Empennage mechanism and ornithopter
By separately setting and independently controlling the center rudder, left rudder, and right rudder on the tail of the flapping-wing aircraft, the problem of bulky tail structure and inflexible adjustment is solved, enabling more flexible yaw control and precise flight attitude adjustment, thus expanding the application scenarios.
Patent Information
- Application Number
- CN202520153858.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-22
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-01-22
AI Technical Summary
The existing tail structure of flapping-wing aircraft is bulky and inflexible, resulting in poor yaw control.
It employs separate center rudder, left rudder, and right rudder, each independently controlled by a center rudder, left rudder, and right rudder motor. The rudders are mounted on the tail fin mount, enabling independent adjustment of the pitch and yaw of the flapping-wing aircraft.
It improves the control flexibility and yaw control capability of flapping-wing aircraft, achieves precise flight attitude and trajectory control, reduces energy consumption, and expands the application range.
Smart Images
Figure CN223850803U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of flight equipment technology, specifically to a tail fin mechanism and a flapping-wing aircraft. Background Technology
[0002] Compared to fixed-wing and rotary-wing aircraft, flapping-wing aircraft possess stealth characteristics, leading to their widespread application. Among these, the tail fin of flapping-wing aircraft is an important research area for biomimetic bird flapping-wing aircraft, and it is also the foundation for achieving functions such as free flight and trajectory planning. Therefore, improving the control flexibility of flapping-wing aircraft is of great significance to their development. However, the tail fins of current flapping-wing aircraft still suffer from problems such as bulky structure and poor yaw control capability. Utility Model Content
[0003] The purpose of this application is to at least solve the technical problems of the bulky and inflexible tail fins of existing flapping-wing aircraft, and this purpose is achieved through the following technical solutions:
[0004] The first aspect of this application provides a tail mechanism for a flapping-wing aircraft. The tail mechanism includes: a tail blade, which includes a central rudder and left and right rudders distributed on both sides of the central rudder, both of which are inclined downward relative to the central rudder; a rudder assembly, which includes a central rudder, a left rudder, and a right rudder, the central rudder being disposed in the central rudder, the left rudder being disposed in the left rudder and in the same direction of inclination as the left rudder, and the right rudder being disposed in the right rudder and in the same direction of inclination as the right rudder; and a servo assembly, which includes a left servo, a central servo, and a right servo, wherein the left servo is used to drive the movement of the left rudder to achieve left yaw of the flapping-wing aircraft, the right servo is used to drive the movement of the right rudder to achieve right yaw of the flapping-wing aircraft, and the central servo is used to drive the movement angle of the central rudder to achieve climb and dive of the flapping-wing aircraft.
[0005] In some embodiments, the tail wing mechanism further includes a tail wing frame disposed on the tail wing piece, and the center servo, left servo, and right servo are all disposed on the tail wing frame.
[0006] Those skilled in the art will understand that the tail mechanism of the flapping-wing aircraft proposed in this application separates the center rudder, left rudder, and right rudder, and separates the left rudder, center rudder, and right rudder, and controls the center rudder, left rudder, and right rudder separately. This allows for independent adjustment of the pitch and yaw of the flapping-wing aircraft, effectively improving the control flexibility of the flapping-wing aircraft, enabling it to adjust its flight attitude at any time during flight, thereby improving the yaw control capability of the tail mechanism. This achieves precise control of the flapping-wing aircraft's flight attitude and trajectory, as well as precise biomimicry of flying creatures such as birds, expanding the application range of flapping-wing aircraft.
[0007] Further, by setting the central rudder, the left rudder and the right rudder on the tail boom, the installation convenience of the central rudder, the left rudder and the right rudder can be improved, the separate control of the central rudder, the left rudder and the right rudder is realized, the relative position relationship of the central rudder, the left rudder and the right rudder is fixed, the purpose of separately and accurately controlling the central rudder, the left rudder and the right rudder is achieved, the energy efficiency ratio is better, the energy consumption of the flapping-wing aircraft is reduced, the flapping-wing aircraft has better wind resistance by adjusting the pitch angle and speed change of the flapping-wing aircraft, the flapping-wing aircraft has better bionic performance, and the application scene range of the flapping-wing aircraft is improved.
[0008] In some embodiments, the central rudder part of the tail fin is provided with a hollow structure, and the central rudder can drive the central rudder to be lifted up above the hollow structure and move downward through the hollow structure to be below the hollow structure.
[0009] In some embodiments, the included angle between the left rudder part and the central rudder part is set as a, and 120°≤a≤150°; and / or the included angle between the right rudder part and the central rudder part is set as b, and 120°≤b≤150°.
