Tail wing device and robot

Abstract

The application discloses a tail wing device, which comprises a tail head assembly, a tail middle assembly and a tail root assembly. The driving end of the tail head assembly is rotatably connected to one end of the tail middle assembly and can make the tail middle assembly extend and retract. The other end of the tail middle assembly is rotatably connected to the tail root assembly. The tail middle assembly is formed by connecting multiple scissor structures in parallel. The tail root assembly comprises a rotation driving member and a pitching driving member. The rotation driving member is connected to the other end of the tail middle assembly. The pitching driving member is connected to the rotation driving member. The rotation direction of the rotation driving member is orthogonal to the elongation direction of the tail middle assembly. The rotation direction of the pitching driving member is orthogonal to the rotation direction of the rotation driving member. The application further discloses a robot. The beneficial effects of the application are as follows: the tail wing has three degrees of freedom. The extension driving member of the designed tail wing is located at the distal end of the tail, which increases the momentum moment of the tail wing, reduces the demand for counterweight blocks of the tail head and lightens the overall weight of the tail wing.

Description

Technical Field

[0001] This invention relates to a robot, and more particularly to a tail fin device. Background Technology

[0002] Currently, both domestic and international research has explored a range of motion problems, including mid-air reorientation and stable landing, in animals and robots. This motion is crucial for safety and survival when animals or robots accidentally fall. For example, a falling cat can rotate its body, swinging its tail and legs to its right side, and then land safely on its four feet. A squirrel ejected from its track can use tail movement to stabilize itself and land successfully. In robots, especially medium-sized quadruped robots like MiniCheetah and Unitree A1, similar safety problems may arise during falls. Referring to the well-known cat fall problem, we can call this the quadruped (wheeled) robot fall problem. Therefore, it is necessary to solve the problem of safe landing for quadruped (wheeled) robots.

[0003] There are two approaches to addressing this type of problem: 1) designing a landing strategy to search for the optimal foot contact sequence and optimize the contact forces of the landing impact; 2) using limbs or additional appendages to adjust the body to a horizontal posture and applying motion controllers to achieve a safe landing. Previous research has achieved the first approach, but researchers' results show that MiniCheetah can only handle ordinary horizontal falls. Furthermore, when the body has a significant directional deviation from the horizontal plane, the robot may be damaged due to uneven force distribution on the legs during landing. In contrast, the second approach aims to readjust the body to a horizontal orientation, or even the desired posture (adapting to terrain and environment), before landing, which reduces the burden of landing control and mitigates mechanical damage to the robot. In the second approach, if the legs and feet are used to balance the body, given the relatively small moment of inertia of the legs compared to the body, additional mass needs to be added to the legs to increase the moment of inertia. This setup causes the quadruped robot to consume more energy when moving on land; therefore, we are focusing more of our research on tail fin design.

[0004] Over the years, various designs have been proposed to mimic the function of animal tails, aiming to achieve similar control over body balance as animals do. The Space Swing Tail Mechanism (SPPTM) is a good option for robot tail applications due to its large workspace and strong inertial adjustment capabilities.

[0005] In 2015, researchers at the University of Cape Town in South Africa constructed a 2-DOF robot tail fin structure using a bevel gear method to simultaneously achieve a large workspace and output power. However, the backlash and friction issues common in bevel gears can affect the mechanism's motion accuracy. The tail fin is 0.5m long and weighs 0.4kg, with a pitch angle designed to be between 45° and 115° and a yaw angle designed to be ±90°. The misalignment between the pitch and yaw centers at the tail end can generate uneven reaction torque on the robot body, making the development of the control system more challenging.

[0006] In 2016, researchers at the University of Pennsylvania developed a 2-DOF tail section. This design is based on a crank-connecting rod mechanism that directly transmits motor torque to the tail section, which can generate relatively large output torque. The tail section is 0.3m long and weighs 150g. The yaw direction is approximately ±30°, and the working space for the yaw angle is limited.

