Vertical tail and horizontal tail convertible aircraft and control method thereof

Abstract

The invention relates to the technical field of aviation, in particular to a vertical tail and horizontal tail convertible aircraft and a control method thereof, and the aircraft comprises a main wing, a telescopic device, a steering device, a swing device and an empennage mechanism. The telescopic device is configured to drive the empennage mechanism to move between an initial position and a preset position; the steering device is configured to switch the empennage mechanism between a horizontal state and a vertical state; when the empennage mechanism is at the initial position, the empennage mechanism is in a vertical fin mode; when the empennage mechanism is at the preset position, the empennage mechanism is in a horizontal tail mode; when the empennage mechanism is in a horizontal tail mode, the steering engine drives an empennage of the empennage mechanism to swing to adjust the flight attitude of the aircraft. The tail wing mechanism has the advantages that through the steering device, the tail wing mechanism can be flexibly switched between the horizontal tail mode and the vertical tail mode, and the maneuverability of the aircraft in the flying process is improved.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to an aircraft with a convertible vertical tail and a horizontal tail and a control method thereof. Background Art

[0002] In order to make the aircraft more stable during flight, the assistance of the vertical tail and the horizontal tail is usually needed. For vertical take-off and landing fixed-wing aircraft, the vertical tail is needed to balance the yaw moment caused by the wind speed during the vertical take-off and landing phase, while the horizontal tail is not needed to balance the center of gravity at this time. Instead, it will increase the drag and weight of the aircraft, thereby increasing the power consumption of the aircraft. When the aircraft is flying level and has sufficient lateral stability, the vertical tail is not needed to assist, and the vertical tail will only increase the drag of the aircraft. On the contrary, at this time, the horizontal tail needs to adjust the center of gravity of the aircraft, and the greater the adjustable interval redundancy, the better the stability and controllability of the aircraft.

[0003] The Chinese patent announcement number is CN209921598U, the announcement date is July 19, 2024, and the patent name is "A rotating tail device for an unmanned aerial vehicle." It can reduce aerodynamic drag and improve the aerodynamic performance of the aircraft, but in the final analysis, there is still an extra vertical tail during flight.

[0004] The Chinese patent announcement number is CN209567081U, the announcement date is January 22, 2019, and the patent name is "A wing dual-purpose vertical take-off and landing aircraft". The aircraft uses a universal rudder, but in the vertical take-off stage, the rotating rudder is used as a horizontal tail, which cannot effectively balance the yaw moment during vertical take-off and landing. In addition, when converting from vertical take-off and landing to level flight, the aircraft needs to pass through 4 nodes. If any of the nodes fails to convert, the aircraft may be unable to continue flying, thereby reducing the reliability of the flight. Summary of the invention

[0005] In view of this, the present invention aims to provide an aircraft with a convertible vertical tail and a horizontal tail and a control method thereof. During the vertical take-off and landing of the aircraft, the tail mechanism is in a vertical tail mode, which increases the wind resistance and flight stability of the aircraft. In the level flight mode, the tail mechanism is converted into a horizontal tail mode, which increases the stability of the aircraft.

[0006] To achieve the above-mentioned purpose, the technical solution created by the present invention is implemented as follows: a vertical tail and horizontal tail convertible aircraft, comprising: a main wing, a telescopic device, a steering device, a swing device and a tail mechanism; one end of the telescopic device is connected to the main wing, and the other end of the telescopic device is connected to the tail mechanism through the steering device; the swing device is arranged on the tail mechanism; the telescopic device drives the tail mechanism to move between an initial position and a preset position; the steering device converts the tail mechanism between a horizontal tail mode and a vertical tail mode. Furthermore, the telescopic device includes a fixing mechanism and a telescopic mechanism; the fixing mechanism is connected to the main wing, and the telescopic mechanism is movably arranged on the fixing mechanism.

[0007] Furthermore, the fixing mechanism includes a fixing part, a slide part and a motor connecting part, the fixing part is connected to the main wing, the slide part is connected to the fixing part, a boss is arranged on the slide part, and the motor connecting part is arranged on a side of the slide part away from the fixing part.

