Speed control system and unmanned sailboat

Abstract

The utility model discloses a speed control system and an unmanned sailing boat. The speed control system comprises a first speed control assembly and a second speed control assembly. The first speed control assembly comprises a mounting table, two control surfaces and a driving structure, the driving structure is used for being arranged on the mounting table, the two control surfaces are symmetrically arranged on the mounting table, the control surfaces are rotationally connected with the mounting table, and the driving structure is connected with the control surfaces and used for driving the control surfaces to synchronously rotate oppositely or oppositely; the second speed control assembly comprises a sliding plate and a telescopic structure, the sliding plate is slidably installed in the control surface, a connecting rod is arranged on the sliding plate, the fixed end of the telescopic structure is fixedly installed on the control surface, and the movable end is fixedly connected with the connecting rod; wherein the control surface is hollow to form a sliding area, the sliding plate is slidably mounted in the sliding area, a kidney-shaped groove is formed in the upper end face of the control surface, and the connecting rod is slidably connected with the kidney-shaped groove. The utility model aims to solve the problem of poor speed control effect of an unmanned sailboat speed control device in the prior art.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned sailboats, in particular to a speed control system and an unmanned sailboat. Background Art

[0002] Unmanned sailboats primarily incorporate advanced automatic navigation systems, real-time environmental monitoring sensors (such as wind speed, direction, and current sensors), high-precision GPS positioning systems, and hull attitude sensors. These technologies work together to analyze collected data through complex algorithms, ensuring the sailboats can autonomously adjust their course and speed for optimal sailing conditions. Furthermore, advances in communications technology have enabled remote monitoring and control, further enhancing the autonomous operational capabilities and safety of unmanned sailboats.

[0003] The utility model patent application number 202321122534.2 and publication number CN219857590U (hereinafter referred to as "Prior Art 1") discloses a dual-rudder blade steering and speed control system for an unmanned sailboat, addressing the problems of existing dual-rudder blade steering systems that are prone to malfunction, have poor safety, and can only adjust the course but not the speed. This application includes: a steering gear controller, a left rudder blade, a left steering gear, a right rudder blade, and a right steering gear. The left and right steering gears are connected to the left and right rudder blades, respectively. The steering gear controller is in bidirectional communication with both the left and right steering gears.

[0004] The specification of prior art 1 discloses a dual-rudder blade steering and speed control system for an unmanned sailboat. This application controls the two rudder blades through two independent servos and transmission components, so that when one servo or transmission component fails, the other steering system can still operate normally. However, in actual application, the speed of the unmanned sailboat is controlled solely by rotating the rudder blades. Since the force area of ​​the rudder blades is small after rotation, the speed control effect of the unmanned sailboat by rotating the rudder blades is not good. Utility Model Content

[0005] The utility model provides a speed control system and an unmanned sailboat, aiming to solve the problem that the speed control effect of the unmanned sailboat speed control device in the prior art is poor.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A speed control system includes a first speed control component and a second speed control component; the first speed control component includes a mounting platform, a rudder surface and a drive structure, the drive structure is used to be set on the mounting platform, there are two rudder surfaces, the two rudder surfaces are symmetrically arranged on the mounting platform, the rudder surfaces are rotatably connected to the mounting platform, the drive structure is connected to the rudder surfaces, and is used to drive the rudder surfaces to rotate synchronously relative to or in opposite directions; the second speed control component includes a skateboard and a telescopic structure, the skateboard is slidably installed inside the rudder surface, a connecting rod is provided on the skateboard, the fixed end of the telescopic structure is fixedly installed on the rudder surface, and the movable end is fixedly connected to the connecting rod; wherein, the interior of the rudder surface is hollow to form a sliding area, the skateboard is slidably installed inside the sliding area, the upper end surface of the rudder surface has a waist-shaped groove, and the connecting rod is slidably connected to the waist-shaped groove.

