Tail mechanism and flapping-wing aircraft

Abstract

The present application relates to a tail mechanism for a flapping-wing aircraft, comprising: a tail piece, the tail piece comprising a middle rudder portion and a left rudder portion and a right rudder portion distributed on both sides of the middle rudder portion, the left rudder portion and the right rudder portion both being inclined downward relative to the middle rudder portion; a rudder piece assembly, the rudder piece assembly comprising a middle rudder piece, a left rudder piece and a right rudder piece, the middle rudder piece being arranged at the middle rudder portion, the left rudder piece being arranged at the left rudder portion and being consistent with the inclination direction of the left rudder portion, the right rudder piece being arranged at the right rudder portion and being consistent with the inclination direction of the right rudder portion; a servo assembly, the servo assembly comprising a left servo, a middle servo and a right servo, the left servo being used to drive the rotation of the left rudder piece to realize the left yaw of the flapping-wing aircraft, the right servo being used to drive the rotation of the right rudder piece to realize the right yaw of the flapping-wing aircraft, and the middle servo being used to drive the rotation angle of the middle rudder piece to realize the climb and dive of the flapping-wing aircraft. The tail mechanism of the present application can realize independent adjustment and combined adjustment of pitch and yaw, thereby improving the control flexibility and complexity of the flapping-wing aircraft.

Description

Technical Field

[0001] The present application relates to the technical field of flight equipment, and in particular to a tail mechanism and a flapping-wing aircraft. Background Art

[0002] Compared with fixed-wing aircraft and rotorcraft, flapping-wing aircraft have stealth characteristics, which makes them widely used. Among them, the tail wing of flapping-wing aircraft is an important research content of bionic bird flapping-wing aircraft, and it is also the basis for bionic bird flapping-wing aircraft to realize free flight, trajectory planning and other functions. Therefore, how to improve the control flexibility of flapping-wing aircraft is of great significance to the development of flapping-wing aircraft. However, the tail wing of current flapping-wing aircraft still has the problems of bulky structure and poor yaw control ability. Summary of the invention

[0003] The purpose of the present application is to at least solve the technical problem that the tail of the existing flapping-wing aircraft is bulky and inflexible to adjust, and this purpose is achieved through the following technical solutions:

[0004] The first aspect of the present application provides a tail mechanism for a flapping-wing aircraft, the tail mechanism comprising: a tail piece, the tail piece comprising a middle rudder portion and a left rudder portion and a right rudder portion distributed on both sides of the middle rudder portion, the left rudder portion and the right rudder portion both being inclined downward relative to the middle rudder portion; a rudder piece assembly, the rudder piece assembly comprising a middle rudder piece, a left rudder piece and a right rudder piece, the middle rudder piece being arranged at the middle rudder portion, the left rudder piece being arranged at the left rudder portion and being consistent with the inclination direction of the left rudder portion, the right rudder piece being arranged at the right rudder portion and being consistent with the inclination direction of the right rudder portion; a servo assembly, the servo assembly comprising a left servo, a middle servo and a right servo, the left servo being used to drive the movement of the left rudder piece to achieve the left yaw of the flapping-wing aircraft, the right servo being used to drive the movement of the right rudder piece to achieve the right yaw of the flapping-wing aircraft, and the middle servo being used to drive the movement angle of the middle rudder piece to achieve the climb and dive of the flapping-wing aircraft.

[0005] In some embodiments, the tail mechanism further includes a tail frame disposed on the tail piece, and the middle servo, the left servo and the right servo are all disposed on the tail frame.

[0006] It will be understood by those skilled in the art that the tail mechanism of the flapping-wing aircraft proposed in the present application proposes to separately set the middle rudder plate, the left rudder plate and the right rudder plate, and to separately set the left servo, the middle rudder plate and the right servo, and to separately control the middle rudder plate, the left rudder plate and the right rudder plate, thereby realizing independent adjustment of the pitch and yaw of the flapping-wing aircraft, effectively improving the control flexibility of the flapping-wing aircraft, so that it can adjust its flight attitude at any time during flight, thereby improving the yaw control ability of the tail mechanism, realizing the precise control of the flight attitude and flight trajectory of the flapping-wing aircraft, as well as the precise bionics of flying creatures such as birds, thereby expanding the application scope of flapping-wing aircraft.

[0007] Furthermore, by arranging the middle servo, left servo and right servo on the tail wing frame, the installation convenience of the middle servo, left servo and right servo can be improved, and the separate control of the middle rudder blade, left rudder blade and right rudder blade can be realized; moreover, the relative position relationship of the middle servo, left servo and right servo is fixed, so the purpose of separately and accurately controlling the middle rudder blade, left rudder blade and right rudder blade can be achieved, which has a better energy efficiency ratio and reduces the energy consumption of the flapping-wing aircraft. By adjusting the pitch angle and speed change of the flapping-wing aircraft, the flapping-wing aircraft has better wind resistance, the flapping-wing aircraft has better bionic performance, and the application scenario range of the flapping-wing aircraft is improved.