[0007] In 2020, researchers at the Chinese University of Hong Kong designed and constructed a novel three-degree-of-freedom deformable inertial tail fin based on a spherical linkage mechanism, achieving a wider range of inertial adjustment capabilities by combining it with a spring-loaded telescopic sleeve. The tail fin can retract to more than half its total length, with a diameter 15mm smaller, a length of 0.3m, and a weight of 240g. Due to the use of a bottom-level spring-loaded mechanism, this design is not conducive to extension speed control, and the omnidirectional pulley system used for cable management is generally not compact and reliable enough, hindering rapid inertial adjustments. Simultaneously, the researchers also designed an eight-bar linkage tail fin, whose built-in curling mode complicates the tail fin's length kinematics, and the tail fin design lacks structural support in its lateral plane, resulting in poor lateral stiffness.

[0008] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0009] The technical problem to be solved by this invention is: how to solve the problems of low degree of freedom and poor rigidity of current tail fin devices.

[0010] The present invention solves the above-mentioned technical problems through the following technical means:

[0011] A tail fin assembly includes a nose assembly, a mid-tail assembly, and a root assembly. The driving end of the nose assembly is rotatably connected to one end of the mid-tail assembly and enables the mid-tail assembly to extend and retract. The other end of the mid-tail assembly is rotatably connected to the root assembly. The mid-tail assembly is composed of multiple rotatably connected scissor structures connected in parallel. The root assembly includes a rotation drive and a pitch drive. The rotation drive is connected to the other end of the mid-tail assembly, and the pitch drive is connected to the rotation drive. The rotation direction of the rotation drive is orthogonal to the extension direction of the mid-tail assembly, and the rotation direction of the pitch drive is orthogonal to the rotation direction of the rotation drive.

[0012] In this invention, the extension and retraction of the tail assembly are achieved through the drive end of the tail nose assembly, the rotation drive achieves rotational motion, and the pitch drive achieves pitch motion, thus realizing a three-degree-of-freedom tail fin that can achieve effective inertial adjustment within 0.15s. The tail fin length adjustment is separated from the tail fin motion (pitch / yaw), achieving decoupling between the two. The tail retraction and extension motions can be actively controlled. The designed tail fin extension and retraction drive is located at the far end of the tail, increasing the tail fin's angular momentum, reducing the need for counterweights at the tail nose, and reducing the overall weight of the tail fin.

[0013] Preferably, the tail assembly includes a mounting base, a first motor, a worm gear, two worm wheels, and two first connecting rods. The first motor is connected to the mounting base, and the drive end of the first motor is connected to the worm gear. After the worm gear extends out of the mounting base, it meshes with the two worm wheels. The worm wheels are rotatably connected to the top surface of the mounting base, and the first connecting rods are fixedly connected to the worm wheels.

[0014] The rigid linkage mechanism provides a rapid retraction / extension response to the tail, enabling it to adjust the retraction of the tail fin at a speed comparable to that of an animal (within 0.15 seconds).

[0015] Preferably, the mounting base includes a motor base, a first support column, and a worm gear seat. The first motor is fixedly installed in the motor base. One end of each of the first support columns is connected to the motor base, and the other end is connected to the bottom surface of the worm gear seat. The drive end of the first motor is connected to a drive flange, and the drive flange is fastened to the worm. The worm passes through the worm gear seat with a clearance. The top surface of the worm gear seat is connected to a worm gear frame. The worm gear is connected to the worm gear seat via a first pin. The first connecting rod is fastened to the first pin.

[0016] Preferably, the ratio of teeth between the worm and the worm wheel is at least 20:1.

[0017] Preferably, the tail assembly includes at least three sets of scissor structures, with the ends of adjacent scissor structures rotatably connected. Each scissor structure includes a first scissor segment and a second scissor segment, with the first scissor segment and the second scissor segment intersecting to form an X structure and forming a rotatable connection in the middle.

[0018] Preferably, the tail root assembly further includes two gears, two second connecting rods, and a gear support assembly. The two gears are rotatably connected to the gear support assembly and mesh with each other. The two gears are respectively fastened to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the tail middle assembly. The driving end of the rotation drive is connected to the gear support assembly.

