hovering flight of rotor aircraft, and has broad development prospects.

[0004] In the current research on micro bionic flapping wing aircraft, most of the aircrafts convert the rotary motion of the motor into reciprocating flapping of the wing through flapping mechanisms such as double-crank rocker mechanism and crank slider mechanism. The design of these mechanisms is quite complex and difficult to assemble, so the reliability and transmission efficiency of the flapping mechanism cannot be guaranteed. In terms of attitude control, the current mainstream control schemes include controlling the size and direction of the lift generated by the wing or controlling the deflection torque generated by the tail. The former control scheme is difficult to implement, and the control process will lose the lift of the aircraft. The latter control scheme is large in size and difficult to miniaturize. SUMMARY

[0005] In view of the deficiencies in the prior art, the present application aims to provide a micro bionic flapping wing aircraft based on gear pair amplification mechanism. The aircraft uses a crank rocker mechanism to convert the rotary motion of a hollow cup motor into reciprocating rotation of a double-layer gear, and further converts it into reciprocating rotation of a left wing pinion and a right wing pinion with a larger amplitude. The aircraft has the characteristics of compact structure, small size, light weight, easy assembly and high reliability. The aircraft uses a combination of wing root and tail control, which takes into account the efficient use of lift and the miniaturization design of the aircraft.

[0006] The above technical purpose of the present application is achieved by the following technical scheme:

[0007] A micro bionic flapping wing aircraft based on gear pair amplification mechanism comprises a frame, wings and a tail. The frame and the tail are connected by a carbon rod skeleton, and the number of wings is two, which are connected to both sides of the carbon rod skeleton through wing roots.

[0008] Further comprising a flapping mechanism, a control mechanism and an electric control part;

[0009] The flapping mechanism is composed of a crank rocker mechanism, a gear pair amplification mechanism and a driving mechanism;

[0010] The driving mechanism is installed at the front end of the frame and connected with the crank rocker mechanism;

[0011] The crank rocker mechanism is installed at the middle part of the frame and used to drive the driving gear pair amplification mechanism to rotate back and forth;

[0012] The driving gear pair amplification mechanism is installed at the tail end of the frame and connected with the wings;

[0013] The control mechanism is composed of a tail wing control mechanism and a wing root control mechanism;

[0014] The tail wing control mechanism is installed at the rear end of the tail wing and used to adjust the pitching attitude of the aircraft;

[0015] The wing root control mechanism is installed at the front end of the tail wing and used to adjust the rolling attitude of the aircraft.

[0016] Preferably, the driving mechanism comprises a hollow cup motor and a reduction gear set, the hollow cup motor is embedded in the motor seat of the frame;

[0017] The reduction gear set is composed of a motor gear, a double gear and a low-speed gear, the motor gear is fixedly connected with the output end of the hollow cup motor, the double gear is engaged with the motor gear, and the low-speed gear is located obliquely below the double gear and engaged with the double gear.

[0018] Preferably, the crank rocker mechanism comprises a crank, one end of the crank is coaxially connected with the low-speed gear, and the other end of the crank is connected with a connecting rod;

[0019] The crank passes through the frame and is connected with the frame through two bearings to reduce the friction between the crank and the frame.

[0020] Preferably, the gear pair amplification mechanism comprises a double-layer gear, a left wing pinion and a right wing pinion, the double-layer gear is eccentrically connected with the connecting rod, the left wing pinion and the right wing pinion are both connected with the frame through a pin, the left wing pinion is engaged with the outer gear of the double-layer gear, and the right wing pinion is engaged with the inner gear of the double-layer gear;

[0021] The wings are rotationally connected with the wing roots, the left wing pinion and the right wing pinion are both coaxially provided with a leading edge connecting piece at the end close to the wings, and the end of the leading edge connecting piece is connected with the wings.

[0022] Preferably, the electric control part comprises a battery fixing frame connected to the front of the tail wing and fixedly connected with the carbon rod framework, two matching grooves are arranged on the battery fixing frame, a flight control board and a lithium battery are respectively arranged in the two matching grooves, the lithium battery is electrically connected with the flight control board, and the flight control board is connected with the hollow cup motor.