[0010] In some embodiments, the central rudder part is set as a fan-shaped structure, and the included angle between the two sides of the central rudder part is set as c, and 25°≤c≤35°.
[0011] In some embodiments, the tail fin is set as a fan-shaped structure, the left rudder part, the central rudder part and the right rudder part are distributed along the fan-shaped track of the fan-shaped structure, and the deflection angle between the central rudder part and the left rudder part and the deflection angle between the central rudder part and the right rudder part are set as d, and 10°≤d≤30°.
[0012] In some embodiments, the projection of the tail fin on the ground is set as a fan-shaped structure, and the included angle between the two sides of the projection is set as e, and 50°≤e≤70°.
[0013] In some embodiments, the tail fin is set as an integrated structure, and the central rudder part, the left rudder part and the right rudder part are integrally bent and formed.
[0014] In some embodiments, the central rudder, the left rudder and the right rudder are swingably arranged on the tail boom, the central rudder machine drives the central rudder to swing through the first connecting rod, the left rudder machine drives the left rudder to swing through the second connecting rod, and the right rudder machine drives the right rudder to swing through the third connecting rod.
[0015] The second aspect of the present application provides a flapping-wing aircraft, which comprises: a body; a tail mechanism according to the first aspect of the present application, the tail mechanism being arranged at the tail of the body; and a control module, which is configured to control the moving angle of the central rudder driven by the central rudder machine according to the center of gravity of the flapping-wing aircraft, the take-off speed of the flapping-wing aircraft and the flight speed of the flapping-wing aircraft to realize the climbing and diving of the flapping-wing aircraft. Attached Figure Description
[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0017] Figure 1 This is a schematic diagram of the structure of an flapping-wing aircraft according to an embodiment of this application;
[0018] Figure 2 for Figure 1 Axonometric view of the tail mechanism of the flapping-wing aircraft shown;
[0019] Figure 3 for Figure 2 Top view of the tail fin mechanism shown;
[0020] Figure 4 for Figure 2 A schematic diagram of the right rudder of the tail fin mechanism in the deployed state;
[0021] Figure 5 for Figure 4 Top view of the tail fin mechanism shown;
[0022] Figure 6 for Figure 2 A schematic diagram of the disassembled structure of the tail fin mechanism shown;
[0023] Figure 7 for Figure 2 A schematic diagram of the tail fin structure of the tail fin mechanism shown;
[0024] Figure 8 for Figure 7 A top view of the tail fin of the tail fin mechanism shown;
[0025] Figure 9 for Figure 7 A front view of the tail fin of the tail fin mechanism shown;
[0026] Figure 10 This is a schematic diagram of the structure of a tail fin according to one embodiment of this application;
[0027] Figure 11 This is a schematic diagram of the tail fin mechanism according to an embodiment of this application.
[0028] Explanation of reference numerals in the attached figures:
[0029] 100. Ornithopter;
[0030] 10, tail wing mechanism; 11, tail fin; 110, hollow structure; 111, middle rudder part; 112, left rudder part; 113, right rudder part; 12, fin assembly; 120, tail wing holder; 121, middle fin; 1211, middle fin actuator; 1210, middle rocker arm; 1212, first connecting rod; 1213, first rotating shaft; 1214, middle fin holder; 122, left fin; 1221, left fin actuator; 1220, left rocker arm; 1222, second connecting rod; 1223, second rotating shaft; 1224, left fin holder; 123, right fin; 1231, right fin actuator; 1230, right rocker arm; 1232, third connecting rod; 1233, third rotating shaft; 1234, right fin holder;
[0031] 20, airframe;
[0032] 30, flapping wing. DETAILED DESCRIPTION
[0033] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While example embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. It is noted that the tail wing mechanism of the present disclosure is described by flapping wing aircraft in this application is only a preferred embodiment, and is not a limitation on the scope of application of the tail wing mechanism, for example, the tail wing mechanism of the present disclosure can also be used in other aircraft, such adjustment does not deviate from the scope of protection of the tail wing mechanism of the present disclosure.
[0034] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "including" and "having" are inclusive and therefore specify the presence of stated features, elements, components, and / or steps, but do not preclude the presence or addition of one or more other features, elements, components, steps, and / or groups thereof.
[0035] Although the terms first, second, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to differentiate 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 the like used in the description and / or claims are not intended to denote a sequential order or a particular order, but to distinguish one element from another. In addition, in the description of the present application, unless otherwise clearly specified and limited, the terms "set", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected, can be directly connected, or indirectly connected through an intermediate medium. 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.
