Biomimetic flapping-wing aircraft

Abstract

The application relates to the technical field of bionic robots, and particularly discloses a bionic flapping-wing aircraft. The aircraft comprises a main body module and two wing modules, and comprises a body, two driving assemblies and two rotating assemblies. The rotating assembly comprises a main unit and a swing unit, the main unit is rotationally connected to the swing unit, each driving assembly can be in transmission cooperation with one main unit to make the rotating assembly swing around a first axis; the two wing modules are separately arranged on the two sides of the body, the wing module comprises a wing body, each swing unit is connected with one wing body, the main unit is used for driving the swing unit to swing around a second axis to drive the wing body to move close to or away from the body, wherein the first axis is not parallel to and does not intersect with the second axis. The aircraft is designed with unique double-axis swing to simulate the flapping of the wings of insects such as butterflies, so that the bionic performance is improved, and the stability and maneuverability of flight are enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robots, in particular to a bionic flapping-wing aircraft. BACKGROUND

[0002] With the rapid development of science and technology, bionics, as a discipline exploring biological form, function and behavior and applying them to engineering design and technological innovation, is receiving increasingly widespread attention and in-depth research. Among the many research objects of bionics, bionic butterflies have become a highly valuable research direction due to their unique wing structure and flight mode.

[0003] Butterflies, as a well-known representative of the insect kingdom, have always attracted people's curiosity and exploration desire with their wing structure and flight mode. The research on bionic butterflies mainly focuses on two aspects: wing structure and flight mechanism. Butterfly wings have the characteristics of lightness, toughness and flexibility, which enable them to fly quickly and flexibly in the air. Existing technologies strive to improve engineering design and technological applications by analyzing the structure and morphology of butterfly wings and learning from their characteristics to improve the performance and efficiency of aircraft.

[0004] However, the bionic flapping-wing aircrafts on the market still have deficiencies in simulating butterfly flight. Most aircrafts are difficult to achieve complex movement patterns like butterfly wings, and cannot truly restore the compound wing movement behavior of butterflies in flight, resulting in poor bionic effect, insufficient flight posture flexibility, and room for improvement in stability and maneuverability. SUMMARY

[0005] The purpose of the present application is to provide a bionic flapping-wing aircraft that simulates the flapping of butterfly wings and the like by using a unique dual-axis swing design to improve bionic performance and enhance flight stability and maneuverability.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The bionic flapping-wing aircraft comprises a main body module and two wing modules. The main body module comprises a body, two drive assemblies and two rotating assemblies. The rotating assembly comprises a main unit and a swing unit, and the main unit is rotationally connected to the swing unit. Each drive assembly can be in transmission cooperation with a main unit to make the rotating assembly swing around a first axis. The two wing modules are located on the two sides of the body. The wing module comprises a wing body, and each swing unit is connected with a wing body. The main unit is used to drive the swing unit to swing around a second axis to drive the wing body to move close to or away from the body. The first axis is not parallel to and intersects with the second axis.

[0008] As an optional technical scheme of the bionic flapping-wing aircraft, the body is provided with an electricity storage unit, the electricity storage unit is used for supplying power to the main unit and the driving assembly; the wing module further comprises an electricity recovery assembly arranged on the wing body, the electricity recovery assembly is electrically connected with the electricity storage unit, and the electricity recovery assembly is used for providing electricity to the electricity storage unit.

[0009] As an optional technical scheme of the bionic flapping-wing aircraft, the electricity recovery assembly comprises a photoelectric film and a photoelectric conversion piece, the photoelectric film is attached to the surface of the wing body, the photoelectric film is electrically connected with the photoelectric conversion piece, and the photoelectric conversion piece is electrically connected with the electricity storage unit.

[0010] As an optional technical scheme of the bionic flapping-wing aircraft, the electricity recovery assembly comprises a piezoelectric film and two piezoelectric electrodes, one end of the piezoelectric film is connected to the surface of the wing body, the other end of the piezoelectric film is connected to the main unit, the two piezoelectric electrodes are respectively connected to the two ends of the piezoelectric film, and the two piezoelectric electrodes are respectively electrically connected with the electricity storage unit.