[0008] In some embodiments, a hollow structure is provided at the middle rudder portion of the tail wing piece, and the middle servo can drive the middle rudder piece to lift upward above the hollow structure and move downward through the hollow structure to be located below the hollow structure.

[0009] In some embodiments, the angle between the left rudder portion and the middle rudder portion is set to a, 120°≤a≤150°; and / or the angle between the right rudder portion and the middle rudder portion is set to b, 120°≤b≤150°.

[0010] In some embodiments, the middle rudder portion is configured as a fan-shaped structure, and the angle between two side edges of the middle rudder portion is configured as c, 25°≤c≤35°.

[0011] In some embodiments, the tail wing is arranged as a fan-shaped structure, the left rudder portion, the middle rudder portion and the right rudder portion are distributed along the fan-shaped trajectory of the fan-shaped structure, and the deflection angle between the middle rudder portion and the left rudder portion and the deflection angle between the middle rudder portion and the right rudder portion are set to d, 10°≤d≤30°.

[0012] In some embodiments, the projection of the tail wing piece onto the ground is set to a fan-shaped structure, and the angle between the two sides of the projection is set to e, 50°≤e≤70°.

[0013] In some embodiments, the tail wing is configured as an integral structure, and the middle rudder portion, the left rudder portion, and the right rudder portion are configured to be integrally bent and formed.

[0014] In some embodiments, the middle rudder plate, the left rudder plate and the right rudder plate can all be swingably arranged on the tail wing frame. The middle rudder plate is pushed and pulled by the first connecting rod to swing, the left rudder plate is pushed and pulled by the second connecting rod to swing, and the right rudder plate is pushed and pulled by the third connecting rod to swing.

[0015] The second aspect of the present application provides a flapping-wing aircraft, which includes: a fuselage; a tail wing mechanism according to the first aspect of the present application, and the tail of the fuselage is provided with a tail wing mechanism; a control module, which is used to control the movement angle of the middle servo to drive the middle rudder blade according to the center of gravity position of the flapping-wing aircraft, the take-off speed of the flapping-wing aircraft, and the flight speed of the flapping-wing aircraft to achieve the climbing and diving of the flapping-wing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0017] Figure 1 A schematic diagram of the structure of a flapping-wing aircraft according to an embodiment of the present application;

[0018] Figure 2 for Figure 1 An axonometric view of the tail mechanism of the flapping-wing aircraft shown;

[0019] Figure 3 for Figure 2 A top view of the tail mechanism shown;

[0020] Figure 4 for Figure 2 The schematic diagram of the structure of the right rudder plate of the tail mechanism shown is in the unfolded state;

[0021] Figure 5 for Figure 4 A top view of the tail mechanism shown;

[0022] Figure 6 for Figure 2 The schematic diagram of the split structure of the tail wing mechanism shown;

[0023] Figure 7 for Figure 2 A schematic structural diagram of a tail wing piece of the tail wing mechanism shown;

[0024] Figure 8 for Figure 7 A top view of the tail wing piece of the tail wing mechanism shown;

[0025] Fig. 9 for Figure 7 A front view of the tail piece of the tail mechanism shown;

[0026] Fig.10 This is a schematic structural diagram of a tail wing piece according to an embodiment of the present application;

[0027] Fig.11 This is a schematic structural diagram of a tail wing mechanism according to an embodiment of the present application.

[0028] Description of reference numerals:

[0029] 100. Flapping-wing aircraft;

[0030] 10. tail mechanism; 11. tail piece; 110. hollow structure; 111. middle rudder; 112. left rudder; 113. right rudder; 12. rudder piece assembly; 120. tail frame; 121. middle rudder piece; 1211. middle steering gear; 1210. middle rocker arm; 1212. first connecting rod; 1213. first rotating shaft; 1214. middle rudder piece frame; 122. left rudder piece; 1221. left steering gear; 1220. left rocker arm; 1222. second connecting rod; 1223. second rotating shaft; 1224. left rudder piece frame; 123. right rudder piece; 1231. right steering gear; 1230. right rocker arm; 1232. third connecting rod; 1233. third rotating shaft; 1234. right rudder piece frame;

[0031] 20. Body;

[0032] 30. Flapping wings. DETAILED DESCRIPTION

[0033] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the present application illustrates the tail mechanism of the present application through a flapping-wing aircraft, which is only a preferred embodiment and is not a limitation on the scope of application of the tail mechanism. For example, the tail mechanism of the present application can also be used in other aircraft, and such adjustment does not deviate from the protection scope of the tail mechanism of the present application.