[0019] Preferably, the gear support assembly includes a gear plate, a gear frame, and a second support column. The middle part of the gear passes through and is fastened to the second pin. One end of the gear frame is connected to the second support column and the second pin, and the other end of the second support column and the other end of the second pin are connected to the gear plate.

[0020] Preferably, the rotation drive component includes a second motor, a first bracket, and a second bracket; the pitch drive component includes a third motor, a third bracket, and a fourth bracket; the stator of the second motor is fixedly connected to the first bracket; the first bracket is rotatably connected to the second bracket; the stator of the second motor is also fixedly connected to the third bracket; the third bracket is fastened to the rotor of the third motor; and the stator of the third motor is connected to the fourth bracket.

[0021] The present invention also discloses a robot, including a robot body and the aforementioned tail wing device, wherein the tail wing device is fixedly connected to the back of the robot body.

[0022] Preferably, the rotation drive component includes a second motor, a first bracket, and a second bracket; the pitch drive component includes a third motor, a third bracket, and a fourth bracket; the stator of the second motor is fixedly connected to the first bracket; the first bracket is rotatably connected to the second bracket; the stator of the second motor is also fixedly connected to the third bracket; the third bracket is fastened to the rotor of the third motor; the stator of the third motor is connected to the fourth bracket; and the second bracket and the fourth bracket are fixedly connected to the back of the robot body.

[0023] The advantages of this invention are:

[0024] (1) In this invention, the extension and retraction of the tail assembly are achieved through the driving end of the tail nose assembly, the rotation drive achieves rotational motion, and the pitch drive achieves pitch motion, thus realizing a three-degree-of-freedom tail fin. Effective inertial adjustment can be achieved within 0.15s. The tail fin length adjustment is separated from the tail fin motion (pitch / yaw), thus decoupling the two. The tail retraction and extension motion can be actively controlled. The designed tail fin extension and retraction drive is located at the far end of the tail, which increases the tail fin's moment of momentum, reduces the need for a counterweight at the tail nose, and reduces the overall weight of the tail fin.

[0025] (2) The rigid linkage mechanism provides a rapid retraction / extension response of the tail, enabling it to adjust the retraction of the tail fin at a speed comparable to that of the animal (within 0.15 seconds);

[0026] (3) A tail fin with a certain tail weight will cause the body to move in the opposite direction of the tail fin's movement, so as to adjust the posture. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the tail fin device according to an embodiment of the present invention;

[0028] Figure 2 This is an exploded view of the tail fin device according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the tail assembly according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the tail assembly according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the tail assembly according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the component at the tail in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the tail root assembly according to an embodiment of the present invention;

[0034] Figure 8 This is an exploded view of the tail root assembly according to an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the tail root assembly according to an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the structure of the robot according to an embodiment of the present invention;

[0037] Figure 11 This is a schematic diagram of the robot's operation according to an embodiment of the present invention;

[0038] Numbering on the map:

[0039] 1. Tail end assembly; 11. Mounting base; 111. Motor mount; 112. First support column; 113. Worm gear mount; 12. First motor; 121. Drive flange; 13. Worm; 14. Worm gear; 15. First connecting rod; 16. First pin; 17. Counterweight;

[0040] 2. Tail-end assembly; 21. First scissor-type split; 22. Second scissor-type split;

[0041] 3. Tail root assembly; 31. Rotation drive component; 311. Second motor; 312. First bracket; 313. Second bracket; 32. Pitch drive component; 321. Third motor; 322. Third bracket; 323. Fourth bracket; 33. Gear; 34. Second connecting rod; 35. Gear bracket assembly; 351. Gear plate; 352. Gear frame; 353. Second support column; 36. Second pin shaft;

[0042] 4. Robot body; 41. Back. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1:

[0045] like Figure 1 , Figure 2 As shown, the tail fin assembly includes a nose assembly 1, a mid-tail assembly 2, and a root assembly 3. The driving end of the nose assembly 1 is rotatably connected to one end of the mid-tail assembly 2, enabling the mid-tail assembly 2 to extend and retract. The other end of the mid-tail assembly 2 is rotatably connected to the root assembly 3. The mid-tail assembly 2 is composed of multiple rotatably connected scissor-type structures connected in parallel. Figure 7 As shown, the tail root assembly 3 includes a rotation drive 31 and a pitch drive 32. The rotation drive 31 is connected to the other end of the tail middle assembly 2, and the pitch drive 32 is connected to the rotation drive 31. The rotation direction of the rotation drive 31 is orthogonal to the extension direction of the tail middle assembly 2, and the rotation direction of the pitch drive 32 is orthogonal to the rotation direction of the rotation drive 31.

[0046] Specifically, such as Figures 3-5As shown, the tail assembly 1 includes a mounting base 11, a first motor 12, a worm gear 13, two worm wheels 14, and two first connecting rods 15. The fixed end of the first motor 12 is fixedly connected to the mounting base 11, and the driving end of the first motor 12 is connected to the worm gear 13 to make the worm gear 13 rotate. After the worm gear 13 extends out of the mounting base 11, it meshes with the two worm wheels 14. The worm wheels 14 are rotatably connected to the top surface of the mounting base 11, and the first connecting rods 15 are fixedly connected to the worm wheels 14.

[0047] Among them, such as Figure 4 As shown, the mounting base 11 includes a motor base 111, first support columns 112, and a worm gear seat 113. The motor base 111 can be cylindrical. The first motor 12 is fixedly installed inside the motor base 111. In this embodiment, the first motor 12 can be a T-motor Antigravity 5008KV170 (including a cable and open-source hardware VESC as a motor driver, intended to drive the worm gear 13). One end of each of the four first support columns 112 is connected to the motor base 111, and the other end is connected to the bottom surface of the worm gear seat 113. The drive end of the first motor 12 is connected to a drive flange 121, which is fastened to the worm gear 13. Specifically, the drive flange 121 is inserted into the inner hole of the worm gear 13, and the screw hole is tightened with a set screw to achieve a fastening effect, so that the rotation of the first motor 12 can drive the rotation of the worm gear 13. The worm gear seat 113 has a central hole through which the worm 13 extends. A worm gear frame is connected to the top surface of the worm gear seat 113, and the worm gear frame is used to connect the worm gear 14. The worm gear 14 is connected to the worm gear seat 113 via a first pin 16, the center of which passes through the first pin 16. The worm gear 14 is also fastened to the first pin 16 by bolts, and the first pin 16 is rotatably connected to the worm gear frame. The first connecting rod 15 and the first pin 16 are fastened together by two sets of axially mounted locking bolts and six sets of radially mounted set screws.

[0048] In this embodiment, set screws are used for radial mounting in multiple places for circumferential fixing of parts in small equipment. For large equipment, they can only be used for auxiliary or unimportant circumferential positioning. If the power is very small, set screws can be used instead of keys for circumferential positioning; if the power is large, keys can be used to replace set screws.

[0049] Two worm gears 14 are symmetrically arranged and are used to drive the first connecting rod 15 to rotate. The ratio of the number of teeth between the worm 13 and the worm gear 14 is at least 20:1. The worm 13 and the worm gear 14 can achieve speed reduction and torque increase in the transmission, realizing the opening and closing movement of the two first connecting rods 15.

[0050] This embodiment also includes a counterweight 17, which is detachably connected to the motor mount 111. The counterweight 17 is used to adjust the weight of the entire tail fin. The first motor 12 can adjust the magnitude of its angular momentum.