[0036] For ease of description, spatial relative terms can be used herein to describe the relationship of one element or feature to another element or feature as shown in the drawings, such as "upper", "lower", "inner", "outer", "end", "side" and the like. 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 drawings. For example, if the mechanism in the drawing is turned over, the element described as "below" or "under" the other element or feature will then be oriented "above" or "over" the other element or feature. Therefore, the example term "below" can include both upward and downward orientations. The mechanism can be additionally oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein are interpreted accordingly.
[0037] Although the flapping wing aircraft in the related art is provided with a tail mechanism, the yaw steering, diving and ascending of the flapping wing aircraft are realized through the tail mechanism, but in order to realize a larger yaw capacity, the tail mechanism often needs to be designed to be relatively bulky and occupy a larger space, which is not conducive to the flexible control and miniaturization development of the flapping wing aircraft.
[0038] The present application has the technical problems of bulky structure and inflexible adjustment of the tail of the existing flapping wing aircraft, and proposes that the left rudder part and the right rudder part of the tail piece are set to a downward structure, so as to achieve the purpose of semi-concealing the left rudder piece and the right rudder piece, realize the miniaturization design of the tail mechanism, and effectively improve the deflection steering torque of the left rudder piece and the right rudder piece, and improve the control flexibility of the yaw steering of the flapping wing aircraft.
[0039] In addition, "upper", "lower", "front" and "rear" in the embodiments of the present application are based on the normal flight attitude of the aircraft, or based on the normal parking attitude of the aircraft, the side of the tail fin facing the ground is "lower", the side of the tail fin away from the ground is "upper", "front" refers to the head direction of the aircraft, and "rear" refers to the tail direction of the aircraft.
[0040] As shown in Figures 1 to 11 The first aspect of the present application provides a tail mechanism 10 for a flapping-wing aircraft 100, the tail mechanism 10 mainly comprises a tail fin 11 and a rudder piece assembly 12 and a rudder machine assembly, the tail fin 11 comprises a central rudder part 111 and left and right rudder parts 112 and 113 distributed on both sides of the central rudder part 111, the left and right rudder parts 112 and 113 are both inclined downward relative to the central rudder part 111; the rudder piece assembly 12 comprises a central rudder piece 121, a left rudder piece 122 and a right rudder piece 123, the central rudder piece 121 is arranged on the central rudder part 111, the left rudder piece 122 is arranged on the left rudder part 112 and consistent with the inclination direction of the left rudder part 112, and the right rudder piece 123 is arranged on the right rudder part 113 and consistent with the inclination direction of the right rudder part 113; the rudder machine assembly comprises a left rudder machine 1221, a central rudder machine 1211 and a right rudder machine 1231, the left rudder machine 1221 is used to drive the movement of the left rudder piece 122 to realize the left yaw of the flapping-wing aircraft 100, the right rudder machine 1231 is used to drive the movement of the right rudder piece 123 to realize the right yaw of the flapping-wing aircraft 100, and the central rudder machine 1211 is used to drive the movement angle of the central rudder piece 121 to realize the climbing and diving of the flapping-wing aircraft 100. The embodiments of the present disclosure also provide a tail rack 120, and the central rudder machine 1211, the left rudder machine 1221 and the right rudder machine 1231 are integrally mounted on the tail rack 120.
[0041] In the embodiments, the tail mechanism 10 of the flapping-wing aircraft 100 provided by the present application separates the central rudder piece 121, the left rudder piece 122 and the right rudder piece 123, separately arranges the left rudder machine 1221, the central rudder machine 1211 and the right rudder machine 1231, and integrally mounts the three rudder machines on the tail rack 120, which can realize the unified installation of the three rudder machines, and can realize the independent control of the central rudder piece 121, the left rudder piece 122 and the right rudder piece 123 by the central rudder machine 1211, the left rudder machine 1221 and the right rudder machine 1231 respectively, thereby realizing the independent adjustment of the pitch and yaw of the flapping-wing aircraft 100, effectively improving the control flexibility of the flapping-wing aircraft 100, enabling it to flexibly adjust the flight attitude during flight, especially realizing the climbing and diving actions of the flapping-wing aircraft 100, which are the difficulties of flapping-wing aircraft control technology, thereby improving the yaw control ability and flight height control ability of the tail mechanism 10, realizing the precise control of the flight attitude, flight trajectory and flight height of the flapping-wing aircraft 100, and the precise bionics of flying creatures such as birds, and expanding the application range of the flapping-wing aircraft 100.