[0008] Furthermore, the rudder surface includes a rudder plate and a mounting rod, the mounting rod is fixedly connected to the rudder plate, the sliding area and the waist-shaped groove are arranged on the rudder plate, the mounting rod is connected to the driving structure, and the mounting rod is rotatably connected to the mounting platform.

[0009] Furthermore, the driving structure includes a motor and a transmission mechanism. The motor is used to be installed on a plane. The transmission mechanism is set on the mounting platform. The motor is connected to the mounting rod through the transmission mechanism and is used to control the rotational cooperation between the mounting rod and the mounting platform.

[0010] Furthermore, the transmission mechanism includes a driving gear, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear and a fifth driven gear. The driving gear is fixedly mounted on the output shaft of the motor, and the first driven gear, the second driven gear, the third driven gear, the fourth driven gear and the fifth driven gear are all rotatably mounted on the mounting platform. The driving gear is meshed with the first driven gear, the first driven gear is meshed with the second driven gear and the third driven gear, the second driven gear is fixedly connected to one of the mounting rods, the third driven gear and the fifth driven gear are fixedly connected to the other mounting rod, the fourth driven gear is located between the third driven gear and the fifth driven gear, and is arranged perpendicular to the third driven gear and the fifth driven gear, the third driven gear is meshed with the fourth driven gear, and the fifth driven gear is meshed with the fourth driven gear.

[0011] Furthermore, a mounting groove is provided on the mounting platform, the fourth driven gear is mounted inside the mounting groove for vertical rotation, and the fifth driven gear is mounted inside the mounting groove for parallel rotation.

[0012] Furthermore, the telescopic structure is an electric telescopic structure, a pneumatic telescopic structure or a hydraulic telescopic structure.

[0013] Furthermore, the fixed end of the telescopic structure is fixedly connected to the mounting rod via a first connecting block, and the movable end is fixedly connected to the connecting rod via a second connecting block.

[0014] An unmanned sailboat comprises a hull and a sail, wherein the sail is rotatably mounted on the hull, an electric motor is arranged in the hull, an output end of the electric motor is connected to the sail, and the electric motor is connected to a remote control end, which is used to drive the electric motor to rotate, and the mounting platform and the motor are both mounted on the hull.

[0015] Furthermore, two rotating seats are provided on the hull, and the positions of the two rotating seats correspond to the positions of the mounting rods, and the mounting rods are rotatably connected to the hull through the rotating seats.

[0016] Furthermore, the mounting rod includes a first rod body and a second rod body, the first rod body and the second rod body are connected by a clutch, the clutch is connected to the remote control end, the first rod body is used to be rotatably connected to the mounting platform, the second rod body is used to be fixedly connected to the rudder surface, the second driven gear is fixedly connected to one of the first rod bodies, the third driven gear is fixedly connected to the other first rod body, and the fixed end of the telescopic structure is connected to the first rod body through a first connecting block.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The utility model mainly includes a first speed control component and a second speed control component. In actual use, when the unmanned sailboat is launched into the water, the initial positions of the two rudders are parallel to each other and perpendicular to the unmanned sailboat. When the speed of the unmanned sailboat needs to be controlled according to actual needs, the staff controls the operation of the driving structure. After the operation of the driving structure, the two rudders are controlled to open synchronously. After the two rudders are opened, since the unmanned sailboat is traveling, water impacts the rudder surfaces to form resistance. After the travel of the unmanned sailboat is hindered, the speed can be reduced. When the unmanned sailboat needs to be further decelerated, the staff controls the extension of the telescopic structure. The telescopic structure pushes the connecting rod to slide in the waist-shaped groove. Since the connecting rod is fixedly connected to the skateboard, pushing the connecting rod will drive the skateboard to slide inside the sliding area. At this time, the skateboard slides out of the rudder surface, so that the contact area between the rudder surface and the water is increased, so that the resistance encountered by the unmanned sailboat becomes greater. The advantage of this arrangement is that the speed of the unmanned sailboat can be better controlled by combining the increase in the area of ​​the rudder surface and the steering of the rudder surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 This is one of the structural diagrams of the present utility model.