[0008] Furthermore, the telescopic mechanism includes a first motor, a driving gear and a moving frame; grooves matching the boss are provided on both side surfaces of the moving frame, and rolling teeth meshing with the driving gear are provided on the bottom surface of the moving frame; the first motor is connected to the motor connecting part, and the output end of the first motor is connected to the driving gear, the driving gear and the rolling teeth mesh with each other, the boss is located in the groove, and the first motor drives the moving frame to move along the boss through the driving gear and the rolling teeth; a limit block is also provided on the side of the moving frame facing the tail wing.

[0009] Furthermore, the steering device includes a second motor, a first gear, a second gear, a rotating shaft, a locking mechanism and a tail fixing member; one end of the rotating shaft is rotatably connected to the mobile frame, and the other end of the rotating shaft is rotatably connected to the mobile frame through the tail fixing member; the second gear is sleeved on the rotating shaft, the second motor is connected to the mobile frame, the output end of the second motor is connected to the first gear, and the first gear and the second gear are meshed with each other; the locking mechanism is connected to the mobile frame, and is used to lock the tail mechanism when the tail mechanism is in the horizontal tail mode.

[0010] Furthermore, the second gear has a limiting area, and when the tail mechanism is in the horizontal tail mode, one of the ribs in the limiting area abuts against the limiting block, and the other rib in the limiting area abuts against the locking mechanism.

[0011] Furthermore, the locking mechanism includes a locking servo and a servo fixing member, the locking servo is connected to the movable frame via the servo fixing member, and the telescopic rod of the locking servo can pass through the movable frame.

[0012] Furthermore, the tail mechanism also includes a tail assembly and a fixing rod; the tail assembly is connected to the tail fixing piece through the fixing rod; the tail assembly includes a tail, a tail connecting rod, a tail connecting block and a tail fixing block; both ends of the tail are provided with rotating shafts, one of which is rotatably connected to the tail fixing block, and the other is rotatably connected to the tail connecting block, the tail connecting block is connected to one end of the tail connecting rod, and the other end of the tail connecting rod is connected to the tail fixing block.

[0013] Furthermore, the swing device also includes a swing connecting rod, and the swing servo is arranged on the side of the tail wing fixing member away from the steering device; the swing connecting rod is respectively connected to the swing servo and the tail wing assembly, and the swing servo drives the swing connecting rod and then drives the tail wing assembly to swing.

[0014] A control method for an aircraft with a convertible vertical tail and a convertible horizontal tail is implemented based on the above-mentioned convertible vertical tail and a convertible horizontal tail aircraft, comprising the following steps: S1: When the aircraft is controlled to take off vertically, the telescopic mechanism of the telescopic device is in the initial position and the tail mechanism is in the vertical tail mode.

[0015] S2: After the aircraft completes vertical takeoff, the steering device drives the tail mechanism to rotate, so that the tail mechanism is in the horizontal tail mode.

[0016] S3: The telescopic device drives the tail mechanism to move to the preset position to balance the center of gravity of the aircraft.

[0017] S4: The swing servo of the tail mechanism drives the tail of the tail mechanism to swing through its swing connecting rod to adjust the flight attitude of the aircraft.

[0018] S5: When controlling the aircraft to land, the steering device drives the tail mechanism to rotate, so that the tail mechanism is in the vertical tail mode, and the telescopic device drives the tail mechanism to move toward the direction close to the main wing until the tail mechanism is in the initial position.

[0019] Compared with the prior art, the invention can achieve the following beneficial effects: 1) The present invention uses a steering device to achieve flexible conversion of the tail mechanism between the horizontal tail mode and the vertical tail mode, thereby increasing the maneuverability of the aircraft during flight. When the aircraft takes off and lands vertically and the tail mechanism is in the vertical tail mode, the wind resistance and flight stability of the aircraft are improved. When the aircraft is in the horizontal flight mode, the steering device converts the tail mechanism to the horizontal tail mode, further enhancing the stability of the aircraft.