[0034] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", and "have" are inclusive and therefore specify the presence of stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0035] Although the terms first, second, etc. may be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. In addition, in the description of this application, unless otherwise clearly specified and limited, the terms "set" 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 directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0036] For ease of description, spatial relative terms can be used in the text to describe the relationship of an element or feature relative to another element or feature as shown in the figure, and these relative terms are, for example, "upper", "lower", "inner", "outer", "end", "side", etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figure. For example, if the mechanism in the figure flips, the element described as "below other elements or features" or "below other elements or features" will be subsequently oriented to "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include the orientation on and below. The mechanism can be oriented in addition (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0037] Although the flapping-wing aircraft in the related art is provided with a tail mechanism, which realizes the yaw steering, dive and rise of the flapping-wing aircraft, in order to achieve a larger yaw capability, the tail mechanism often needs to be designed to be relatively bulky and occupy a large space, which is not conducive to the flexible control and miniaturization development of the flapping-wing aircraft.

[0038] In order to solve the technical problems that the tail wing of the existing flapping-wing aircraft has a bulky structure and is inflexible to adjust, the present application proposes setting the left and right rudder parts of the tail wing piece as a downward-tilted structure, so as to achieve the purpose of semi-hiding the left and right rudder pieces, realize the miniaturized design of the tail wing mechanism, and can effectively improve the deflection steering torque of the left and right rudder pieces, thereby improving the control flexibility of the yaw steering of the flapping-wing aircraft.

[0039] In addition, the "up" and "down" described in the embodiments of the present application are based on the normal flight posture of the aircraft, or the normal parking posture of the aircraft. The side of the tail wing facing the ground is "down", and the side of the tail wing facing away from the ground is "up", "front" refers to the direction of the head of the aircraft, and "rear" refers to the direction of the tail of the aircraft.

[0040] like Figures 1 to 11 As shown, the first aspect of the present application provides a tail mechanism 10 for a flapping-wing aircraft 100, wherein the tail mechanism 10 mainly comprises a tail piece 11, a rudder piece assembly 12 and a servo assembly, wherein the tail piece 11 comprises a middle rudder portion 111 and a left rudder portion 112 and a right rudder portion 113 distributed on both sides of the middle rudder portion 111, wherein the left rudder portion 112 and the right rudder portion 113 are both inclined downward relative to the middle rudder portion 111; the rudder piece assembly 12 comprises a middle rudder piece 121, a left rudder piece 122 and a right rudder piece 123, wherein the middle rudder piece 121 is disposed on the middle rudder portion 111, and the left rudder piece 122 is disposed on the left rudder portion 112 and is consistent with the tilt direction of the left rudder portion 112, the right rudder blade 123 is arranged on the right rudder portion 113 and is consistent with the tilt direction of the right rudder portion 113; the servo assembly includes a left servo 1221, a middle servo 1211 and a right servo 1231, the left servo 1221 is used to drive the movement of the left servo blade 122 to achieve the left yaw of the flapping-wing aircraft 100, the right servo 1231 is used to drive the movement of the right servo blade 123 to achieve the right yaw of the flapping-wing aircraft 100, and the middle servo 1211 is used to drive the movement angle of the middle servo blade 121 to achieve the climb and dive of the flapping-wing aircraft 100. The embodiment of the present disclosure also provides a tail frame 120, on which the middle servo 1211, the left servo 1221 and the right servo 1231 are integrally installed.

[0041] In this embodiment, the tail mechanism 10 of the flapping-wing aircraft 100 proposed in the present application proposes to separately set the middle rudder piece 121, the left rudder piece 122 and the right rudder piece 123, and to separately set the left servo 1221, the middle servo 1211 and the right servo 1231, but to install the three servos on the tail frame 120 in an integrated manner, so as to realize the unified installation of the three servos, and to realize that the three servos, namely the middle servo 1211, the left servo 1221 and the right servo 1231, respectively control the middle rudder piece 121, the left servo 122 and the right servo 123, thereby realizing the flapping-wing aircraft. The pitch and yaw of the flapping-wing aircraft 100 are adjusted independently, which effectively improves the control flexibility of the flapping-wing aircraft 100, so that it can flexibly adjust the flight attitude during flight, especially realize the climbing and diving actions of the flapping-wing aircraft 100. These two actions are the difficulties of flapping-wing aircraft control technology. In this way, the yaw control ability and flight altitude control ability of the tail mechanism 10 are improved, and the flapping-wing aircraft 100 can achieve precise control of the flight attitude, flight trajectory, and flight altitude, as well as precise bionics of flying creatures such as birds, thereby expanding the application scope of the flapping-wing aircraft 100.

[0042] Furthermore, the tail mechanism 10 can realize a miniaturized design of the tail mechanism 10 by setting the left rudder portion 112 and the right rudder portion 113 as a downward tilted structure. Specifically, along the direction from the middle of the tail piece 11 to both sides, the present application proposes to set the left rudder portion 112 and the right rudder portion 113 of the tail piece 11 as a downward tilted structure, so as to achieve the purpose of semi-hiding the left rudder piece 122 and the right rudder piece 123, realize the miniaturized design of the tail mechanism 10, and achieve the purpose of improving the airflow direction, effectively improve the yaw steering moment of the left rudder piece 122 and the right rudder piece 123, and improve the control flexibility of the yaw steering of the flapping-wing aircraft 100.