[0021] Figure 2 This is the second structural diagram of the present utility model.

[0022] Figure 3 For this utility model Figure 2 A partial enlarged view of point A in the middle.

[0023] Figure 4 For this utility model Figure 2 A partial enlarged view of point B in the middle.

[0024] In the figure, 101-mounting platform, 102-rudder surface, 103-skateboard, 104-telescopic structure, 105-connecting rod, 106-sliding area, 107-waist groove, 108-rudder plate, 109-mounting rod, 110-motor, 111-driving gear, 112-first driven gear, 113-second driven gear, 114-third driven gear, 115-fourth driven gear, 116-fifth driven gear, 117-mounting groove, 118-first connecting block, 119-second connecting block, 120-hull, 121-sail, 122-rotating seat, 123-first rod body, 124-second rod body. DETAILED DESCRIPTION

[0025] The present invention is further described below with reference to the embodiments. The embodiments described are only a portion of the embodiments of the present invention and are not intended to be all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by persons of ordinary skill in the art without creative effort are also within the scope of protection of the present invention.

[0026] See also Figures 1-4 As shown, this embodiment discloses a speed control system, including a first speed control component and a second speed control component; the first speed control component includes a mounting platform 101, a rudder surface 102 and a driving structure, the driving structure is used to be set on the mounting platform 101, there are two rudder surfaces 102, the two rudder surfaces 102 are symmetrically arranged on the mounting platform 101, the rudder surfaces 102 are rotatably connected to the mounting platform 101, the driving structure is connected to the rudder surfaces 102, and is used to drive the rudder surfaces 102 to rotate synchronously relative to or towards each other; the second speed control component includes a slide plate 103 and a telescopic structure 104, the slide plate 103 is slidably mounted inside the rudder surface 102, a connecting rod 105 is provided on the slide plate 103, the fixed end of the telescopic structure 104 is fixedly mounted on the rudder surface 102, and the movable end is fixedly connected to the connecting rod 105; wherein the interior of the rudder surface 102 is hollow, forming a sliding area 106, the slide plate 103 is slidably mounted inside the sliding area 106, the upper end surface of the rudder surface 102 has a waist-shaped groove 107, and the connecting rod 105 is slidably connected to the waist-shaped groove 107;

[0027] The utility model mainly includes a first speed control component and a second speed control component. In actual use, when the unmanned sailboat is launched into the water, the initial positions of the two rudders 102 are parallel to each other and perpendicular to the unmanned sailboat. When the speed of the unmanned sailboat needs to be controlled according to actual needs, the staff controls the operation of the driving structure. After the operation of the driving structure, the two rudders 102 are controlled to open synchronously. After the two rudders 102 are opened, since the unmanned sailboat is moving, water impacts the rudders 102 to form resistance. The speed of the unmanned sailboat can be reduced after the driving is blocked. When the unmanned sailboat needs to continue to slow down, the unmanned sailboat can be controlled to continue to slow down. When the operator controls the telescopic structure 104 to extend, the telescopic structure 104 pushes the connecting rod 105 to slide in the waist-shaped groove 107. Since the connecting rod 105 is fixedly connected to the slide 103, pushing the connecting rod 105 will drive the slide 103 to slide inside the sliding area 106. At this time, the slide 103 slides out of the rudder surface 102, so that the contact area between the rudder surface 102 and the water increases, making the resistance encountered by the unmanned sailboat greater. The advantage of this arrangement is that the speed of the unmanned sailboat can be better controlled by combining the increase in the area of ​​the rudder surface 102 and the steering of the rudder surface 102.

[0028] In some embodiments, the rudder surface 102 includes a rudder plate 108 and a mounting rod 109, the mounting rod 109 is fixedly connected to the rudder plate 108, the sliding area 106 and the waist-shaped groove 107 are arranged on the rudder plate 108, the mounting rod 109 is connected to the drive structure, and the mounting rod 109 is rotatably connected to the mounting platform 101.