[0042] Further, the tail wing mechanism 10 can be designed in a small size by setting the left rudder part 112 and the right rudder part 113 in a downward inclination structure. Specifically, in the direction from the middle part of the tail wing piece 11 to both sides, the left rudder part 112 and the right rudder part 113 of the tail wing piece 11 are set in a downward inclination structure, so as to achieve the purpose of semi-concealing the left rudder piece 122 and the right rudder piece 123, realize the small size design of the tail wing mechanism 10, and achieve the purpose of improving the airflow, 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 specific shape structure of the tail wing piece 11 and the rudder piece assembly 12 is not limited in the embodiments of the present application, because the improvement point of the present application is to independently set the left rudder machine 1221, the middle rudder machine 1211 and the right rudder machine 1231 of the tail wing piece 11, and independently control the left rudder piece 122, the middle rudder piece 121 and the right rudder piece 123 by the left rudder machine 1221, the middle rudder machine 1211 and the right rudder machine 1231, so as to improve the yaw ability and the flight height of the tail wing mechanism 10. As for the specific shape structure of the tail wing piece 11 and the rudder piece assembly 12, various embodiments are included, for example, the tail wing piece 11 can be set in a figure-eight structure, a figure-two structure or a figure-convex structure, which 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 described one by one here.
[0044] The specific shape structure of the tail wing piece 11 and the rudder piece assembly 12 of the embodiments of the present application will be described in detail below.
[0045] As shown in Figure 2 and Figure 6 In some embodiments, the tail wing mechanism 10 further includes a tail wing frame 120 arranged on the tail wing piece 11, and the middle rudder machine 1211, the left rudder machine 1221 and the right rudder machine 1231 are arranged on the tail wing frame 120.
[0046] In the embodiment, by arranging the central rudder machine 1211, the left rudder machine 1221 and the right rudder machine 1231 on the tail boom 120, by integrally mounting the central rudder machine 1211, the left rudder machine 1221 and the right rudder machine 1231 on the tail boom 120, the installation convenience of the three rudder machines can be improved, and the relative positional relationship of the three rudder machines can be ensured, which helps the flapping-wing aircraft to have better consistency, more stable algorithm control, and more accurate control requirements. Therefore, the three rudder machines independently control the corresponding three rudder pieces, so that the flapping-wing aircraft has flight control accuracy, flexibility and complexity. One rudder machine can control one rudder piece, or multiple rudder machines can control multiple rudder pieces to realize complex flight action adjustment, have better energy efficiency ratio, reduce the energy consumption of the flapping-wing aircraft 100, adjust the pitch angle and speed change of the flapping-wing aircraft 100, make the flapping-wing aircraft 100 have better wind resistance, make the flapping-wing aircraft 100 have better bionic performance, and improve the application scene range of the flapping-wing aircraft 100. Therefore, the three rudder machines are integrally mounted on the tail boom 120, which is convenient for installation, disassembly, maintenance and can improve the control accuracy requirement.
[0047] In addition, the central rudder machine 1211, the left rudder machine 1221, the right rudder machine 1231 and the tail boom 120 form an integral structure, which improves the compactness of the tail wing mechanism 10 and realizes the miniaturization design of the tail wing mechanism 10.
[0048] Further, compared with the tail piece 11, the tail boom 120 has strong bearing capacity, so that the central rudder machine 1211, the left rudder machine 1221 and the right rudder machine 1231 can transfer the pressure to the tail boom 120, thereby relieving the pressure bearing of the tail piece 11 and reducing the risk of damage to the tail piece 11.
[0049] In addition, the central rudder part 111 of the tail piece 11 can be provided with the hollow structure 110, or can not be provided with the hollow structure 110. When the central rudder part 111 of the tail piece 11 is not provided with the hollow structure 110, i.e. is a complete plane, when the flapping-wing aircraft 100 flies, the central rudder piece 121 moves upward on the central rudder part 111, and an included angle g is formed between the central rudder piece 121 and the central rudder part 111. According to the position of the center of gravity of the flapping-wing aircraft 100 and the speed of the flapping-wing aircraft 100 when taking off and the speed change in flight, the range of the included angle g is adjusted in real time to realize the climbing and diving of the flapping-wing aircraft.
[0050] Specifically, in one embodiment, when the central rudder part 111 of the tail piece 11 is not provided with the hollow structure 110, i.e. is a complete plane, when the range of the included angle g is adjusted to be within the angle range of 30°≤g≤90°, the climbing action of the flapping-wing aircraft is realized; when the range of the included angle g is adjusted to be within the angle range of 0°≤g<30°, the diving action of the flapping-wing aircraft is realized.
[0051] In another embodiment, when the central rudder portion 111 of the tail fin 11 is a complete plane without the hollow structure 110, the included angle g is adjusted to the range of 40°≤g≤90° to achieve the climbing action of the flapping-wing aircraft; when the included angle g is adjusted to the range of 0°≤g<40° to achieve the diving action of the flapping-wing aircraft.