[0020] 2) Through the coordinated action of the telescopic device and the swing device, the aircraft can accurately adjust its center of gravity during flight, thereby achieving control of the aircraft's flight attitude.

[0021] 3) When the tail mechanism is in the horizontal tail mode, the steering device is locked by the locking mechanism to prevent the steering device from rotating, thereby ensuring that the flight direction of the aircraft is not disturbed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 This is a schematic structural diagram of a tail mechanism of an aircraft with a convertible vertical tail and horizontal tail provided by an embodiment of the present invention in a vertical tail mode; Figure 2is a schematic structural diagram of a tail mechanism of an aircraft with a convertible vertical tail and a horizontal tail provided by an embodiment of the present invention in a horizontal tail mode; Figure 3 is a schematic diagram of the structure of the telescopic device provided by an embodiment of the present invention; Figure 4 is a structural schematic diagram of a fixing mechanism provided according to an embodiment of the present invention; Figure 5 is a structural schematic diagram of a telescopic mechanism provided according to an embodiment of the present invention; Figure 6 is a schematic diagram of the structure of the steering device and the mobile frame installed according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of a second gear provided according to an embodiment of the present invention; Figure 8 is a schematic structural diagram of a tail wing fixing member provided according to an embodiment of the present invention; Fig. 9 is a schematic structural diagram of the connection between a tail wing fixing member, a swinging device and a tail wing mechanism provided in an embodiment of the present invention; Fig.10 is a schematic structural diagram of a tail wing assembly provided according to an embodiment of the present invention; Fig.11 is a schematic structural diagram of a swing device provided according to an embodiment of the present invention.

[0023] The reference numerals include: 1, main wing; 11, main wing connecting rod; 2, telescopic device; 21, fixing mechanism; 211, fixing part; 2111, fixing body; 2112, connecting part; 212, slideway part; 2121, slideway body; 2122, boss; 213, motor connecting part; 214, reinforcing arm; 22, telescopic mechanism; 221, first motor; 222, driving gear; 223, moving frame; 2231, tooth plate; 2232, first connecting plate; 2233, second connecting plate; 2234, stop block; 2235, rolling tooth; 2236, groove; 3, steering device; 31, second motor; 32, first gear; 33, second gear; 3 31. Limiting area; 332. First flange; 333. Second flange; 34. Rotating shaft; 35. Locking mechanism; 351. Locking servo; 352. Servo fixing piece; 36. Tail fixing piece; 361. First connecting hole; 362. Second connecting hole; 4. Swinging device; 41. Swinging servo; 42. Swinging connecting rod; 421. First swing rod; 422. Second swing rod; 5. Tail mechanism; 51. Tail assembly; 511. Tail; 512. Tail connecting rod; 513. Tail connecting block; 5131. Connecting block body; 5132. First connecting part; 5133. Second connecting part; 514. Tail fixing block; 515. Connecting ear; 52. Fixing rod. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0029] like Figures 1 to 11 As shown, an aircraft with a convertible vertical tail and horizontal tail provided in an embodiment of the present invention comprises: a main wing 1, a telescopic device 2, a steering device 3, a swing device 4 and a tail mechanism 5. One end of the telescopic device 2 is connected to the main wing 1, and the other end of the telescopic device 2 is connected to the tail mechanism 5 through the steering device 3. The swing device 4 is arranged on the tail mechanism 5.

[0030] The telescopic device 2 drives the tail mechanism 5 to move between the initial position and the preset position. The steering device 3 switches the tail mechanism 5 between the horizontal tail mode and the vertical tail mode.

[0031] When the aircraft is in vertical takeoff, the tail mechanism 5 is at the initial position. At this time, the tail mechanism 5 is in the vertical tail mode. When the aircraft completes the vertical takeoff state, the steering device 3 drives the tail mechanism 5 to switch from the vertical tail mode to the horizontal tail mode. Subsequently, the telescopic device 2 drives the tail mechanism 5 to move from the initial position to the preset position to balance the center of gravity of the aircraft. Then, the swing device 4 drives the tail mechanism 5 to swing to adjust the flight attitude of the aircraft.