[0029] During actual use, the mounting rod 109 and the rudder plate 108 are connected to form an integrated structure. After the driving structure is in operation, the mounting rod 109 and the mounting platform 101 are driven to rotate, thereby driving the rudder plate 108 to rotate.

[0030] In some embodiments, the driving structure includes a motor 110 and a transmission mechanism. The motor 110 is used to be installed on a plane, and the transmission mechanism is set on the mounting platform 101. The motor 110 is connected to the mounting rod 109 through the transmission mechanism and is used to control the rotational cooperation between the mounting rod 109 and the mounting platform 101.

[0031] During actual use, a worker controls the motor 110 to rotate, and after the motor 110 rotates, the transmission mechanism controls the mounting rod 109 to rotate.

[0032] In some embodiments, the transmission mechanism includes a driving gear 111, a first driven gear 112, a second driven gear 113, a third driven gear 114, a fourth driven gear 115 and a fifth driven gear 116. The driving gear 111 is fixedly mounted on the output shaft of the motor 110, and the first driven gear 112, the second driven gear 113, the third driven gear 114, the fourth driven gear 115 and the fifth driven gear 116 are all rotatably mounted on the mounting platform 101. The driving gear 111 and the first driven gear 112 are meshed with each other, and the first driven gear 112 is meshed with The second driven gear 113 and the third driven gear 114 are engaged with each other. The second driven gear 113 is fixedly connected to one of the mounting rods 109. The third driven gear 114 and the fifth driven gear 116 are fixedly connected to the other mounting rod 109. The fourth driven gear 115 is located between the third driven gear 114 and the fifth driven gear 116, and is vertically arranged to the third driven gear 114 and the fifth driven gear 116. The third driven gear 114 and the fourth driven gear 115 are engaged with each other, and the fifth driven gear 116 and the fourth driven gear 115 are engaged with each other.

[0033] In actual use, after the motor 110 rotates, it drives the driving gear 111 to rotate. After the driving gear 111 rotates, it drives the first driven gear 112 to rotate. After the first driven gear 112 rotates, it drives the second driven gear 113 and the third driven gear 114 to rotate in the same direction. When the third driven gear 114 rotates, it drives the fourth driven gear 115 to rotate. After the fourth driven gear 115 rotates, it drives the fifth driven gear 116 to rotate. Since the fourth driven gear 115 is vertically arranged, after the third driven gear 114 rotates, it drives the fifth driven gear 116 to reverse through the fourth driven gear 115. Therefore, when the motor 110 rotates, it will drive the two mounting rods 109 to rotate in the opposite direction, thereby realizing the relative or opposite rotation of the two rudder surfaces 102. This will not affect the steering of the unmanned sailboat, and can also realize the control of the speed of the unmanned sailboat during operation.

[0034] In some embodiments, a mounting slot 117 is provided on the mounting platform 101 , the fourth driven gear 115 is vertically rotatably mounted inside the mounting slot 117 , and the fifth driven gear 116 is parallelly rotatably mounted inside the mounting slot 117 .

[0035] In actual use, the purpose of providing the mounting groove 117 is to make way for the installation of the fourth driven gear 115 and the fifth driven gear 116 .

[0036] In some embodiments, the telescopic structure 104 is an electric telescopic structure 104 , a pneumatic telescopic structure 104 , or a hydraulic telescopic structure 104 .

[0037] As an optional implementation, in this embodiment, the telescopic structure 104 is a pneumatic telescopic structure 104, specifically a cylinder, the fixed end of the cylinder is installed on the mounting rod 109, and the movable end is fixedly connected to the connecting rod 105.

[0038] In some embodiments, the fixed end of the telescopic structure 104 is fixedly connected to the mounting rod 109 via a first connecting block 118 , and the movable end is fixedly connected to the connecting rod 105 via a second connecting block 119 .

[0039] In actual use, the first connecting block 118 and the second connecting block 119 are provided to facilitate installation of the telescopic structure 104 .