[0043] It should be noted that the embodiments of the present application do not limit the specific shape and structure of the tail wing piece 11 and the rudder piece assembly 12, because the improvement point of the present application is to independently set the left servo 1221, the middle servo 1211 and the right servo 1231 of the tail wing piece 11, and the left servo 1221, the middle servo 1211 and the right servo 1231 independently control the left rudder piece 122, the middle rudder piece 121, and the right rudder piece 123 respectively, so as to improve the yaw capability and flight altitude of the tail wing mechanism 10. As for the specific shape and structure of the tail wing piece 11 and the rudder piece assembly 12, it includes a variety of embodiments. For example, the tail wing piece 11 can be set to an eight-shaped structure, a F-shaped structure or a convex structure. These embodiments all belong to the protection scope of the tail wing mechanism 10 of the present application. As for other embodiments of the tail wing mechanism 10, they will not be elaborated one by one here.

[0044] The specific shape and structure of the tail fin piece 11 and the rudder piece assembly 12 according to the embodiment of the present application are described in detail below.

[0045] like Figure 2 and Figure 6 As shown, in some embodiments, the tail mechanism 10 further includes a tail frame 120 disposed on the tail piece 11 , and the middle servo 1211 , the left servo 1221 and the right servo 1231 are all disposed on the tail frame 120 .

[0046] In this embodiment, by arranging the middle servo 1211, the left servo 1221 and the right servo 1231 on the tail frame 120, and by integrally installing the middle servo 1211, the left servo 1221 and the right servo 1231 on the tail frame 120, the installation convenience of the three servos can be improved, and the fixed relative position relationship of the three servos can be ensured, which is helpful for the flapping-wing aircraft to have better consistency, more stable algorithm control, and achieve more precise control requirements. Therefore, the three servos independently control the corresponding three rudder blades, so that the flapping-wing aircraft has the accuracy, flexibility and complexity of flight control. One servo can control one rudder blade alone, and multiple servos can control multiple rudder blades at the same time, so as to achieve complex flight action adjustment, have better energy efficiency ratio, reduce the energy consumption of the flapping-wing aircraft 100, and by adjusting the pitch angle and speed change of the flapping-wing aircraft 100, the flapping-wing aircraft 100 has better wind resistance, and the flapping-wing aircraft 100 has better bionic performance, which improves the application scenario range of the flapping-wing aircraft 100. Therefore, the three servos are integrally mounted on the tail wing frame 120, which is convenient for installation, disassembly, and maintenance and can improve the control accuracy requirement.

[0047] In addition, the middle servo 1211 , the left servo 1221 , the right servo 1231 and the tail frame 120 form an integral structure, which improves the structural compactness of the tail mechanism 10 and realizes a miniaturized design of the tail mechanism 10 .

[0048] Furthermore, the tail frame 120 has a stronger bearing capacity than the tail piece 11, so that the middle servo 1211, the left servo 1221 and the right servo 1231 can transfer the pressure to the tail frame 120, thereby alleviating the bearing pressure of the tail piece 11 and reducing the risk of damage to the tail piece 11.

[0049] In addition, the middle rudder portion 111 of the tail wing piece 11 may be provided with a hollow structure 110 or may not have a hollow structure 110. When the middle rudder portion 111 of the tail wing piece 11 is not provided with a hollow structure 110, that is, it is a complete plane, when the flapping-wing aircraft 100 is flying, the middle rudder piece 121 moves upward on the middle rudder portion 111, and an angle g is formed between the middle rudder piece 121 and the middle rudder portion 111. The range of the angle g is adjusted in real time according to the center of gravity position of the flapping-wing aircraft 100, the speed of the flapping-wing aircraft 100 when taking off, and the speed change during flight to achieve the climbing and diving of the flapping-wing aircraft.

[0050] Specifically, in one embodiment, when the middle rudder portion 111 of the tail wing piece 11 is not provided with the hollow structure 110, that is, it is a complete plane, when the range of the angle g is adjusted within the angle range of 30°≤g≤90°, the climbing action of the flapping-wing aircraft is realized; when the range of the angle g is adjusted within the angle range of 0°≤g<30°, the diving action of the flapping-wing aircraft is realized.

[0051] In another embodiment, when the middle rudder portion 111 of the tail wing piece 11 is not provided with the hollow structure 110, that is, it is a complete plane, when the range of the angle g is adjusted within the angle range of 40°≤g≤90°, the climbing action of the flapping-wing aircraft is realized; when the range of the angle g is adjusted within the angle range of 0°≤g<40°, the diving action of the flapping-wing aircraft is realized.

[0052] In another embodiment, when the middle rudder portion 111 of the tail wing piece 11 is not provided with the hollow structure 110, that is, it is a complete plane, when the range of the angle g is adjusted within the angle range of 50°≤g≤90°, the climbing action of the flapping-wing aircraft is realized; when the range of the angle g is adjusted within the angle range of 0°≤g<50°, the diving action of the flapping-wing aircraft is realized.