[0032] In the present invention, the initial position is defined as the shortest distance between the tail mechanism 5 and the main wing 1. When the telescopic device 2 drives the tail mechanism 5 away from the main wing 1 to achieve the center of gravity balance of the aircraft, the position of the tail mechanism 5 is defined as the preset position.

[0033] Telescopic device 2 Figures 3 to 5 As shown, it includes a fixing mechanism 21 and a telescopic mechanism 22. The fixing mechanism 21 is connected to the main wing 1, and the telescopic mechanism 22 is movably arranged on the fixing mechanism 21.

[0034] The fixing mechanism 21 includes a fixing portion 211, a slide portion 212, a motor connection portion 213 and two reinforcing arms 214. The slide portion 212 is connected to the fixing portion 211 by screws and is perpendicular to the fixing portion 211. The two ends of each reinforcing arm 214 are respectively connected to the side surfaces of the fixing portion 211 and the slide portion 212 located on the same side. The motor connection portion 213 is arranged on the side of the slide portion 212 away from the fixing portion 211.

[0035] The fixing part 211 includes a fixing body 2111 and a connecting part 2112 disposed on the fixing body 2111, and the connecting part 2112 is a through hole. The connecting part 2112 is sleeved on the outside of the main wing connecting rod 11 of the main wing 1, and is fixedly connected to the main wing connecting rod 11 by a riveting process. The slide part 212 includes a slide body 2121 and bosses 2122 disposed on the slide body 2121 at intervals.

[0036] The telescopic mechanism 22 includes a first motor 221, a mobile frame 223 and two driving gears 222. The mobile frame 223 includes two tooth plates 2231, a first connecting plate 2232, a second connecting plate 2233 and a stop block 2234. The first connecting plate 2232 and the second connecting plate 2233 are arranged at intervals along the length direction of the boss 2122, and the first connecting plate 2232 is close to the side of the main wing 1. The two tooth plates 2231 are located between the first connecting plate 2232 and the second connecting plate 2233, and the two ends of each tooth plate 2231 are connected to the first connecting plate 2232 and the second connecting plate 2233 respectively. The stop block 2234 is arranged on the second connecting plate 2233 and is located on a side away from the first connecting plate 2232. The two tooth plates 2231, the first connecting plate 2232 and the second connecting plate 2233 are integrally formed. The bottom surfaces of the two tooth plates 2231 are both provided with rolling teeth 2235 , and the outer sides of the two tooth plates 2231 are both provided with inwardly recessed grooves 2236 , and the grooves 2236 are matched with the bosses 2122 .

[0037] The first motor 221 is connected to the motor connection part 213 and is located below the two gear plates 2231. The first motor 221 is a dual-axis motor with bidirectional output. The two output shafts of the first motor 221 are respectively connected to the two driving gears 222. The driving gears 222 and the rolling teeth 2235 are meshed with each other, and the boss 2122 is embedded in the groove 2236. The first motor 221 drives the moving frame 223 to move along the boss 2122 through the driving gears 222 and the rolling teeth 2235.

[0038] In this embodiment, the moving frame 223 and the driving gear 222 are preferably made of metal materials. Specifically, the moving frame 223 and the driving gear 222 are made of aluminum alloy.

[0039] Steering device 3 Figures 6 to 8 As shown, it includes a second motor 31, a first gear 32, a second gear 33, a rotating shaft 34, a locking mechanism 35 and a tail fixing member 36. One end of the rotating shaft 34 passes through the first connecting plate 2232 and the second connecting plate 2233 in sequence, and is rotatably mounted on the mobile frame 223 through a bearing. The other end of the rotating shaft 34 is connected to the tail mechanism 5 through the tail fixing member 36. The second gear 33 is sleeved on the rotating shaft 34, the second motor 31 is connected to the second connecting plate 2233, the output end of the second motor 31 is connected to the first gear 32, and the first gear 32 and the second gear 33 are meshed with each other. The locking mechanism 35 is located between the first connecting plate 2232 and the second connecting plate 2233, and is connected to the second connecting plate 2233. When the tail mechanism 5 is in the horizontal tail mode, the locking mechanism 35 is used to lock the tail mechanism 5.