[0023] Preferably, the wing root control mechanism mainly comprises a steering engine connecting piece one, a wing root steering engine, a wing root steering engine arm and a wing root fixing piece.

[0024] One end of the wing root is fixedly connected with the rack, the other end of the wing root is connected with the wing root fixing piece, the wing root steering engine is connected with the carbon rod framework through the steering engine connecting piece one, and the output end of the wing root steering engine is connected with the wing root steering engine arm, the wing root steering engine drives the wing root fixing piece to rotate by driving the wing root steering engine arm to rotate.

[0025] The input end of the wing root steering engine is in communication connection with the output end of the flight control board.

[0026] Preferably, the tail wing control mechanism mainly comprises a steering engine connecting piece two, a tail wing steering engine, a steering engine connecting piece three and a tail wing steering engine arm.

[0027] The tail wing steering engine is connected with the carbon rod framework through the steering engine connecting piece two, the output end of the tail wing steering engine is connected with the tail wing steering engine arm, the tail end of the tail wing steering engine arm is connected with the steering engine connecting piece three, and the tail end of the tail wing steering engine arm is connected with the tail wing.

[0028] The input end of the tail wing steering engine is connected with the output end of the flight control board.

[0029] In summary, the present application has at least one of the following beneficial technical effects:

[0030] 1. The micro bionic flapping wing aircraft based on the gear pair amplification mechanism increases the wing swing amplitude by using the gear pair amplification mechanism, and improves the transmission efficiency of the flapping mechanism.

[0031] 2. The micro bionic flapping wing aircraft based on the gear pair amplification mechanism adopts the scheme of combining the wing root control mechanism and the tail wing control mechanism, takes into account the efficient use of the aircraft lift and the compactness and miniaturization design of the whole machine, and is also simpler to install and debug. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the overall structure of this embodiment Figure 1 .

[0033] Figure 2 is the overall structure of this embodiment Figure 2 .

[0034] Figure 3 is a schematic diagram of the flapping mechanism of the embodiment.

[0035] Figure 4 is a schematic diagram of the flapping mechanism of the embodiment. Figure 2 is an enlarged view of A of the embodiment.

[0036] Figure 5 is a schematic diagram of the flapping mechanism of the embodiment. Figure 2 is an enlarged view of B of the embodiment.

[0037] In the figure, 1 is a frame, 2 is a wing, 3 is a tail, 4 is a carbon rod framework, 5 is a flapping mechanism, 6 is a control mechanism, 7 is an electronic control part, 8 is a crank rocker mechanism, 9 is a gear pair amplification mechanism, 10 is a driving mechanism, 11 is a wing root control mechanism, 12 is a tail control mechanism, 13 is a wing root, 14 is a battery fixing frame, 15 is a matching groove, 16 is a flight control board, 17 is a lithium battery, 801 is a crank, 802 is a connecting rod, 803 is a bearing, 901 is a double-layer gear, 902 is a left wing pinion, 903 is a right wing pinion, 904 is a leading edge connecting piece, 101 is a hollow cup motor, 102 is a speed reduction gear set, 103 is a motor gear, 104 is a double gear, 105 is a low-speed stage gear, 111 is a servo connecting piece one, 112 is a wing root servo, 113 is a wing root servo arm, 114 is a wing root fixing piece, 121 is a servo connecting piece two, 122 is a tail servo, 123 is a servo connecting piece three, 124 is a tail servo arm. DETAILED DESCRIPTION

[0038] The application will be further described in detail below with reference to the accompanying drawings.

[0039] Embodiment:

[0040] Referring to the figure, the application discloses a miniature bionic flapping-wing aircraft based on a gear pair amplification mechanism, which comprises a frame 1, wings 2 and a tail 3. Figures 1-5 The wings 22 are connected with the flapping mechanism 51, so as to realize the flapping movement of the wings 2. The wings 22 adopt PET polyester film to ensure the flexibility thereof.