[0011] As an optional technical scheme of the bionic flapping-wing aircraft, the body is further provided with a control unit, the electricity storage unit is electrically connected with the control unit and is used for supplying power to the control unit, and the control unit is in communication connection with the main unit and the driving assembly respectively and is used for controlling the main unit and the driving assembly.

[0012] As an optional technical scheme of the bionic flapping-wing aircraft, the electricity recovery assembly is arranged on one side of the wing body close to the electricity storage unit.

[0013] As an optional technical scheme of the bionic flapping-wing aircraft, the rotating assembly is detachably mounted on the body.

[0014] As an optional technical scheme of the bionic flapping-wing aircraft, the main unit comprises a driven piece and a flapping rudder motor fixed to the driven piece, the driven piece is in transmission cooperation with the driving assembly, and an output end of the flapping rudder motor is in transmission cooperation with the swinging unit.

[0015] As an optional technical scheme of the bionic flapping-wing aircraft, the body comprises a cover and a fuselage, the cover and the fuselage enclose a containing cavity, the driven piece is mounted in the containing cavity, and the cover is detachably connected to the fuselage.

[0016] As an optional technical scheme of the bionic flapping-wing aircraft, the driven piece comprises a driven gear; the driving assembly comprises a rotating rudder motor and a gear unit, the rotating rudder motor is arranged on the body, an output end of the rotating rudder motor is connected with the gear unit, and the gear unit can be engaged in linkage with the driven gear.

[0017] The bionic flapping-wing aircraft has the advantages that:

[0018] The main body module of the bionic flapping wing aircraft can drive the wing body to swing around two different axes. The unique double-axis swing design enables the wing body to perform complex motion patterns. The main body unit drives the swing unit to swing around the second axis, causing the wing body to move closer to or away from the body, which can achieve more complex and diverse flight attitudes, making the bionic flapping wing aircraft more realistically simulate the flapping of insect wings such as butterflies during flight, and improving the bionic effect. The driving assembly makes the rotating assembly swing around the first axis which is not parallel and not intersected with the second axis, controls the wing surface torsion or angle rotation of the wing body during flapping, and realizes complex motion forms. This multi-dimensional motion can realize wing surface rotation while the wing body flaps up and down, and further restores the complex wing motion behavior of butterflies during flight, making the bionic flapping wing aircraft compact in structure, coordinated in action and flexible in control during flight, realizing flapping coupled with wing surface rotation, improving the bionic performance of the bionic flapping wing aircraft, making the flight attitude of the bionic flapping wing aircraft more flexible and closer to natural biological flight, and enhancing the stability and maneuverability of flight. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a top view of the bionic flapping wing aircraft provided by the embodiment of the present application;

[0020] Figure 2 is a front view of the bionic flapping wing aircraft provided by the embodiment of the present application;

[0021] Figure 3 is a side view of the bionic flapping wing aircraft provided by the embodiment of the present application;

[0022] Figure 4 is a side view of the rotating assembly of the bionic flapping wing aircraft provided by the embodiment of the present application at the front limit position;

[0023] Figure 5 is a side view of the rotating assembly of the bionic flapping wing aircraft provided by the embodiment of the present application at the rear limit position;

[0024] Figure 6 is a structural schematic view of the main body module and the piezoelectric film provided by the embodiment of the present application;

[0025] Figure 7 is an exploded view of the main body module and the piezoelectric film provided by the embodiment of the present application;

[0026] Figure 8 is a sectional view of the main body module provided by the embodiment of the present application.