[0052] In another embodiment, when the central rudder portion 111 of the tail fin 11 is a complete plane without the hollow structure 110, the included angle g is adjusted to a range of 50°≤g≤90° to achieve the climbing action of the flapping-wing aircraft; when the included angle g is adjusted to a range of 0°≤g<50° to achieve the diving action of the flapping-wing aircraft.
[0053] like Figure 10 and Figure 11 As shown, in some embodiments, the central rudder portion 111 of the tail fin 11 is provided with a hollow structure 110, and the central servo motor 1211 can drive the central rudder 121 to rise 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 central rudder 111, the central rudder 121 can swing up and down in the hollow structure 110, thereby controlling the ascent and descent of the flapping-wing aircraft, as well as controlling the ascent and descent angles of the flapping-wing aircraft.
[0055] Specifically, when the central rudder portion 111 of the tail fin 11 is provided with a hollow structure 110, during flight of the flapping-wing aircraft 100, the central rudder portion 121 can move not only upwards from the central rudder portion 111, but also downwards from below the central rudder portion 111. An angle f is formed between the central rudder portion 121 and the central rudder portion 111. The range of the angle f is adjusted in real time according to the center of gravity position of the flapping-wing aircraft 100 and the speed changes of the flapping-wing aircraft 100 during takeoff and flight to achieve the climb and dive of the flapping-wing aircraft.
[0056] Specifically, in one embodiment, when the central rudder portion 111 of the tail fin 11 is provided with a hollow structure 110, the included angle f is adjusted to the range of 0°≤f≤90° to achieve the climbing action of the flapping-wing aircraft; the included angle f is adjusted to the range of -60°≤f<0° to achieve the diving action of the flapping-wing aircraft.
[0057] Specifically, in one embodiment, when the middle rudder part 111 of the tail fin 11 is provided with the hollow structure 110, the range of the included angle f is controlled in the angle range of -10°≤f≤90°, the climbing action of the flapping wing aircraft is realized; the range of the included angle f is controlled in 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 part 111 of the tail fin 11 is provided with the hollow structure 110, the range of the included angle f is controlled in the angle range of -20°≤f≤90°, the climbing action of the flapping wing aircraft is realized; the range of the included angle f is controlled in the angle range of -60°≤f<-20°, the diving action of the flapping wing aircraft is realized.
[0059] As shown in Figure 1 , Figure 6 and Figure 7 , in some embodiments, the included angle between the left rudder part 112 and the middle rudder part 111 is set as a, 120°≤a≤150°; and / or the included angle between the right rudder part 113 and the middle rudder part 111 is set as b, 120°≤b≤150°.
[0060] In the present embodiment, the included angle a in the embodiments of the present application refers to the obtuse angle formed by the downward bending of the left rudder part 112 relative to the middle rudder part 111, and the included angle b refers to the obtuse angle formed by the downward bending of the right rudder part 113 relative to the middle rudder part 111. Since the flapping wing aircraft 100 needs to drive the left rudder piece 122 to swing between the posture of being flat against the left rudder part 112 and the posture of being perpendicular to the left rudder part 112 in the process of yawing, by bending the left rudder part 112 and the right rudder part 113 downward relative to the middle rudder part 111, the left rudder part 112 and the left rudder piece 122 partially coincide in the longitudinal projection, and the right rudder part 113 and the right rudder piece 123 partially coincide in the longitudinal projection, so as to reduce the overall longitudinal projection size of the tail fin mechanism 10 in the swinging process of the left rudder piece 122 and the right rudder piece 123, so as to realize the miniaturized design of the tail fin mechanism 10.
[0061] In addition, by bending the left rudder part 112 and the right rudder part 113 downward relative to the middle rudder part 111, the purpose of downward inclined distribution of the left rudder piece 122 and the right rudder piece 123 can be achieved, so that the yawing moment generated by the left rudder piece 122 and the right rudder piece 123 can be distributed from top to bottom to the tail fin mechanism 10, improving the overall more balanced yawing ability of the tail fin mechanism 10.
[0062] Specifically, as shown in Figure 8 and Figure 9As shown, in order to realize the consistency of the overall transverse and overall longitudinal dimensions of the tail fin 11, the application embodiment makes the unfolding size and the folding size of the tail wing mechanism 10 as small as possible, and takes into account the yawing moment of the left rudder piece 122 and the right rudder piece 123, when the range of the included angle a between the left rudder part 112 and the middle rudder part 111 and the range of the included angle b between the right rudder part 113 and the middle rudder part 111 are 120°-150°, preferably 135°.
[0063] As shown in Figure 1 , Figure 6 and Figure 7 , in some embodiments, the middle rudder part 111 is provided as a fan-shaped structure, and the included angle between the two side edges of the middle rudder part 111 is provided as c, 25°≤c≤35°.