[0041] The application further comprises a flapping mechanism 5, a control mechanism 6 and an electronic control part 7.

[0042] The flapping mechanism 5 is composed of a crank rocker mechanism 8, a gear pair amplification mechanism 9 and a driving mechanism 10.

[0043] The driving mechanism 10 is installed at the front end of the frame 1 and connected with the crank rocker mechanism 8.

[0044] The crank rocker mechanism 8 is installed at the middle part of the frame 1 and used to drive the driving gear pair amplification mechanism 9 to rotate reciprocatingly.

[0045] The driving gear pair amplification mechanism 9 is installed at the tail end of the frame 1 and connected with the wing 2.

[0046] The regulating mechanism 6 is composed of the tail wing regulating mechanism 12 and the wing root regulating mechanism 11.

[0047] The tail wing regulating mechanism 12 is installed at the rear end of the tail wing 3 and used for adjusting the pitching attitude of the aircraft.

[0048] The wing root regulating mechanism 11 is installed at the front end of the tail wing 3 and used for adjusting the rolling attitude of the aircraft.

[0049] In this embodiment, the aircraft uses the crank rocker mechanism 8 to convert the rotary force generated by the driving mechanism 10 into the reciprocating rotation of the double-layer gear 901, and further transmit it into the reciprocating rotation of the left wing pinion 902 and the right wing pinion 903 with a larger amplitude, thereby improving the reliability and transmission efficiency of the flapping mechanism 5. Meanwhile, the aircraft adopts the combination of the wing root regulating mechanism 11 and the tail wing regulating mechanism 12, which takes into account the efficient use of lift and the miniaturization design of the aircraft.

[0050] In further preferred embodiments of the present application, as shown in Figure 1 、 Figure 2 and Figure 3 The driving mechanism 10 comprises a hollow cup motor 101 and a reduction gear set 102, the hollow cup motor 101 is embedded in the motor seat of the frame 1.

[0051] The reduction gear set 102 is composed of a motor gear 103, a double gear 104 and a low-speed gear 105, the motor gear 103 is fixedly connected with the output end of the hollow cup motor 101, the double gear 104 is engaged with the motor gear 103, and the low-speed gear 105 is located obliquely below the double gear 104 and engaged with the double gear 104.

[0052] In this embodiment, the frame 1 is made of aluminum alloy 6061 material and processed by CNC. In order to reduce the overall weight, the frame 1 is designed with multiple hollow designs. Meanwhile, the hollow cup motor 101 is embedded in the frame 1, making the structure more compact and reducing the volume. The motor shaft is connected with the motor gear 103, driving the double gear 104 to rotate, thereby driving the low-speed gear 105 to rotate. The motor gear 103, the double gear 104 and the low-speed gear 105 are all made of PEEK material, which can greatly reduce the flapping noise and has excellent self-lubricating properties. The crank 801 is coaxially fixed with the low-speed gear 105, thereby achieving the purpose of driving the crank 801 to rotate with the low-speed gear 105.

[0053] In further preferred embodiments of the present application, as shown in Figure 3As shown in the figure, the crank-rocker mechanism 8 comprises a crank 801, one end of which is coaxially connected with the low-speed gear 105, and the other end of which is connected with a connecting rod 802;

[0054] The crank 801 penetrates the frame 1 and is connected with the frame 1 through two bearings 803, so as to reduce the friction between the crank 801 and the frame 1.

[0055] In this embodiment, as the low-speed gear 105 rotates, the crank 801 coaxially arranged and fixedly connected with the low-speed gear 105 rotates simultaneously, and in order to stabilize the crank 801, the crank 801 is rotatably connected with the frame 1 through the bearings 803, which helps to reduce the friction and improve the service life of the crank 801.

[0056] In further preferable embodiments of the present application, as shown in the figure, Figure 3 The gear pair amplification mechanism 9 comprises a double-layer gear 901, a left wing pinion 902 and a right wing pinion 903, the double-layer gear 901 is eccentrically connected with the connecting rod 802, the left wing pinion 902 and the right wing pinion 903 are both connected with the frame 1 through a pin, the left wing pinion 902 is externally meshed with the double-layer gear 901, and the right wing pinion 903 is internally meshed with the double-layer gear 901.