[0027] In the drawings:

[0028] 10, main body module; 11, machine cover; 12, machine body; 13, rotating assembly; 131, driven gear; 132, flapping servo; 133, swinging unit; 14, rotating servo; 15, gear shaft; 16, driving gear; 17, transmission gear; 18, power storage unit; 19, control unit;

[0029] 20, wing module; 21, piezoelectric film; 22, photoelectric film; 23, wing body. DETAILED DESCRIPTION

[0030] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature above and obliquely above the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature on the second feature include the first feature below and obliquely below the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0032] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are for the purpose of explanation only, and are not to be understood as a limitation of the present application.

[0034] As shown in the drawings, Figures 1 to 8 The present embodiment provides a bionic flapping-wing aircraft, comprising a main body module 10 and two wing modules 20; the main body module 10 comprises a body, two driving assemblies and two rotating assemblies 13, the rotating assembly 13 comprises a main body unit and a swing unit 133, the main body unit is rotationally connected to the swing unit 133, each driving assembly can be in transmission cooperation with one main body unit to drive the rotating assembly 13 to swing around a first axis; the two wing modules 20 are separately located on the two sides of the body, the wing module 20 comprises a wing body 23, each swing unit 133 is connected with one wing body 23, the main body unit is used to drive the swing unit 133 to swing around a second axis to drive the wing body 23 to move close to or away from the body, wherein the first axis is not parallel to and intersects with the second axis.

[0035] The main body module 10 of the bionic flapping-wing aircraft can drive the wing body 23 to swing around two different axes, and this unique dual-axis swing design can execute the complex motion mode of the wing body 23. The main body unit drives the swing unit 133 to swing around the second axis to drive the wing body 23 to move close to or away from the body, which can realize more complex and diverse flight postures, so that the bionic flapping-wing aircraft can more realistically simulate the flapping of the wings of insects such as butterflies during flight, and improve the bionic effect; the driving assembly drives the rotating assembly 13 to swing around the first axis which is not parallel to and intersects with the second axis, so as to control the wing surface of the wing body 23 to twist or rotate in the flapping process, and realize the complex motion form. This multi-dimensional motion can realize wing surface rotation while the wing body 23 flaps up and down, and further more realistically restore the complex wing motion behavior of butterflies during flight, so that the bionic flapping-wing aircraft is compact in structure, coordinated in action and flexible in control during flight, realizes flapping coupled with wing surface rotation, improves the bionic performance of the bionic flapping-wing aircraft, makes the flight posture of the bionic flapping-wing aircraft more flexible and closer to the flight of natural organisms, and enhances the stability and maneuverability of flight.

[0036] Through the wing surface twisting or angle rotation, the angle of attack or twist angle of the wing body 23 can be adjusted, and the air dynamic force of the wing surface in different flapping stages can be adjusted.

[0037] In the process of the wing body 23 flapping towards the body, the wing surface can be slightly swept back (i.e. increased lift) synchronously; in the process of the wing body 23 flapping away from the body, the wing surface is slightly swept forward or twisted (i.e. reduced drag), so as to form coordinated regulation of lift and thrust.

[0038] In this embodiment, the wing body 23 is provided with a wing skeleton and a wing film attached to the surface of the wing skeleton. In other embodiments of the present embodiment, the wing body 23 is only provided with a wing skeleton.

[0039] As shown in Figure 4 and Figure 5 , the rotating assembly 13 swings around the first axis between the front limit position and the rear limit position.

[0040] Continuing to refer to Figures 1 to 8 , in this embodiment, the body is provided with an electricity storage unit 18 for supplying power to the main body unit and the driving assembly; the wing module 20 further includes a power recovery assembly provided on the wing body 23, which is electrically connected to the electricity storage unit 18 to provide power to the electricity storage unit 18.

[0041] Providing the electricity storage unit 18 on the body to supply power to the main body unit and the driving assembly ensures the power source of the biomimetic flapping-wing aircraft. Providing the power recovery assembly on the wing body 23 to provide power to the electricity storage unit 18 can recover and supplement the excess energy in the flight process to the electricity storage unit 18, realize energy recovery and reuse, improve energy utilization efficiency, reduce energy waste, effectively alleviate the pressure of electrical energy consumption under high-intensity flight tasks, prolong the flight endurance time of the biomimetic flapping-wing aircraft, ensure the flight endurance capability, and reduce the dependence on external power supply.