[0053] like Fig.10 and Fig.11 As shown, in some embodiments, the middle rudder portion 111 of the tail wing piece 11 is provided with a hollow structure 110 , and the middle servo 1211 can drive the middle rudder piece 121 to lift upward above the hollow structure 110 and move downward through the hollow structure 110 to be located below the hollow structure 110 .

[0054] In this embodiment, by providing a hollow structure 110 at the middle rudder portion 111, the middle rudder plate 121 can swing up and down on the hollow structure 110, thereby achieving the effect of controlling the ascent and dive of the flapping-wing aircraft, as well as controlling the ascent angle and dive angle of the flapping-wing aircraft.

[0055] Specifically, when the middle rudder portion 111 of the tail wing piece 11 is provided with the hollow structure 110, when the flapping-wing aircraft 100 is flying, the middle rudder piece 121 can not only move upward above the middle rudder portion 111, but also move downward below the middle rudder portion 111. An angle f is formed between the middle rudder piece 121 and the middle rudder portion 111, and the range of the angle f is adjusted in real time according to the center of gravity position of the flapping-wing aircraft 100, the speed of the flapping-wing aircraft 100 when taking off, and the speed change during flight to achieve the climbing and diving of the flapping-wing aircraft.

[0056] Specifically, in one embodiment, when the middle rudder portion 111 of the tail wing piece 11 is provided with a hollow structure 110, when the angle f is adjusted within the angle range of 0°≤f≤90, the climbing action of the flapping-wing aircraft is realized; when the angle f is adjusted within the angle range of -60°≤f<0°, the diving action of the flapping-wing aircraft is realized.

[0057] Specifically, in one embodiment, when the middle rudder portion 111 of the tail wing piece 11 is provided with a hollow structure 110, when the angle f is adjusted within the angle range of -10°≤f≤90°, the climbing action of the flapping-wing aircraft is realized; when the angle f is adjusted within the angle range of -60≤f<-10°, the diving action of the flapping-wing aircraft is realized.

[0058] Specifically, in one embodiment, when the middle rudder portion 111 of the tail wing piece 11 is provided with a hollow structure 110, when the angle f is adjusted within the angle range of -20°≤f≤90°, the climbing action of the flapping-wing aircraft is realized; when the angle f is adjusted within the angle range of -60°≤f<-20°, the diving action of the flapping-wing aircraft is realized.

[0059] like Figure 1 , Figure 6 and Figure 7 As shown, in some embodiments, the angle between the left rudder portion 112 and the middle rudder portion 111 is set to a, 120°≤a≤150°; and / or the angle between the right rudder portion 113 and the middle rudder portion 111 is set to b, 120°≤b≤150°.

[0060] In this embodiment, the angle a mentioned in the embodiment of the present application refers to the obtuse angle formed by the left rudder portion 112 bending downward relative to the middle rudder portion 111, and the angle b refers to the obtuse angle formed by the right rudder portion 113 bending downward relative to the middle rudder portion 111. Since the flapping-wing aircraft 100 needs to drive the left rudder plate 122 to swing between a posture flat against the left rudder portion 112 and a posture perpendicular to the left rudder portion 112 during the yaw process, the left rudder portion 112 and the right rudder portion 113 are bent downward relative to the middle rudder portion 111, so that the left rudder portion 112 and the left rudder plate 122 are partially overlapped in the longitudinal projection, and the right rudder portion 113 and the right rudder plate 123 are partially overlapped in the longitudinal projection, thereby reducing the overall longitudinal projection size of the tail mechanism 10 during the swinging of the left rudder plate 122 and the right rudder plate 123, thereby realizing a miniaturized design of the tail mechanism 10.

[0061] In addition, by bending the left rudder portion 112 and the right rudder portion 113 downward relative to the middle rudder portion 111, the left rudder plate 122 and the right rudder plate 123 can be tilted downward to distribute the left rudder plate 122 and the right rudder plate 123, so that the yaw moment generated by the left rudder plate 122 and the right rudder plate 123 can be distributed from top to bottom to the tail wing mechanism 10, thereby improving the overall more balanced yaw capability of the tail wing mechanism 10.

[0062] Specifically, Figure 8 and Fig. 9As shown, in order to achieve the overall lateral and longitudinal dimensional consistency of the tail wing piece 11, make the unfolded size and the bending size of the tail wing mechanism 10 as small as possible, and take into account the yaw moment of the left rudder piece 122 and the right rudder piece 123, it is most appropriate when the range of the angle a between the left rudder portion 112 and the middle rudder portion 111 and the range of the angle b between the right rudder portion 113 and the middle rudder portion 111 are 120°-150°, preferably 135°.

[0063] like Figure 1 , Figure 6 and Figure 7 As shown, in some embodiments, the middle rudder portion 111 is configured as a fan-shaped structure, and the angle between the two sides of the middle rudder portion 111 is configured as c, 25°≤c≤35°.