[0051] In this embodiment, the tail assembly provides power support for the tail fin extension function and can control the tail fin length. The working process of the tail assembly 1 is as follows: the first motor 12 rotates, driving the worm gear 13 to rotate. The worm gear 13 meshes with the worm wheel 14, thereby driving the worm wheel 14 to rotate. Since the worm wheel is fixedly connected to the first pin 16 and the first connecting rod 15, the opening and closing of the two first connecting rods 15 is achieved. The first connecting rods 15 need to be adapted to the tail center assembly 2; therefore, the two first connecting rods and the tail center assembly 2 also form a scissor structure. Thus, the structures of the two first connecting rods 15 are not the same; one first connecting rod 15' has an open end, while the other first connecting rod 15 has a cylindrical end.

[0052] like Figure 6 As shown, the tail assembly 2 includes at least three sets of scissor structures, with the ends of adjacent scissor structures rotatably connected. Each scissor structure includes a first scissor split 21 and a second scissor split 22. The first scissor split 21 and the second scissor split 22 intersect to form an "X" structure and form a rotatable connection in the middle.

[0053] Specifically, both the first scissor-type split body 21 and the second scissor-type split body 22 are plate-type hollow structures, ensuring rigidity while reducing weight. The end of the first scissor-type split body 21 is open, while the end of the second scissor-type split body 22 is cylindrical. Both the end of the first scissor-type split body 21 and the end of the second scissor-type split body 22 have holes. After the cylindrical structure of the second scissor-type split body 22 and the open structure of the first scissor-type split body 21 are coaxial, a pin passes through the shaft holes of both and is positioned at the end of the pin. The telescopic function is achieved by changing the angle of the parallel scissor-type structure.

[0054] The rigid linkage mechanism provides a rapid retraction / extension response to the tail, enabling it to adjust the retraction of the tail fin at a speed comparable to that of an animal (within 0.15 seconds).

[0055] like Figures 7-9 As shown, the tail root assembly 3 includes a rotation drive 31, a pitch drive 32, two gears 33, two second connecting rods 34, and a gear support assembly 35. The two gears 33 are rotatably connected to the gear support assembly 35. The two gears 33 have the same structure and mesh with each other. The two gears 33 are respectively fastened to one end of the second connecting rod 34. The other end of the second connecting rod 34 is rotatably connected to the tail middle assembly 2. The driving end of the rotation drive 31 is connected to the gear support assembly 35.

[0056] The two gears 33 mesh to achieve the tail fin's freedom in the extension / retraction direction and locking in the yaw direction.

[0057] In this embodiment, the extension and retraction of the tail assembly 2 are achieved through the drive end of the tail nose assembly 1, the rotation drive 31 achieves rotational motion, and the pitch drive 32 achieves pitch motion, realizing a three-degree-of-freedom tail fin that can achieve effective inertial adjustment within 0.15s. The tail fin length adjustment is separated from the tail fin motion (pitch / yaw), achieving decoupling between the two; the tail retraction and extension motion can be actively controlled. The designed tail fin extension and retraction drive is located at the far end of the tail, increasing the tail fin's moment of momentum, reducing the need for the tail nose counterweight 17, and reducing the overall weight of the tail fin.

[0058] Example 2:

[0059] like Figures 7-9 As shown, in this embodiment, based on Embodiment 1, the gear support assembly 35 includes a gear plate 351, a gear frame 352, and a second support column 353. The gear 33 passes through and is movably connected to the second pin 36 in the middle. One end of the gear frame 352 is connected to the second support column 353 and the second pin 36, and the other end of the second support column 353 and the other end of the second pin 36 are connected to the gear plate 351.

[0060] The ends of the second support 353 and the second pin 36 can be fixedly connected to the gear plate 351 and the gear frame 352, and the gear 33 can rotate along the second pin 36.

[0061] The second link 34 is adapted to the tail assembly 2 to form a scissor structure. Therefore, the two second links 34 have different structures; one second link 34' has an open end, while the other second link 34 has a cylindrical end.

[0062] The rotation drive 31 includes a second motor 311, a first bracket 312, and a second bracket 313. The pitch drive 32 includes a third motor 321, a third bracket 322, and a fourth bracket 323. The stator of the second motor 311 is rotatably connected to the second bracket 313 via the first bracket 312. The stator of the second motor 311 is also fastened to the rotor of the third motor 321 via the third bracket 322. The stator of the third motor 321 is connected to the fourth bracket 323.