[0042] Further, the power recovery assembly includes a photoelectric film 22 and a photoelectric conversion piece, the photoelectric film 22 is attached to the surface of the wing body 23, the photoelectric film 22 is electrically connected to the photoelectric conversion piece, and the photoelectric conversion piece is electrically connected to the electricity storage unit 18.

[0043] The photoelectric film 22 in the power recovery assembly can continuously absorb ambient light energy under sunlight conditions, convert the light energy into electrical energy through the photoelectric conversion piece, and deliver it to the electricity storage unit 18 to provide additional power supplement for the biomimetic flapping-wing aircraft. This light energy supplement method increases the energy recovery approach, utilizes renewable solar energy, realizes the conversion of light energy to electrical energy, and further improves the energy recovery efficiency and autonomous flight capability of the biomimetic flapping-wing aircraft.

[0044] Moreover, the photoelectric film 22 is attached to the surface of the wing body 23 in a manner that does not significantly affect the aerodynamic shape of the wing body 23, does not affect the aerodynamic performance of the biomimetic flapping-wing aircraft, and also ensures that the photoelectric film 22 can fully utilize the surface area of the wing to absorb light energy.

[0045] Specifically, the photoelectric film 22 is made of a flexible photoelectric thin film material which not only has a good strength-to-weight ratio, but also has a stable light energy conversion efficiency.

[0046] Exemplarily, the power recovery assembly comprises a piezoelectric film 21 and two piezoelectric electrodes, one end of the piezoelectric film 21 is connected to the surface of the wing body 23, and the other end is connected to the body unit, and the two piezoelectric electrodes are respectively arranged at the two ends of the piezoelectric film 21, and the two piezoelectric electrodes are respectively electrically connected with the power storage unit 18.

[0047] One end of the piezoelectric film 21 is connected to the surface of the wing body 23, and the other end is connected to the body unit. When the wing body 23 is elastically deformed each time flapping, the piezoelectric film 21 is driven to generate a micro-voltage, so that the bionic flapping-wing aircraft can convert the flapping kinetic energy of the wing into electrical energy during the flapping-wing movement, and the voltage is rectified through the piezoelectric electrode and then transmitted to the power storage unit 18, realizing the continuous recovery of the flapping kinetic energy and supplementing the power storage unit 18 with electrical energy. This energy recovery method using piezoelectric effect makes full use of the energy in the flapping process of the wing, and forms a multi-energy complementary energy supply path with the light energy recovery of the photoelectric film 22, which improves the comprehensive utilization efficiency of energy and the flight endurance. Moreover, the connection mode of the piezoelectric film 21 enables it to better adapt to the movement of the wing body 23 and will not be damaged due to frequent swinging of the wing, ensuring the stability of energy recovery. Specifically, the piezoelectric film 21 adopts a flexible piezoelectric composite film material, which can naturally adhere to the wing body 23 without affecting the aerodynamic performance of the wing module 20.

[0048] In the embodiment, the control unit 19 is also arranged on the body, and the power storage unit 18 is electrically connected with the control unit 19 for supplying power to the control unit 19, and the control unit 19 is in communication connection with the body unit and the driving assembly respectively for controlling the body unit and the driving assembly.

[0049] The power storage unit 18 supplies power to the control unit 19, so that the control unit 19 can accurately regulate and control the actions of the body unit and the driving assembly, ensuring the normal operation of the control unit 19.

[0050] The control unit 19 is in communication connection with the body unit and the driving assembly respectively, can synchronously regulate and control the actions of the two body units and the two driving assemblies, so that the time sequence coupling between the body unit and the driving assembly is realized, thereby realizing the collaborative regulation of the lift and the thrust, ensuring that the flight attitude and performance of the bionic flapping-wing aircraft are accurately controlled, improving the flight stability and controllability of the bionic flapping-wing aircraft, and further realizing intelligent control.