[0040] In this embodiment, the first gear 32, the second gear 33, the rotating shaft 34 and the tail wing fixing member 36 are preferably made of metal materials. Specifically, the first gear 32, the second gear 33, the rotating shaft 34 and the tail wing fixing member 36 are all made of aluminum alloy.

[0041] The second gear 33 has a limiting area 331, which includes a first rib 332 and a second rib 333. When the tail mechanism 5 is in the horizontal tail mode, the first rib 332 of the limiting area 331 abuts against the limiting block 2234, and the second rib 333 of the limiting area 331 abuts against the locking mechanism 35.

[0042] The locking mechanism 35 includes a locking servo 351 and a servo fixing member 352. The locking servo 351 is connected to the second connecting plate 2233 via the servo fixing member 352. The second connecting plate 2233 is also provided with a first hole through which the telescopic rod of the locking servo 351 can pass. When the telescopic rod of the locking servo 351 passes through the first hole, the telescopic rod abuts against the second rib 333, and the steering device 3 is limited, thereby locking the tail mechanism 5.

[0043] In this embodiment, the steering gear fixing part 352 is preferably made of metal material. Specifically, the material of the steering gear fixing part 352 is aluminum alloy.

[0044] The tail fixing member 36 includes a first connection hole 361 for connecting with the rotating shaft 34 and a second connection hole 362 connected with the tail mechanism 5. The second connection hole 362 is provided through the tail fixing member 36. The axis of the first connection hole 361 is perpendicular to the axis of the second connection hole 362.

[0045] Tail mechanism 5 Figures 9 to 11 As shown, it includes a tail assembly 51 and a fixing rod 52. The fixing rod 52 passes through the second connecting hole 362 on the tail fixing piece 36 and is connected to the tail fixing piece 36 by a riveting process. The two ends of the fixing rod 52 are respectively connected to the tail assembly 51. The tail assembly 51 includes a tail 511, a tail connecting rod 512, a tail connecting block 513, a connecting ear 515 and a tail fixing block 514. Both ends of the tail 511 are provided with a rotating shaft, one of which is rotatably connected to the tail fixing block 514, and the other rotating shaft is rotatably connected to the tail connecting block 513. The tail connecting block 513 is connected to one end of the tail connecting rod 512 by gluing, and the other end of the tail connecting rod 512 is connected to the tail fixing block 514 by gluing.

[0046] In this embodiment, the fixing rod 52 is preferably made of non-metallic hard material, and the tail connecting rod 512, the tail connecting block 513 and the tail fixing block 514 are preferably made of metal material. Specifically, the material of the fixing rod 52 is carbon fiber composite material, and the material of the tail connecting rod 512, the tail connecting block 513 and the tail fixing block 514 is aluminum alloy. The tail 511, the connecting ear 515 and the rotating shaft are integrally formed.

[0047] The tail connecting block 513 includes a connecting block body 5131, a first connecting portion 5132 and a second connecting portion 5133. The first connecting portion 5132 is arranged on both sides of the connecting block body 5131 along the length direction of the tail 511, and the second connecting portion 5133 is arranged on the upper surface of the connecting block body 5131, and the axis of the first connecting portion 5132 is perpendicular to the axis of the second connecting portion 5133. The first connecting portion 5132 has a receiving cavity for connecting with the tail connecting rod 512. The connecting block body 5131 has a second hole for the fixing rod 52 to pass through, and the second connecting portion 5133 has a non-through third hole adapted to the fixing rod 52. When the fixing rod 52 passes through the second hole and enters the third hole to abut against the second connecting portion 5133, the fixing rod 52 is connected to the second connecting portion 5133 by a riveting process. The non-through third hole is used to limit the fixing rod 52 when the fixing rod 52 is connected to the second connecting portion 5133.