[0057] The wings 2 are rotatably connected with the wing roots 13, and the left wing pinion 902 and the right wing pinion 903 are coaxially provided with leading edge connecting pieces 904 at the end surfaces close to the wings 2, and the leading edge connecting pieces 904 are connected with the wings 2.

[0058] In this embodiment, the double-layer gear 901 is rotatably installed in the frame 1, and the end of the connecting rod 802 is rotatably connected with the double-layer gear 901, as shown in the figure, Figure 3 As the crank 801 rotates, the double-layer gear 901 is driven to reciprocatingly rotate through the connecting rod 802, and then the two wings 2 flap by the meshing transmission of the left wing pinion 902 and the right wing pinion 903, and the reciprocating swing angle of the crank-rocker mechanism 8 can be amplified by the meshing transmission of the left wing pinion 902 and the right wing pinion 903, so as to increase the flapping amplitude of the wings 2, and the reliability and transmission efficiency of the flapping mechanism 5 are significantly improved.

[0059] The leading edge connecting pieces 904 are L-shaped, and as the left wing pinion 902 and the right wing pinion 903 rotate, the leading edge connecting pieces 904 rotate accordingly, so as to achieve the purpose of transmitting the rotating force to the wings 2.

[0060] In further preferable embodiments of the present application, as shown in the figure, Figure 1 And Figure 2As shown, the electric control part 7 comprises a battery fixing frame 14 connected to the front of the tail wing 3 and fixedly connected with the carbon rod framework 4, two matching grooves 15 are arranged on the battery fixing frame 14, a flight control board 16 and a lithium battery 17 are respectively arranged in the two matching grooves 15, the lithium battery 17 is electrically connected with the flight control board 16, and the flight control board 16 is connected with the hollow cup motor 101.

[0061] In the embodiment, the flight control board 16 and the lithium battery 17 are respectively fixed in the matching grooves 15 on the battery fixing frame 14, the battery fixing frame 14 is fixedly connected with the carbon rod framework 4, the lithium battery 17 supplies power to the flight control board 16, and the flight control board 16 can control the hollow cup to work.

[0062] In the further preferred embodiment of the present application, as shown in Figure 1 , Figure 2 and Figure 4 , the wing root regulating mechanism 11 mainly comprises a steering engine connecting piece one 111, a wing root steering engine 112, a wing root steering engine arm 113 and a wing root fixing piece 114;

[0063] One end of the wing root 13 is fixedly connected with the frame 1, the other end of the wing root 13 is connected with the wing root fixing piece 114, the wing root steering engine 112 is connected with the carbon rod framework 4 through the steering engine connecting piece one 111, and the output end of the wing root steering engine 112 is connected with the wing root steering engine arm 113, the wing root steering engine 112 drives the wing root fixing piece 114 to rotate by driving the wing root steering engine arm 113 to rotate.

[0064] The input end of the wing root 13 steering engine is communicatively connected with the output end of the flight control board 16.

[0065] In the embodiment, the wing root 13 of the wing 2 adopts a 0.7mm diameter carbon fiber rod, one end of the wing root 13 is bonded with the frame 1 through glue, the other side of the wing root 13 is connected with the wing root fixing piece 114, the wing root steering engine 112 drives the wing root fixing piece 114 to deflect left and right by driving the wing root steering engine arm 113 to rotate, since the carbon fiber material of the wing root 13 has good elastic deformation capacity, the wing root 13 of the wing 2 will also deflect in the same direction due to the deflection of the wing root fixing piece 114, and the deflection will affect the flapping attack angle of the two wings 2 during flapping flight, so as to change the flapping lift of each wing 2 and form a lift deviation, the lift deviation will make the prototype generate a rolling moment in the rolling direction, and finally realize the rolling attitude adjustment.