[0051] Exemplarily, the power recovery assembly is arranged on one side of the wing body 23 close to the power storage unit 18.

[0052] The power recovery assembly is arranged on one side of the wing body 23 close to the power storage unit 18, which shortens the power transmission distance, facilitates the connection between the power recovery assembly and the power storage unit 18, has a simple structure and is easy to wire, reduces the loss of electric energy in the transmission process, and improves the energy recovery efficiency. At the same time, such a layout makes the structure of the biomimetic flapping-wing aircraft more compact and reasonable, reduces the wiring difficulty, and is conducive to the overall design and maintenance of the biomimetic flapping-wing aircraft.

[0053] In the embodiment, the rotating assembly 13 is detachably mounted on the body.

[0054] The rotating assembly 13 is detachably mounted on the body, and when the single-wing module 20 is damaged, the corresponding rotating assembly 13 can be quickly disassembled and replaced, without the need for complex tools. This greatly improves the maintainability and on-site operation efficiency of the biomimetic flapping-wing aircraft, reduces maintenance cost and time, facilitates the integrated assembly of the biomimetic flapping-wing aircraft, and helps to realize the modular design of the overall structure.

[0055] Further, the main unit includes a driven member and a flapping rudder 132 fixed to the driven member, the driven member is in transmission cooperation with the driving assembly, and the output end of the flapping rudder 132 is in transmission cooperation with the swinging unit 133.

[0056] The output end of the flapping rudder 132 in the main unit is in transmission cooperation with the swinging unit 133, which can accurately control the swinging of the swinging unit 133 around the second axis, and further control the up-and-down flapping movement of the wing body 23. The transmission cooperation between the driven member and the driving assembly enables the power of the driving assembly to be transmitted to the rotating assembly 13, so as to realize the swinging of the rotating assembly 13 around the first axis. The above structure clearly defines the functions of each component and the power transmission path, ensures the accurate control of the movement of the wing body 23, realizes the flapping of double wings with the same frequency, symmetry or asymmetry, better simulates the lift generation process when the butterfly flaps its wings, and improves the lift control accuracy of the biomimetic flapping-wing aircraft.

[0057] Still further, the body includes a cover 11 and a fuselage 12, the cover 11 and the fuselage 12 enclose a containing cavity, the driven member is installed in the containing cavity, and the cover 11 is detachably connected to the fuselage 12.

[0058] The body adopts the structure that the cover 11 and the fuselage 12 enclose a containing cavity, and the driven member is installed in the containing cavity, which plays a role in protecting the driven member. The cover 11 is detachably connected to the fuselage 12, which facilitates the disassembly, debugging and maintenance of the driven member and other components in the containing cavity, reduces the maintenance difficulty, improves the maintenance efficiency, and further improves the maintainability of the biomimetic flapping-wing aircraft.

[0059] In the embodiment, the driven member comprises a driven gear 131; the driving assembly comprises a rotary rudder 14 and a gear unit, the rotary rudder 14 is arranged on the body and the output end of the rotary rudder 14 is connected with the gear unit, and the gear unit can engage with the driven gear 131.

[0060] The driven member adopts the driven gear 131, the rotary rudder 14 of the driving assembly engages with the driven gear 131 through the gear unit, the gear transmission mode can ensure that the power of the rotary rudder 14 is stably transmitted to the driven member, the rotary assembly 13 and the wing body 23 can accurately move according to the control instruction, the transmission precision is high and the stability is good, the rotary rudder 14 can effectively control the movement of the driven member, and then the accurate control of the movement of the wing body 23 is realized, and the accuracy and reliability of the movement control of the bionic flapping-wing aircraft are enhanced.

[0061] Further, the gear unit comprises a driving gear 16 and a transmission gear 17 which are engaged and connected. The driving gear 16 is coaxially fixed to the output end of the rotary rudder 14, the gear shaft 15 is fixed on the body 12, the transmission gear 17 is rotationally connected to the gear shaft 15, and the transmission gear 17 engages with the driven gear 131.