[0048] The swing device 4 includes a swing steering engine 41 and a swing link 42. The swing steering engine 41 is arranged on the tail fixing member 36 and is located on the side away from the steering device 3. The swing link 42 includes a first swing rod 421 and two second swing rods 422. The two ends of the first swing rod 421 are respectively connected to the two second swing rods 422, and the axis of the first swing rod 421 is respectively perpendicular to the axis of the two second swing rods 422. The two second swing rods 422 are respectively connected to the tail assembly 51 through the connecting ears 515. The swing steering engine 41 drives the swing link 42 to swing, thereby driving the tail assembly 51 to swing.

[0049] A control method for an aircraft with a convertible vertical tail and a convertible horizontal tail is implemented based on the above-mentioned convertible vertical tail and a convertible horizontal tail aircraft, comprising the following steps: S1: When the aircraft is controlled to take off vertically, the tail mechanism 5 is in the initial position, the distance between the tail mechanism 5 and the main wing 1 is the shortest, and the tail mechanism 5 is in the vertical tail mode. In this mode, the control surface of the tail 511 of the tail mechanism 5 is perpendicular to the wing surface of the aircraft main wing 1, and the tail mechanism 5 enhances the wind resistance and flight stability of the aircraft.

[0050] S2: After the aircraft completes vertical takeoff, the second motor 31 drives the rotating shaft 34 to rotate through the first gear 32 and the second gear 33, thereby driving the tail mechanism 5 to rotate, so that the tail mechanism 5 is in the horizontal tail mode, that is, the wing surface of the tail 511 of the tail mechanism 5 is parallel to the wing surface of the main wing 1. At this time, one of the retaining edges 332 of the limiting area 331 of the second gear 33 abuts against the limiting block 2234, and the telescopic rod of the locking servo 351 passes through the first hole and abuts against the other retaining edge 333 of the limiting area 331, thereby limiting the steering device 3 and locking the tail mechanism 5.

[0051] S3: The first motor 221 of the telescopic device 2 drives the driving gear 222 to move the moving frame 223 along the boss 2122 away from the main wing 1, thereby driving the tail mechanism 5 away from the main wing 1 and moving to a preset position, thereby balancing the center of gravity of the aircraft to achieve the optimal balance.

[0052] If the aircraft encounters strong winds during level flight, the tail 511 can be converted from a horizontal tail mode to a vertical tail mode through the steering device 3 to improve the longitudinal stability of the aircraft.

[0053] The coordinated work of the steering device 3 and the telescopic device 2 not only increases the stability of the aircraft, but also reduces power consumption, significantly improving the flight time and range of the aircraft. In addition, the conversion reliability of the tail 511 is high, ensuring the stable operation of the system.

[0054] S4: The swing servo 41 drives the swing connecting rod 42 to drive the tail 511 to swing around the rotation axis, thereby adjusting the flight attitude of the aircraft.

[0055] S4: When controlling the aircraft to land, the steering device 3 drives the tail mechanism 5 to rotate, so that the tail mechanism 5 is in the vertical tail mode, and the telescopic device 2 drives the tail mechanism 5 to move in the direction close to the main wing 1, so that the tail mechanism 5 is in the initial position. The execution process of the steering device 3 and the tail mechanism 5 is the reverse operation of step S2 and step S3, and will not be described in detail here.

[0056] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An aircraft with a convertible vertical tail and horizontal tail, characterized in that: include: A main wing, a telescopic device, a steering device, a swing device and a tail mechanism; one end of the telescopic device is connected to the main wing, and the other end of the telescopic device is connected to the tail mechanism through the steering device; the swing device is arranged on the tail mechanism; The telescopic device drives the tail mechanism to move between an initial position and a preset position; and the steering device switches the tail mechanism between a horizontal tail mode and a vertical tail mode.

2. The aircraft with a convertible vertical tail and horizontal tail according to claim 1, characterized in that: The telescopic device comprises a fixing mechanism and a telescopic mechanism; the fixing mechanism is connected to the main wing, and the telescopic mechanism is movably arranged on the fixing mechanism.