[0066] In the further preferred embodiment of the present application, as shown in Figure 1 , Figure 2 and Figure 5 , the tail wing regulating mechanism 12 mainly comprises a steering engine connecting piece two 121, a tail wing steering engine 122, a steering engine connecting piece three 123 and a tail wing steering engine arm 124;

[0067] The tail rudder engine 122 is connected with the carbon rod framework 4 through the rudder connecting member two 121, the output end of the tail rudder engine 122 is connected with the tail rudder engine arm 124, the tail end of the tail rudder engine arm 124 is connected with the rudder connecting member three 123, and the end of the rudder connecting member three 123 away from the tail rudder engine arm 124 is connected with the tail wing 3.

[0068] The input end of the tail wing 3 rudder engine is connected with the output end of the flight control board 16.

[0069] In the embodiment, the rotation of the tail rudder engine 122 will realize the swing of the tail wing 3 in the direction of the wing surface normal line, and the swing direction and amplitude angle determine the size and direction of the force of the downwash airflow of the wing 2 acting on the tail wing 3, the force will generate a deflection torque relative to the center of gravity of the aircraft, and finally realize the adjustment of the pitch attitude, specifically, the flight control board 16 controls the rotation of the tail rudder engine 122, drives the rotation of the tail rudder engine arm 124, and drives the swing operation of the tail wing 3 through the rudder connecting member three 123.

[0070] The implementation principle of the above embodiment is as follows:

[0071] In actual operation, the hollow cup motor 101 is controlled to rotate by the flight control board 16, and then the motor gear 103 is driven to rotate, the motor gear 103 performs power output, and then the power is transmitted to the crank 801 by the speed reducer set 102. The rotation of the crank 801 realizes the reciprocating rotation of the double-layer gear 901 through the crank rocker mechanism 8, and further transmits it to the reciprocating rotation of the left wing pinion 902 and the right wing pinion 903 with a larger amplitude angle. The leading edge connecting member 904 is fixedly connected with each pinion and the wing 2, respectively, to realize the flapping movement of the wing 2.

[0072] Due to the flight mode similar to insects and hummingbirds, the aircraft can realize vertical take-off and landing and hovering flight, and the lift generated by the aircraft is vertically upward. When the wing root 13 is deflected, that is, the wing root rudder engine 112 is controlled by the flight control board 16 to drive the wing root rudder engine arm 113 to rotate to drive the left and right deflection of the wing root fixing member 114, and due to the deflection of the wing root 13, the two wings 2 form different flapping attack angles during flight to form a lift difference, and finally realize the attitude adjustment of the aircraft in the roll direction; when the tail wing 3 is deflected, that is, the tail rudder engine 122 is controlled to rotate by the flight control board 16, drives the rotation of the tail rudder engine arm 124, and drives the swing operation of the tail wing 3 through the rudder connecting member three 123, the control force is generated by the downwash airflow generated by the flapping of the wing 2 acting on the tail wing 3, and the attitude adjustment of the aircraft in the pitch direction is realized.