[0062] Obviously, the above embodiment of the present application is only an example for clearly illustrating the present application, and is not a limitation on the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. All the embodiments do not need to be exhausted here. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the claims of the present application.

Claims

1. Biomimetic ornithopter, characterized in that, The utility model relates to a bionic flapping wing aircraft, including: a main body module (10) comprising a body, two driving assemblies and two rotating assemblies (13), the rotating assembly (13) comprising a main body unit and a swing unit (133), the main body unit is rotatably connected to the swing unit (133), each driving assembly can be transmission matched with a main body unit, make the rotating assembly (13) swing around the first axis; two wing modules (20) are separately arranged on the two sides of the body, the wing module (20) comprises a wing body (23), each swing unit (133) is connected with a wing body (23), the main body unit is used to drive the swing unit (133) to swing around the second axis, to drive the wing body (23) to move close to or away from the body, wherein the first axis is not parallel and not intersected with the second axis; the body is provided with an electricity storage unit (18), the electricity storage unit (18) is used to power the main body unit and the driving assembly;The wing module (20) further comprises a power recovery assembly arranged on the wing body (23), and the power recovery assembly is electrically connected with the electricity storage unit (18) to provide power for the electricity storage unit (18); the power recovery assembly comprises a piezoelectric film (21) and two piezoelectric electrodes, one end of the piezoelectric film (21) is connected to the surface of the wing body (23), the other end is connected to the main body unit, two piezoelectric electrodes are arranged at both ends of the piezoelectric film (21), and the two piezoelectric electrodes are electrically connected with the electricity storage unit (18) respectively; when the wing body (23) is elastically deformed each time flapping, the piezoelectric film (21) is driven to generate a micro-voltage, so that the bionic flapping wing aircraft can convert the flapping kinetic energy of the wing body (23) into electrical energy during the flapping movement, and the voltage is rectified through the piezoelectric electrode and then delivered to the electricity storage unit (18); the piezoelectric film (21) adopts a flexible piezoelectric composite film material, and the flexible piezoelectric composite film material can be naturally attached to the wing body (23).

2. The biomimetic ornithopter of claim 1, wherein, The power recovery assembly comprises a photoelectric film (22) and a photoelectric conversion piece, the photoelectric film (22) is attached to the surface of the wing body (23), the photoelectric film (22) is electrically connected with the photoelectric conversion piece, and the photoelectric conversion piece is electrically connected with the electricity storage unit (18).

3. The biomimetic ornithopter of claim 1, wherein, The body is further provided with a control unit (19), the electricity storage unit (18) is electrically connected with the control unit (19) and is used to power the control unit (19), and the control unit (19) is communicatively connected with the main body unit and the driving assembly respectively to control the main body unit and the driving assembly.

4. The biomimetic ornithopter of claim 1, wherein, The power recovery assembly is arranged on the side of the wing body (23) close to the electricity storage unit (18).

5. The biomimetic ornithopter of claim 1, wherein, The rotating assembly (13) can be detachably installed on the body.

6. The biomimetic ornithopter of claim 5, wherein, The main body unit comprises a driven member and a flapping rudder (132) fixed to the driven member, the driven member is in transmission with the driving assembly, and the output end of the flapping rudder (132) is in transmission with the swinging unit (133).

7. The flapping-wing flying machine of claim 6, wherein, The machine body comprises a machine cover (11) and a machine body (12), the machine cover (11) and the machine body (12) enclose a containing cavity, the driven member is installed in the containing cavity, and the machine cover (11) is detachably connected to the machine body (12).

8. The flapping-wing flying machine of claim 6, wherein, The driven member comprises a driven gear (131), the driving assembly comprises a rotating rudder (14) and a gear unit, the rotating rudder (14) is arranged on the machine body, the output end of the rotating rudder (14) is connected with the gear unit, and the gear unit can be engaged with the driven gear (131) in linkage.

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