[0064] In the present embodiment, by providing the middle rudder part 111 as a fan-shaped structure, the size of the middle rudder part 111 gradually increases from front to back, so that the rear end of the middle rudder part 111 and the middle rudder piece 121 has a larger size, and the size of the middle rudder piece 121 gradually increases, so that the middle rudder piece 121 can generate a larger lifting moment on the tail wing mechanism 10, and improve the control effect and control sensitivity of the tail wing mechanism 10 on the lifting attitude.
[0065] In addition, by providing the middle rudder part 111 as a fan-shaped structure, the size of the left rudder part 112 and the right rudder part 113 gradually increases from front to back, so that the rear end of the left rudder piece 122 and the right rudder piece 123 has a larger size, and the left rudder piece 122 and the right rudder piece 123 can generate a larger yawing moment on the tail wing mechanism 10, and improve the control effect and control sensitivity of the tail wing mechanism 10 on the yawing attitude.
[0066] Further, in order to ensure that the left rudder piece 122 and the right rudder piece 123 can have a size substantially consistent with the middle rudder piece 121 within a circular arc, and taking into account the projection area of the tail fin 11, the application embodiment proposes to set the range of the included angle between the two side edges of the middle rudder part 111 to 25° to 35°, preferably 30°, to realize the miniaturization of the overall size of the tail wing mechanism 10.
[0067] As shown in Figure 3 , Figure 5 and Figure 8 , in some embodiments, the tail fin 11 is provided as a fan-shaped structure, and the left rudder part 112, the middle rudder piece 121 and the right rudder part 113 are distributed along the fan-shaped track of the fan-shaped structure, and the deflection angle between the middle rudder piece 121 and the left rudder part 112 and the deflection angle between the middle rudder piece 121 and the right rudder part 113 are provided as d, 10°≤d≤30°.
[0068] In the embodiment, when the airflow 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 part 112 and the central rudder part 111 is set as a, and the angle between the right rudder part 113 and the central rudder part 111 is set as b, only when the left rudder piece 122 and the right rudder piece 123 are perpendicular to the airflow, the left rudder piece 122 and the right rudder piece 123 have the maximum force effect, and the yawing moment of the left rudder piece 122 and the right rudder piece 123 is the maximum. At this time, the deflection angle between the central rudder piece 121 and the left rudder part 112 and the deflection angle between the central rudder piece 121 and the right rudder part 113 are set as d=(180°-a) / 2, the flapping wing aircraft 100 has the best yawing performance.
[0069] Specifically, when the angle d is 0-(180°-a) / 2, the effective area and the effective yawing force effect of the left rudder piece 122 and the right rudder piece 123 decrease, and the yawing moment of the left rudder piece 122 and the right rudder piece 123 decreases; when the angle d is (180°-a) / 2-(180°-a), the left rudder piece 122 and the right rudder piece 123 increase, the weight increases, the force effect of the left rudder piece 122 and the right rudder piece 123 does not change, generates reverse yawing force effect, and the equivalent yawing moment decreases.
[0070] As shown in FIG. 1, Figure 8 In some embodiments, the projection of the tail fin 11 to the ground is set as a fan-shaped structure, and the angle between the two sides of the projection is set as e, 50°≤e≤70°.
[0071] In the embodiment, in order to ensure that the left rudder piece 122 and the right rudder piece 123 have the same size as the central rudder piece 121 in a circular arc, the present embodiment proposes that the angle range between the two sides of the projection of the tail fin 11 to the ground is set as 50°≤e≤70°, and the angle range between the two sides of the central rudder part 111 is set as 25°-35°, preferably 30°, so as to realize the miniaturization of the overall size of the tail fin mechanism 10, and does not affect the yawing ability and the lifting ability of the tail fin mechanism 10.
[0072] As shown in FIG. 1, Figures 1 to 9 In some embodiments, the tail fin 11 is set as an integrated structure, and the central rudder part 111, the left rudder part 112 and the right rudder part 113 are set as an integrated bending molding.
[0073] In the embodiment, by setting the tail fin 11 as an integrated structure, not only the manufacturing process difficulty of the tail fin 11 can be reduced, the number of parts of the tail fin 11 can be reduced, but also the flow of the airflow on the tail fin 11 can be improved, so that the airflow flows through the middle rudder part 111 and then flows to the left rudder part 112 and the right rudder part 113, thereby improving the yaw steering capability of the tail fin 11 and the tail mechanism 10, and reducing the turbulence or turbulent flow phenomenon of the airflow at the boundary of the middle rudder part 111, the left rudder part 112 and the right rudder part 113.
[0074] As shown in Figure 4 and Figure 9 in some embodiments, the left rudder part 112 and the right rudder part 113 are both set as an upward structure along the direction from the front end of the tail fin 11 to the rear end of the tail fin 11.