[0073] The embodiments of the specific embodiment are the preferred embodiments of the application, but do not limit the protection scope of the application, so: any equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A miniature bionic flapping-wing aircraft based on a gear pair amplification mechanism, characterized in that: The application relates to a flying device, which comprises a machine frame (1), wings (2), a tail (3) and an electric control part (7), the machine frame (1) is connected with the tail (3) through a carbon rod skeleton (4), the number of the wings (2) is two, and the wings (2) are connected with the two sides of the carbon rod skeleton (4) through wing roots (13). The flying device further comprises flapping mechanisms (5) and regulating mechanisms (6). The flapping mechanisms (5) are composed of a crank rocker mechanism (8), a gear pair amplification mechanism (9) and a driving mechanism (10). The driving mechanism (10) is installed at the front end of the machine frame (1) and is connected with the crank rocker mechanism (8). The crank rocker mechanism (8) is installed at the middle part of the machine frame (1) and is used for driving the driving gear pair amplification mechanism (9) to reciprocating rotate. The driving gear pair amplification mechanism (9) is installed at the tail end of the machine frame (1) and is connected with the wings (2). The regulating mechanisms (6) are composed of a tail regulating mechanism (12) and a wing root regulating mechanism (11). The tail regulating mechanism (12) is installed at the front end of the tail (3) and is used for adjusting the pitching attitude of the flying device. The wing root regulating mechanism (11) is installed at the front end of the tail (3) and is used for adjusting the rolling attitude of the flying device. The driving mechanism (10) comprises a hollow cup motor (101) and a speed reduction gear set (102), the hollow cup motor (101) is embedded in the motor seat of the machine frame (1). The speed reduction gear set (102) is composed of a motor gear (103), a double gear (104) and a low-speed gear (105), the motor gear (103) is fixedly connected with the output end of the hollow cup motor (101), the double gear (104) is engaged with the motor gear (103), and the low-speed gear (105) is located obliquely below the double gear (104) and is engaged with the double gear (104). The gear pair amplification mechanism (9) comprises double-layer gears (901), a left wing pinion (902) and a right wing pinion (903), the double-layer gears (901) are eccentrically connected with connecting rods (802), the left wing pinion (902) and the right wing pinion (903) are connected with the machine frame (1) through pins, the left wing pinion (902) is engaged with the double-layer gears (901) outward, and the right wing pinion (903) is engaged with the double-layer gears (901) inward. The wings (2) are rotationally connected with the wing roots (13), the left wing pinion (902) and the right wing pinion (903) are coaxially provided with leading edge connecting pieces (904) at the end faces close to the wings (2), and the leading edge connecting pieces (904) are connected with the wings (2).

2. The micro bionic ornithopter based on gear pair amplification mechanism according to claim 1, characterized in that: The crank rocker mechanism (8) comprises a crank (801), one end of the crank (801) is coaxially connected with the low-speed gear (105), and the other end of the crank (801) is connected with a connecting rod (802). The crank (801) penetrates through the machine frame (1) and is connected with the machine frame (1) through two bearings (803), so that the friction between the crank (801) and the machine frame (1) is reduced.

3. The micro bionic ornithopter based on gear pair amplification mechanism according to claim 2, characterized in that: The electric control part (7) comprises a battery fixing frame (14) connected to the front of the tail wing (3) and fixedly connected with the carbon rod framework (4), two matching grooves (15) are arranged on the battery fixing frame (14), a flight control board (16) and a lithium battery (17) are respectively arranged in the two matching grooves (15), the lithium battery (17) is electrically connected with the flight control board (16), and the flight control board (16) is connected with the hollow cup motor (101).

4. The micro bionic ornithopter based on gear pair amplification mechanism according to claim 3, characterized in that: The wing root regulating mechanism (11) mainly comprises a rudder connecting piece one (111), a wing root rudder (112), a wing root rudder arm (113) and a wing root fixing piece (114); One end of the wing root (13) is fixedly connected with the rack (1), the other end of the wing root (13) is connected with the wing root fixing piece (114), the wing root rudder (112) is connected with the carbon rod framework (4) through the rudder connecting piece one (111), and the output end of the wing root rudder (112) is connected with the wing root rudder arm (113), the wing root rudder (112) drives the wing root fixing piece (114) to rotate by driving the wing root rudder arm (113) to rotate; The input end of the wing root rudder (112) is in communication connection with the output end of the flight control board (16).

5. The miniature flapping-wing ornithopter based on gear pair amplification mechanism according to claim 4, characterized in that: The tail wing regulating mechanism (12) mainly comprises a rudder connecting piece two (121), a tail wing rudder (122), a rudder connecting piece three (123) and a tail wing rudder arm (124); The tail wing rudder (122) is connected with the carbon rod framework (4) through the rudder connecting piece two (121), the output end of the tail wing rudder (122) is connected with the tail wing rudder arm (124), the tail end of the tail wing rudder arm (124) is connected with the rudder connecting piece three (123), and one end of the rudder connecting piece three (123) away from the tail wing rudder arm (124) is connected with the tail wing (3); The input end of the tail wing rudder (122) is connected with the output end of the flight control board (16).

Images