3. The aircraft with a convertible vertical tail and horizontal tail according to claim 2, characterized in that: The fixing mechanism comprises a fixing part, a slide part and a motor connecting part, the fixing part is connected to the main wing, the slide part is connected to the fixing part, a boss is arranged on the slide part, and the motor connecting part is arranged on a side of the slide part away from the fixing part.

4. The aircraft with a convertible vertical tail and horizontal tail according to claim 3, characterized in that: The telescopic mechanism includes a first motor, a driving gear and a moving frame; grooves matching the boss are provided on both side surfaces of the moving frame, and rolling teeth meshing with the driving gear are provided on the bottom surface of the moving frame; the first motor is connected to the motor connecting part, and the output end of the first motor is connected to the driving gear, the driving gear and the rolling teeth mesh with each other, the boss is located in the groove, and the first motor drives the moving frame to move along the boss through the driving gear and the rolling teeth; a limit block is also provided on the side of the moving frame facing the tail wing.

5. The aircraft with a convertible vertical tail and horizontal tail according to claim 4, characterized in that: The steering device includes a second motor, a first gear, a second gear, a rotating shaft, a locking mechanism and a tail fixing member; one end of the rotating shaft is rotatably connected to the moving frame, and the other end of the rotating shaft is rotatably connected to the moving frame through the tail fixing member; The second gear is sleeved on the rotating shaft, the second motor is connected to the moving frame, the output end of the second motor is connected to the first gear, and the first gear and the second gear are meshed with each other; the locking mechanism is connected to the moving frame, and is used to lock the tail mechanism when the tail mechanism is in the horizontal tail mode.

6. The aircraft with a convertible vertical tail and horizontal tail according to claim 5, characterized in that: The second gear has a limiting area. When the tail mechanism is in the horizontal tail mode, one of the ribs in the limiting area abuts against the limiting block, and the other rib in the limiting area abuts against the locking mechanism.

7. The aircraft with a convertible vertical tail and horizontal tail according to claim 5, characterized in that: The locking mechanism comprises a locking servo and a servo fixing member, the locking servo is connected to the moving frame via the servo fixing member, and the telescopic rod of the locking servo can pass through the moving frame.

8. The aircraft with a convertible vertical tail and horizontal tail according to claim 5, characterized in that: The tail mechanism also includes a tail assembly and a fixing rod; the tail assembly is connected to the tail fixing piece through the fixing rod; the tail assembly includes a tail, a tail connecting rod, a tail connecting block and a tail fixing block; both ends of the tail are provided with rotating shafts, one of which is rotatably connected to the tail fixing block, and the other is rotatably connected to the tail connecting block, the tail connecting block is connected to one end of the tail connecting rod, and the other end of the tail connecting rod is connected to the tail fixing block.

9. The aircraft with a convertible vertical tail and horizontal tail according to claim 8, characterized in that: The swing device also includes a swing connecting rod, and the swing servo is arranged on the side of the tail wing fixing member away from the steering device; the swing connecting rod is respectively connected to the swing servo and the tail wing assembly, and the swing servo drives the swing connecting rod and then drives the tail wing assembly to swing.

10. A control method for an aircraft with a convertible vertical tail and a convertible horizontal tail, implemented based on the aircraft with a convertible vertical tail and a convertible horizontal tail according to any one of claims 1 to 9, characterized in that: The steps include: S1: When controlling the aircraft to take off vertically, the telescopic mechanism of the telescopic device is in an initial position, and the tail mechanism is in a vertical tail mode; S2: After the aircraft completes vertical takeoff, the steering device drives the tail mechanism to rotate, so that the tail mechanism is in a horizontal tail mode; S3: The telescopic device drives the tail mechanism to move to a preset position to balance the center of gravity of the aircraft; S4: The swing servo of the tail mechanism drives the tail of the tail mechanism to swing through its swing connecting rod to adjust the flight attitude of the aircraft; S5: When controlling the aircraft to land, the steering device drives the tail mechanism to rotate so that the tail mechanism is in a vertical tail mode, and the telescopic device drives the tail mechanism to move toward the direction close to the main wing until the tail mechanism is in an initial position.

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