[0075] In the embodiment, by setting the left rudder part 112 and the right rudder part 113 as an upward structure, the airflow flowing through the left rudder part 112 and the right rudder part 113 can flow steadily and gradually from bottom to top, so as to achieve the purpose of distributing the yaw moment along the longitudinal direction of the tail fin 11, thereby achieving the purpose of balancing the yaw moment along the height direction of the tail mechanism 10, reducing the shaking and sliding phenomenon of the tail mechanism 10 in the process of yaw, and improving the flight stability of the tail mechanism 10.
[0076] As shown in Figures 1 to 9 in some embodiments, the middle rudder piece 121, the left rudder piece 122 and the right rudder piece 123 are all swingably arranged on the tail bracket 120, the middle rudder machine 1211 drives the middle rudder piece 121 to swing through the first connecting rod 1212, the left rudder machine 1221 drives the left rudder piece 122 to swing through the second connecting rod 1222, and the right rudder machine 1231 drives the right rudder piece 123 to swing through the third connecting rod 1232.
[0077] In the embodiment, when the middle rudder machine 1211 drives the middle rudder piece 121 to swing upward through the first connecting rod 1212, the flapping wing aircraft 100 rises under the push of the airflow, when the middle rudder machine 1211 drives the middle rudder piece 121 to swing downward through the first connecting rod 1212, the flapping wing aircraft 100 dives under the push of the airflow, when the left rudder machine 1221 drives the left rudder piece 122 to swing upward through the second connecting rod 1222, the flapping wing aircraft 100 yaw left under the push of the airflow, and when the right rudder machine 1231 drives the right rudder piece 123 to swing upward through the third connecting rod 1232, the flapping wing aircraft 100 yaw right under the push of the airflow. By driving the middle rudder piece 121, the left rudder piece 122 and the right rudder piece 123 to swing through the rudder machine assembly respectively, the rising, diving and left-right yaw of the flapping wing aircraft 100 can be independently controlled.
[0078] Specifically, as shown in Figure 6As shown, the middle rudder 121, the left rudder 122 and the right rudder 123 are all swingably arranged on the tail wing frame 120 through the rotating shafts.
[0079] The middle rocker arm 1210, the first connecting rod 1212, the middle rudder 121 (the middle rudder frame 1214) and the first rotating shaft 1213 constitute a spatial four-bar linkage mechanism, the middle rudder mechanism 1211 drives the first connecting rod 1212 to swing the middle rudder 121 around the first rotating shaft 1213 through the middle rocker arm 1210, the windward area of the middle rudder 121 is increased through the swing of the middle rudder 121 to realize the rapid climb of the flapping-wing aircraft 100, the windward area of the middle rudder 121 is reduced through the swing of the middle rudder 121 to realize the rapid dive of the flapping-wing aircraft 100, and the precise angle adjustment of the flapping-wing aircraft 100 realizes the precise control and stability of the flapping-wing aircraft 100.
[0080] Further, as shown in the figure, Figure 6 The left rocker arm 1220, the second connecting rod 1222, the left rudder 122 (the left rudder frame 1224) and the second rotating shaft 1223 constitute a spatial four-bar linkage mechanism, the left rudder mechanism 1221 drives the second connecting rod 1222 to swing the left rudder 122 around the second rotating shaft 1223 through the left rocker arm 1220 to realize the left yaw during the flight of the flapping-wing aircraft 100.
[0081] As shown in the figure, Figure 6 The right rocker arm 1230, the third connecting rod 1232, the right rudder 123 (the right rudder frame 1234) and the third rotating shaft 1233 constitute a spatial four-bar linkage mechanism, the right rudder mechanism 1231 drives the third connecting rod 1232 to swing the right rudder 123 around the third rotating shaft 1233 through the right rocker arm 1230 to realize the right yaw.
[0082] At the same time, the flapping-wing aircraft 100 can have the ability of autonomous straight flight based on the mixed control of the right rudder 123 and the left rudder 122 by the two rudder mechanisms, and further realize the attitude control.
[0083] The second aspect of the present application provides a flapping-wing aircraft 100, which comprises: a body 20; a tail wing mechanism 10 according to the first aspect of the present application, the tail of the body 20 is provided with the tail wing mechanism 10; a control module, which is used to control the moving angle of the middle rudder 121 driven by the middle rudder mechanism 1211 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 realize the climb and dive of the flapping-wing aircraft 100.
[0084] In the embodiment, the flapping wings 30 are also arranged on both sides of the body 20, and the flapping-wing aircraft 100 of the present application has all the technical effects of the tail wing mechanism 10, which will not be described here.