[0064] In this embodiment, by setting the middle rudder portion 111 as a fan-shaped structure, the size of the middle rudder portion 111 gradually increases from front to back, so that the rear end of the middle rudder portion 111 and the middle rudder plate 121 has a larger size, and the size of the middle rudder plate 121 gradually increases, so that the middle rudder plate 121 can generate a larger lifting moment on the tail mechanism 10, thereby improving the control effect and control sensitivity of the tail mechanism 10 on the lifting posture.

[0065] In addition, by setting the middle rudder portion 111 as a fan-shaped structure, the sizes of the left rudder portion 112 and the right rudder portion 113 can be gradually increased from front to back, so that the rear ends of the left rudder blade 122 and the right rudder blade 123 have a larger size, so that the left rudder blade 122 and the right rudder blade 123 can generate a larger yaw moment on the tail wing mechanism 10, thereby improving the control effect and control sensitivity of the tail wing mechanism 10 on the yaw attitude.

[0066] Furthermore, in order to ensure that the left rudder plate 122 and the right rudder plate 123 can be basically consistent with the size of the middle rudder plate 121 within a circular arc, and to take into account the projected area of ​​the tail wing plate 11, the embodiment of the present application proposes to set the angle range between the two side edges of the middle rudder portion 111 to 25° to 35°, preferably 30°, so as to achieve miniaturization of the overall size of the tail wing mechanism 10.

[0067] like Figure 3 , Figure 5 and Figure 8 As shown, in some embodiments, the tail wing piece 11 is configured as a fan-shaped structure, the left rudder portion 112, the middle rudder piece 121 and the right rudder portion 113 are distributed along the fan-shaped trajectory of the fan-shaped structure, and the deflection angle between the middle rudder piece 121 and the left rudder portion 112 and the deflection angle between the middle rudder piece 121 and the right rudder portion 113 are set to d, 10°≤d≤30°.

[0068] In this embodiment, when the airflow passing through the flapping-wing aircraft 100 passes through the tail fin 11, the airflow changes along the contour of the tail fin 11. When the angle between the left rudder portion 112 and the middle rudder portion 111 is set to a, and the angle between the right rudder portion 113 and the middle rudder portion 111 is set to b, only when the left rudder portion 122 and the right rudder portion 123 are perpendicular to the airflow direction, the force efficiency of the left rudder portion 122 and the right rudder portion 123 is maximum, and the yaw moment of the left rudder portion 122 and the right rudder portion 123 is maximum. At this time, when the deflection angle between the middle rudder portion 121 and the left rudder portion 112 and the deflection angle between the middle rudder portion 121 and the right rudder portion 113 are set to d=(180°-a) / 2, the flapping-wing aircraft 100 has the best yaw performance.

[0069] Specifically, when the angle d is 0-(180°-a) / 2, the effective area and effective yaw force of the left rudder blade 122 and the right rudder blade 123 are reduced, and the yaw moment of the left rudder blade 122 and the right rudder blade 123 is reduced; when the angle d is (180°-a) / 2-(180°-a), the left rudder blade 122 and the right rudder blade 123 are enlarged, the weight increases, the force effect of the left rudder blade 122 and the right rudder blade 123 remains unchanged, a reverse yaw force effect is generated, and the equivalent yaw moment is reduced.

[0070] like Figure 8 As shown, in some embodiments, the projection of the tail wing piece 11 to the ground is set to a fan-shaped structure, and the angle between the two sides of the projection is set to e, 50°≤e≤70°.

[0071] In this embodiment, in order to ensure that the left rudder plate 122 and the right rudder plate 123 can be basically consistent with the size of the middle rudder plate 121 within a circular arc, the embodiment of the present application proposes to set the angle range between the two sides of the projection of the tail wing plate 11 to the ground to 50°≤e≤70°, and to set the angle range between the two sides of the middle rudder portion 111 to 25°-35°, preferably 30°, so as to achieve miniaturization of the overall size of the tail wing mechanism 10 without affecting the yaw ability and lifting ability of the tail wing mechanism 10.

[0072] like Figures 1 to 9 As shown, in some embodiments, the tail wing piece 11 is configured as an integrated structure, and the middle rudder portion 111, the left rudder portion 112 and the right rudder portion 113 are configured to be integrally bent and formed.

[0073] In the present embodiment, by configuring the tail wing piece 11 as an integrated structure, not only the difficulty of the manufacturing process of the tail wing piece 11 and the number of parts of the tail wing piece 11 can be reduced, but also the smoothness of the airflow on the tail wing piece 11 can be improved, so that the airflow can smoothly flow toward the left rudder portion 112 and the right rudder portion 113 when passing through the middle rudder portion 111, thereby improving the yaw steering capability of the tail wing piece 11 and the tail mechanism 10 and reducing the turbulence or turbulence of the airflow at the boundary between the middle rudder portion 111 and the left rudder portion 112 and the right rudder portion 113.