[0063] The stator of the third motor 321 is fixedly connected to the robot body 4 via the fourth bracket 323, and the rotor of the third motor 321 is connected to the third bracket 322, which can drive the third bracket 322 to rotate, thereby driving the second motor 311 to rotate circumferentially along the axis of the third motor 321. The rotor of the second motor 311 is fixedly connected to the gear frame 352, so the gear frame assembly 35 can rotate circumferentially along the axis of the second motor 311 under the drive of the second motor 311.

[0064] The second motor 311 and the third motor 321 are two T-motor AK60-6 KV140 motors, vertically aligned on their reference axes, enabling independent pitch and yaw movements of the tail fin. Other electrical components (such as a 400g battery, signal control board, and IMU module) are housed within the robot body 4. This device provides a wide range of motion, with a pitch range of 90°-180° and a yaw range of ±180°.

[0065] Example 3:

[0066] like Figure 10 , Figure 11 As shown, this embodiment discloses a robot, including a robot body 4 and the aforementioned tail wing device, wherein the tail wing device is fixedly connected to the back 41 of the robot body 4.

[0067] That is, the second bracket 313 and the fourth bracket 323 are fixedly connected to the back 41 of the robot body 4. This allows the entire tail wing device to be positioned above the middle of the two rear leg hip motors of the robot body 4.

[0068] This embodiment is used for a quadruped robot. The tail fin device in the above embodiment is a standardized structure and can also be applied to other occasions.

[0069] The working process of this embodiment:

[0070] like Figure 10 , Figure 11 As shown, during the tail fin retraction movement, the first motor 12 drives the shaft to rotate, which in turn drives the two worm gears 14 to rotate via the worm gear 13. This, in turn, drives the two first connecting rods 15 to rotate relative to each other, which in turn drives the first scissor-shaped parts 21 and the second scissor-shaped parts 22 of the tail mid-assembly 2 to rotate relative to each other, causing the tail fin to shorten. At this time, due to the presence of the two gears 33, the yaw direction of the tail mid-assembly 2 and the tail nose assembly 1 is restricted, allowing only retraction movement. During the tail fin extension movement, the first motor 12 reverses direction, and after a series of transmissions, the tail fin extends.

[0071] During the yaw motion of the tail fin, the first motor 12 is locked, and the tail fin length remains unchanged. The second motor 311 drives the tail mid-assembly 2 and tail nose assembly 1 to yaw rotation via the gear carrier 352, with a rotation angle of 360 degrees.

[0072] During the pitching motion of the tail fin, the tail fin length remains constant. The third motor 321 drives the tail fin to pitch rotation via the third bracket 322. The first bracket 312 and the second bracket 313 can rotate relative to each other, providing support to the opposite side of the second motor 311. The yaw and pitching motions of the tail fin can be performed simultaneously.

[0073] When the robot moves at high speed, its tail fin will be at its maximum extended length, which is 900mm. Figure 11 As shown. At this time, the second motor 311 and the third motor 321 of the tail root assembly 3 control the overall yaw and pitch movement of the tail fin. According to the principle of conservation of angular momentum, the tail fin, with a certain weight at the tail tip, will cause the body to move in the opposite direction of the tail fin's movement, thereby adjusting the robot's attitude. For example, when the robot is moving at high speed, the oscillation of the tail fin will enable the robot to make emergency turns; when the robot falls from a height, the oscillation of the tail fin will enable the robot to adjust its attitude in the air, allowing it to land on all fours or two feet, minimizing the impact on the robot. After the robot lands and moves on a flat surface, the tail fin will be in its shortened minimum length state of 300mm. At this time, the tail fin can be retracted into the robot's body envelope, reducing motion drag.