[0085] In addition, the embodiments of the present application only focus on the structures of the tail wing mechanism 10 related to the improvement points of the present application, and do not mean that the tail wing mechanism 10 does not have other structures. For example, the tail wing mechanism 10 further includes a plug-in connector arranged at the front end of the tail wing frame 120, the tail wing mechanism 10 is plugged into the body 20 of the flapping-wing aircraft 100 through the plug-in connector, and can swing up and down under the driving of the driving device in the body 20. These structures all belong to the protection scope of the embodiments of the present application, and will not be described one by one here.
[0086] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A tail wing mechanism for an ornithopter, characterized by, The tail wing mechanism (10) comprises: a tail wing piece (11) comprising a central rudder part (111) and a left rudder part (112) and a right rudder part (113) distributed on both sides of the central rudder part (111), the left rudder part (112) and the right rudder part (113) are both inclined downward relative to the central rudder part (111); a rudder piece assembly (12) comprising a central rudder piece (121), a left rudder piece (122) and a right rudder piece (123), the central rudder piece (121) is arranged on the central rudder part (111), the left rudder piece (122) is arranged on the left rudder part (112) and consistent with the inclination direction of the left rudder part (112), the right rudder piece (123) is arranged on the right rudder part (113) and consistent with the inclination direction of the right rudder part (113); a rudder mechanism assembly comprising a left rudder mechanism (1221), a central rudder mechanism (1211) and a right rudder mechanism (1231), the left rudder mechanism (1221) is used to drive the movement of the left rudder piece (122) to realize the left yaw of the flapping wing aircraft (100), the right rudder mechanism (1231) is used to drive the movement of the right rudder piece (123) to realize the right yaw of the flapping wing aircraft (100), and the central rudder mechanism (1211) is used to drive the movement angle of the central rudder piece (121) to realize the climbing and diving of the flapping wing aircraft (100).
2. The tail wing mechanism of claim 1, wherein, The tail wing mechanism (10) further comprises a tail wing frame (120) arranged on the tail wing piece (11), and the central rudder mechanism (1211), the left rudder mechanism (1221) and the right rudder mechanism (1231) are arranged on the tail wing frame (120).
3. The tail wing mechanism of claim 1, wherein, The central rudder part (111) of the tail wing piece (11) is provided with a hollow structure (110), and the central rudder mechanism (1211) can drive the central rudder piece (121) to be lifted up higher than the hollow structure (110) and to be moved downward through the hollow structure (110) to be below the hollow structure (110).
4. The tail wing mechanism of claim 1, wherein, The included angle between the left rudder part (112) and the central rudder part (111) is set as a, 120°≤a≤150°; And / or the included angle between the right rudder part (113) and the central rudder part (111) is set as b, 120°≤b≤150°.
5. The tail wing mechanism of claim 1, wherein, The central rudder part (111) is arranged in a fan-shaped structure, and the included angle between the two side edges of the central rudder part (111) is set as c, 25°≤c≤35°.
6. The tail wing mechanism of claim 1, wherein, The tail wing piece (11) is arranged in a fan-shaped structure, the left rudder part (112), the central rudder part (111) and the right rudder part (113) are distributed along the fan-shaped track of the fan-shaped structure, and the deflection angles between the central rudder part (111) and the left rudder part (112) and between the central rudder part (111) and the right rudder part (113) are set as d, 10°≤d≤30°.
7. The tail wing mechanism of claim 1, wherein, The projection of the tail wing piece (11) on the ground is a fan-shaped structure, and the included angle between the two side edges of the projection is set as e, 50°≤e≤70°.
8. The tail wing mechanism of claim 1, wherein, The tail fin (11) is provided in an integrated structure, and the central rudder portion (111), the left rudder portion (112) and the right rudder portion (113) are integrally bent and formed.
9. The tail wing mechanism of claim 2, wherein, The central rudder blade (121), the left rudder blade (122) and the right rudder blade (123) are swingably arranged on the tail fin frame (120), the central rudder machine (1211) drives the central rudder blade (121) to swing through the first connecting rod (1212), the left rudder machine (1221) drives the left rudder blade (122) to swing through the second connecting rod (1222), and the right rudder machine (1231) drives the right rudder blade (123) to swing through the third connecting rod (1232).
10. A flapping-wing flying vehicle, characterized by, The ornithopter (100) comprises: a fuselage (20); The tail fin mechanism (10) according to any one of claims 1 to 9 is arranged at the tail of the fuselage (20); a control module configured to control the central rudder machine (1211) to drive the central rudder blade (121) to swing to a movement angle according to the center of gravity position of the ornithopter (100), the take-off speed of the ornithopter (100) and the flight speed of the ornithopter (100) to realize the climbing and diving of the ornithopter (100).