[0074] like Figure 4 and Fig. 9 As shown, in some embodiments, along the direction from the front end of the tail fin piece 11 to the rear end of the tail fin piece 11 , the left rudder portion 112 and the right rudder portion 113 are both configured as upwardly inclined structures.

[0075] In this embodiment, by setting the left rudder portion 112 and the right rudder portion 113 as an upward inclined structure, the airflow can flow steadily and gradually from bottom to top when passing through the left rudder portion 112 and the right rudder portion 113, thereby achieving the purpose of distributing the yaw moment along the longitudinal direction of the tail wing piece 11, thereby achieving the purpose of evenly distributing the yaw moment along the height direction of the tail wing mechanism 10, reducing the shaking and slipping of the tail wing mechanism 10 during the yaw process, and improving the flight stability of the tail wing mechanism 10.

[0076] like Figures 1 to 9 As shown, in some embodiments, the middle rudder plate 121, the left rudder plate 122 and the right rudder plate 123 can all be swingably arranged on the tail wing frame 120, the middle rudder engine 1211 pushes and pulls the middle rudder plate 121 to swing through the first connecting rod 1212, the left rudder engine 1221 pushes and pulls the left rudder plate 122 to swing through the second connecting rod 1222, and the right rudder engine 1231 pushes and pulls the right rudder plate 123 to swing through the third connecting rod 1232.

[0077] In this embodiment, when the middle servo 1211 drives the middle rudder piece 121 to swing upward through the first connecting rod 1212, the flapping-wing aircraft 100 rises under the impetus of the airflow, and when the middle servo 1211 drives the middle rudder piece 121 to swing downward through the first connecting rod 1212, the flapping-wing aircraft 100 dives under the impetus of the airflow; when the left servo 1221 drives the left rudder piece 122 to swing upward through the second connecting rod 1222, the flapping-wing aircraft 100 yaws to the left under the impetus of the airflow, and when the right servo 1231 drives the right rudder piece 123 to swing upward through the third connecting rod 1232, the flapping-wing aircraft 100 yaws to the right under the impetus of the airflow. The middle rudder piece 121, the left rudder piece 122, and the right rudder piece 123 are driven to swing respectively by the servo assembly, so as to independently control the rise, dive, and left and right yaw of the flapping-wing aircraft 100.

[0078] Specifically, Figure 6As shown, the middle rudder piece 121, the left rudder piece 122 and the right rudder piece 123 are all swingably disposed on the tail wing frame 120 via a rotating shaft.

[0079] Among them, the middle rocker arm 1210, the first connecting rod 1212, the middle rudder plate 121 (middle rudder plate frame 1214) and the first rotating shaft 1213 constitute a spatial four-bar linkage. The middle servo 1211 drives the first connecting rod 1212 through the middle rocker arm 1210 to drive the middle rudder plate 121 to swing around the first rotating shaft 1213. The windward surface of the middle rudder plate 121 is increased by the swing of the middle rudder plate 121 to achieve rapid climbing of the flapping-wing aircraft 100, and the windward surface of the middle rudder plate 121 is reduced by the swing of the middle rudder plate 121 to achieve rapid diving of the flapping-wing aircraft 100. The precise control and stability of the flapping-wing aircraft 100 are achieved through its own precise angle adjustment.

[0080] Furthermore, if Figure 6 As shown, the left rocker arm 1220, the second connecting rod 1222, the left rudder plate 122 (the left rudder plate frame 1224) and the second rotating shaft 1223 constitute a spatial four-bar linkage. During the flight of the flapping-wing aircraft 100, the left servo 1221 drives the second connecting rod 1222 through the left rocker arm 1220 to drive the left rudder plate 122 to swing around the second rotating shaft 1223 to achieve left yaw.

[0081] like Figure 6 As shown, the right rocker arm 1230, the third connecting rod 1232, the right rudder plate 123 (the right rudder plate frame 1234) and the third rotating shaft 1233 constitute a spatial four-bar linkage mechanism, and the right servo 1231 drives the third connecting rod 1232 through the right rocker arm 1230 to drive the right rudder plate 123 to swing around the third rotating shaft 1233 to achieve right yaw;

[0082] At the same time, the flapping-wing aircraft 100 can simultaneously have the ability of autonomous straight-line flight based on the mixed control of the right rudder plate 123 and the left rudder plate 122 by the left and right servos, thereby achieving attitude control.

[0083] The second aspect of the present application provides a flapping-wing aircraft 100, which includes: a body 20; a tail wing mechanism 10 according to the first aspect of the present application, and the tail of the body 20 is provided with a tail wing mechanism 10; a control module, which is used to control the moving angle of the middle servo 1211 to drive the middle rudder plate 121 according to the center of gravity position of the flapping-wing aircraft 100, the take-off speed of the flapping-wing aircraft 100, and the flight speed of the flapping-wing aircraft 100 to achieve the climbing and diving of the flapping-wing aircraft 100.

[0084] In this embodiment, flapping wings 30 are further provided on both sides of the body 20. The flapping-wing aircraft 100 of the embodiment of the present application has all the technical effects of the tail wing mechanism 10, which will not be described in detail here.