[0074] The three-degree-of-freedom tail fin proposed in this embodiment consists of a tail root orientation structure and a deformable inertial structure based on a scissor-lifting parallel mechanism, which can achieve effective inertial adjustment within 0.15s. It separates tail fin length adjustment from tail fin motion (pitch / yaw), achieving decoupling between the two; the design can actively control the tail retraction and extension motion; the designed rigid linkage mechanism provides a rapid tail retraction / extension response, enabling it to adjust the tail fin retraction at a speed comparable to that of an animal (within 0.15 seconds); the design also provides strong structural support and good lateral stiffness, which is beneficial for the rapid swinging of the tail in three-dimensional space; the designed first motor 12, worm gear 14, and worm 13 are located at the far end of the tail, increasing the tail fin's angular momentum, reducing the need for the counterweight 17 at the tail tip, and reducing the overall weight of the tail fin.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tail fin device, characterized in that, The device includes a tail head assembly, a tail middle assembly, and a tail root assembly. The driving end of the tail head assembly is rotatably connected to one end of the tail middle assembly, enabling the tail middle assembly to extend or retract. The other end of the tail middle assembly is rotatably connected to the tail root assembly. The tail middle assembly is composed of multiple rotatably connected scissor-type structures connected in parallel. The tail root assembly includes a rotation drive and a pitch drive. The rotation drive is connected to the other end of the tail middle assembly, and the pitch drive is connected to the rotation drive. The rotation direction of the rotation drive is orthogonal to the extension direction of the tail middle assembly, and the rotation direction of the pitch drive is orthogonal to the rotation direction of the rotation drive. The tail head assembly includes a mounting base, a first motor, a worm gear, two worm wheels, and two first connecting rods. The first motor is connected to the mounting base, and the driving end of the first motor is connected to the worm gear. After the rod extends out of the mounting base, it meshes with two worm gears. The worm gears are rotatably connected to the top surface of the mounting base. The first connecting rod is fixedly connected to the worm gears. The tail assembly includes at least three sets of scissor structures. The ends of adjacent scissor structures are rotatably connected. Each scissor structure includes a first scissor split and a second scissor split. The first scissor split and the second scissor split intersect to form an X structure and form a rotatable connection in the middle. The rotation drive includes a second motor, a first bracket, and a second bracket. The pitch drive includes a third motor, a third bracket, and a fourth bracket. The stator of the second motor is fixedly connected to the first bracket. The first bracket is rotatably connected to the second bracket. The stator of the second motor is also fixedly connected to the third bracket. The third bracket is fastened to the rotor of the third motor. The stator of the third motor is connected to the fourth bracket.

2. The tail fin device according to claim 1, characterized in that, The mounting base includes a motor base, a first support column, and a worm gear seat. The first motor is fixedly installed inside the motor base. One end of each of the first support columns is connected to the motor base, and the other end is connected to the bottom surface of the worm gear seat. The drive end of the first motor is connected to a drive flange, and the drive flange is fastened to the worm. The worm passes through the worm gear seat with a clearance. The top surface of the worm gear seat is connected to a worm gear frame. The worm gear is connected to the worm gear seat via a first pin. The first connecting rod is fastened to the first pin.

3. The tail fin device according to claim 1, characterized in that, The ratio of teeth between the worm and the worm wheel is at least 20:

1.

4. The tail fin device according to claim 1, characterized in that, The tail root assembly also includes two gears, two second connecting rods, and a gear support assembly. The two gears are rotatably connected to the gear support assembly and mesh with each other. The two gears are respectively fastened to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the tail middle assembly. The driving end of the rotation drive is connected to the gear support assembly.

5. The tail fin device according to claim 4, characterized in that, The gear support assembly includes a gear plate, a gear frame, and a second support column. The middle part of the gear passes through and is fastened to a second pin. One end of the gear frame is connected to the second support column and the second pin, and the other end of the second support column and the other end of the second pin are connected to the gear plate.

6. A robot, characterized in that, It includes a robot body and a tail wing device according to any one of claims 1-5, wherein the tail wing device is fixedly connected to the back of the robot body.

7. The robot according to claim 6, characterized in that, The second bracket and the fourth bracket are fixedly connected to the back of the robot body.

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