[0040] An unmanned sailboat includes a hull 120 and a sail 121. The sail 121 is rotatably mounted on the hull 120. An electric motor is provided in the hull 120. The output end of the electric motor is connected to the sail 121. The electric motor is connected to a remote control end. The remote control end is used to drive the electric motor to rotate. The mounting platform 101 and the motor 110 are both mounted on the hull 120.

[0041] During actual use, the staff can control the rotation of the motor through the remote control terminal to drive the rotation of the sail 121 to adjust the direction of the sail 121.

[0042] It should be noted that, in this embodiment, the remote control terminal can be a control device such as a smart phone or a controller. In some embodiments, the remote control terminal is a mobile phone, and the staff controls the operation and stop of the motor through the mobile phone. It should be noted that remote control of motor rotation is an existing technology. This embodiment does not involve improvements to the control method and the structure of the remote control terminal, and they will not be described here one by one.

[0043] In some embodiments, two rotating seats 122 are further provided on the hull 120 . The positions of the two rotating seats 122 correspond to the positions of the mounting rods 109 , and the mounting rods 109 are rotatably connected to the hull 120 via the rotating seats 122 .

[0044] In actual use, the purpose of providing the rotating seat 122 is to facilitate the installation of the mounting rod 109 and make the mounting rod 109 more stable when rotating.

[0045] In some embodiments, the mounting rod 109 includes a first rod body 123 and a second rod body 124. The first rod body 123 and the second rod body 124 are connected by a clutch, and the clutch is connected to the remote control end. The first rod body 123 is used to be rotatably connected to the mounting platform 101, and the second rod body 124 is used to be fixedly connected to the rudder surface 102. The second driven gear 113 is fixedly connected to one of the first rod bodies 123, and the third driven gear 114 is fixedly connected to the other first rod body 123. The fixed end of the telescopic structure 104 is connected to the first rod body 123 through the first connecting block 118.

[0046] During actual use, the clutch is normally open, and the first rod 123 and the second rod 124 form an integrated structure; the staff can also provide steering for the unmanned sailboat through the rudder 102. During actual use, the two clutches are controlled to be in the closed state. After the clutch is closed, the first rod 123 and the second rod 124 respectively rotate with the clutch. During use, the two rudders 102 remain horizontal under the action of the water flow. When the unmanned sailboat needs to be steered, only one of the clutches needs to be opened and the motor 110 needs to be rotated. At this time, one of the rudders 102 will be deflected, and under the action of the rudder 102, the unmanned sailboat will turn. The advantage of this setting is that when the sail 121 cannot steer the unmanned sailboat, the rudder 102 can also be used to steer the unmanned sailboat, thereby improving the stability of the unmanned sailboat during driving.

[0047] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "two ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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.

[0048] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one such feature.

[0049] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0050] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A speed control system, characterized in that: include, A first speed control assembly comprises a mounting platform (101), a rudder surface (102), and a driving structure, wherein the driving structure is arranged on the mounting platform (101), the rudder surfaces (102) are provided, and the two rudder surfaces (102) are symmetrically arranged on the mounting platform (101), the rudder surfaces (102) are rotatably connected to the mounting platform (101), and the driving structure is connected to the rudder surfaces (102) and is used to drive the rudder surfaces (102) to rotate synchronously relative to or in opposite directions; and A second speed control assembly includes a slide plate (103) and a telescopic structure (104), wherein the slide plate (103) is slidably mounted inside the rudder surface (102), a connecting rod (105) is provided on the slide plate (103), a fixed end of the telescopic structure (104) is fixedly mounted on the rudder surface (102), and a movable end is fixedly connected to the connecting rod (105); The rudder surface (102) is hollow inside to form a sliding area (106), the slide plate (103) is slidably installed inside the sliding area (106), the upper end surface of the rudder surface (102) has a waist-shaped groove (107), and the connecting rod (105) is slidably connected to the waist-shaped groove (107).