[0085] In addition, the embodiments of the present application only focus on the structures in the tail mechanism 10 that are related to the improvement points of the present application, and does not mean that the tail mechanism 10 does not have other structures. For example, the tail mechanism 10 also includes a plug connector arranged at the front end of the tail frame 120. The tail mechanism 10 is plugged into the body 20 of the flapping-wing aircraft 100 through the plug connector, and can swing up and down under the drive of the driving device in the body 20. These structures all fall within the protection scope of the embodiments of the present application and will not be explained one by one here.

[0086] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A tail mechanism for a flapping-wing aircraft, characterized in that: The tail wing mechanism (10) comprises: A tail fin (11), the tail fin (11) comprising a middle rudder portion (111) and a left rudder portion (112) and a right rudder portion (113) distributed on both sides of the middle rudder portion (111), the left rudder portion (112) and the right rudder portion (113) both being inclined downward relative to the middle rudder portion (111); A rudder sheet assembly (12), the rudder sheet assembly (12) comprising a middle rudder sheet (121), a left rudder sheet (122) and a right rudder sheet (123), the middle rudder sheet (121) being arranged on the middle rudder portion (111), the left rudder sheet (122) being arranged on the left rudder portion (112) and being in the same direction of inclination as the left rudder portion (112), and the right rudder sheet (123) being arranged on the right rudder portion (113) and being in the same direction of inclination as the right rudder portion (113); A servo assembly, the servo assembly comprising a left servo (1221), a middle servo (1211) and a right servo (1231); the left servo (1221) is used to drive the movement of the left servo plate (122) to achieve the left yaw of the flapping-wing aircraft (100); the right servo (1231) is used to drive the movement of the right servo plate (123) to achieve the right yaw of the flapping-wing aircraft (100); and the middle servo (1211) is used to drive the movement angle of the middle servo plate (121) to achieve the climb and dive of the flapping-wing aircraft (100).

2. The tail wing mechanism according to claim 1, characterized in that: The tail mechanism (10) further comprises a tail frame (120) arranged on the tail piece (11), and the middle servo (1211), the left servo (1221) and the right servo (1231) are all arranged on the tail frame (120).

3. The tail wing mechanism according to claim 1, characterized in that: The middle rudder portion (111) of the tail wing piece (11) is provided with a hollow structure (110), and the middle servo (1211) can drive the middle rudder piece (121) to lift upwards above the hollow structure (110) and move downwards through the hollow structure (110) to be located below the hollow structure (110).

4. The tail wing mechanism according to claim 1, characterized in that: The included angle between the left rudder portion (112) and the middle rudder portion (111) is set to a, 120°≤a≤150°; And / or the angle between the right rudder portion (113) and the middle rudder portion (111) is set to b, 120°≤b≤150°.

5. The tail wing mechanism according to claim 1, characterized in that: The middle rudder portion (111) is configured as a fan-shaped structure, and the angle between two side edges of the middle rudder portion (111) is configured as c, 25°≤c≤35°.

6. The tail wing mechanism according to claim 1, characterized in that: The tail wing (11) is configured as a fan-shaped structure, the left rudder portion (112), the middle rudder portion (111) and the right rudder portion (113) are distributed along a fan-shaped trajectory of the fan-shaped structure, and the deflection angle between the middle rudder portion (111) and the left rudder portion (112) and the deflection angle between the middle rudder portion (111) and the right rudder portion (113) are configured as d, 10°≤d≤30°.

7. The tail wing mechanism according to claim 1, characterized in that: The projection of the tail wing piece (11) onto the ground is a fan-shaped structure, and the angle between two side edges of the projection is set to e, 50°≤e≤70°.

8. The tail wing mechanism according to claim 1, characterized in that: The tail wing (11) is configured as an integrated structure, and the middle rudder portion (111), the left rudder portion (112) and the right rudder portion (113) are configured as an integrated bending formation.

9. The tail wing mechanism according to claim 2, characterized in that: The middle rudder plate (121), the left rudder plate (122) and the right rudder plate (123) are all swingably arranged on the tail wing frame (120); the middle rudder engine (1211) pushes and pulls the middle rudder plate (121) to swing via a first connecting rod (1212); the left rudder engine (1221) pushes and pulls the left rudder plate (122) to swing via a second connecting rod (1222); and the right rudder engine (1231) pushes and pulls the right rudder plate (123) to swing via a third connecting rod (1232).

10. A flapping-wing aircraft, characterized in that: The flapping-wing aircraft (100) comprises: Body (20); According to any one of claims 1 to 9, the tail mechanism (10) is provided at the tail of the fuselage (20); A control module is used for controlling the middle servo (1211) to drive the moving angle of the middle rudder plate (121) according to the center of gravity position of the flapping-wing aircraft (100), the take-off speed of the flapping-wing aircraft (100), and the flight speed of the flapping-wing aircraft (100) so as to achieve the climbing and diving of the flapping-wing aircraft (100).

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