2. A speed control system according to claim 1, characterized in that: The rudder surface (102) includes a rudder plate (108) and a mounting rod (109), the mounting rod (109) is fixedly connected to the rudder plate (108), the sliding area (106) and the waist-shaped groove (107) are arranged on the rudder plate (108), the mounting rod (109) is connected to the driving structure, and the mounting rod (109) is rotatably connected to the mounting platform (101).

3. A speed control system according to claim 2, characterized in that: The driving structure comprises a motor (110) and a transmission mechanism, wherein the motor (110) is used for being installed on a plane, and the transmission mechanism is arranged on a mounting platform (101). The motor (110) is connected to a mounting rod (109) through the transmission mechanism and is used for controlling the rotational cooperation between the mounting rod (109) and the mounting platform (101).

4. A speed control system according to claim 3, characterized in that: The transmission mechanism comprises a driving gear (111), a first driven gear (112), a second driven gear (113), a third driven gear (114), a fourth driven gear (115) and a fifth driven gear (116), wherein the driving gear (111) is fixedly mounted on the output shaft of the motor (110), and the first driven gear (112), the second driven gear (113), the third driven gear (114), the fourth driven gear (115) and the fifth driven gear (116) are all rotatably mounted on the mounting platform (101), the driving gear (111) and the first driven gear (112) are meshed with each other, and the first driven gear (112) and the second driven gear (116) are meshed with each other. The driven gear (113) and the third driven gear (114) are meshed with each other, the second driven gear (113) is fixedly connected to one of the mounting rods (109), the third driven gear (114) and the fifth driven gear (116) are fixedly connected to the other mounting rod (109), the fourth driven gear (115) is located between the third driven gear (114) and the fifth driven gear (116), and is vertically arranged with the third driven gear (114) and the fifth driven gear (116), the third driven gear (114) and the fourth driven gear (115) are meshed with each other, and the fifth driven gear (116) and the fourth driven gear (115) are meshed with each other.

5. A speed control system according to claim 4, characterized in that: A mounting groove (117) is provided on the mounting platform (101), the fourth driven gear (115) is mounted vertically and rotatably inside the mounting groove (117), and the fifth driven gear (116) is mounted parallelly and rotatably inside the mounting groove (117).

6. A speed control system according to claim 1, characterized in that: The telescopic structure (104) is an electric telescopic structure (104), a pneumatic telescopic structure (104) or a hydraulic telescopic structure (104).

7. The speed control system according to claim 1, characterized in that: The fixed end of the telescopic structure (104) is fixedly connected to the mounting rod (109) via a first connecting block (118), and the movable end is fixedly connected to the connecting rod (105) via a second connecting block (119).

8. An unmanned sailboat, comprising a speed control system according to any one of claims 1 to 7, characterized in that: The invention comprises a hull (120) and a sail (121), wherein the sail (121) is rotatably mounted on the hull (120), an electric motor is arranged in the hull (120), an output end of the electric motor is connected to the sail (121), and the electric motor is connected to a remote control end, and the remote control end is used to drive the electric motor to rotate, and the mounting platform (101) and the motor (110) are both mounted on the hull (120).

9. The unmanned sailboat according to claim 8, characterized in that: Two rotating seats (122) are also provided on the hull (120). The positions of the two rotating seats (122) correspond to the positions of the mounting rod (109). The mounting rod (109) is rotatably connected to the hull (120) through the rotating seats (122).

10. The unmanned sailboat according to claim 9, characterized in that: The mounting rod (109) includes a first rod body (123) and a second rod body (124). The first rod body (123) and the second rod body (124) are connected via a clutch, and the clutch is connected to a remote control end. The first rod body (123) is used for rotationally connecting with the mounting platform (101), and the second rod body (124) is used for fixedly connecting with the rudder surface (102). The second driven gear (113) is fixedly connected with one of the first rod bodies (123), and the third driven gear (114) is fixedly connected with the other first rod body (123). The fixed end of the telescopic structure (104) is connected to the first rod body (123) via a first connecting block (118).

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