Chain connection synchronous tilting mechanism and tilting rotor unmanned aerial vehicle thereof

Abstract

The utility model discloses a chain connection synchronous tilting mechanism and a tilting rotor unmanned aerial vehicle with the same. The chain connection synchronous tilting mechanism comprises a base, a front transmission gear, a rear transmission gear, a chain, a front cantilever and a rear cantilever. A front transmission gear is rotationally mounted at the front end of the base, and a rear transmission gear is rotationally mounted at the rear end of the base; a chain is tensioned outside the front transmission gear and the rear transmission gear, and the front transmission gear and the rear transmission gear are both meshed with the chain. A front lifting mechanism is arranged at one end of the front cantilever, and the other end of the front cantilever is connected with the front transmission gear, so that the front cantilever is of a structure swinging due to rotation of the front transmission gear; a rear lifting mechanism is arranged at one end of the rear cantilever, and the other end of the rear cantilever is connected with the rear transmission gear, so that the rear cantilever is of a structure swinging due to rotation of the rear transmission gear; the power output directions of the front lift mechanism and the rear lift mechanism are the same; therefore, in the tilting process and during locking, the problems that the steering engine bears large torque, and the stability and the service life of the steering engine are affected are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of unmanned plane, especially a chain connection synchronous tilting mechanism and tilting rotor unmanned plane thereof. BACKGROUND

[0002] In recent years, the unmanned aerial vehicle technology develops rapidly, and the vertical take-off and landing technology also develops rapidly. The electric vertical take-off and landing (eVTOL) aircraft refers to a vertical take-off and landing aircraft driven by pure electricity. As a revolutionary aircraft in the era of aviation electrification, the eVTOL combines the zero-distance take-off and landing capability with the fixed-wing long-endurance stable flight, and is an innovative transportation tool that can be used for urban air transportation in the future. Because it has many advantages such as low carbon environmental protection (using electric power), low noise, high automation level, high safety and reliability, etc.; it helps to create a green and sustainable digital transportation ecological circle, provides safe and convenient air travel services for the society, and has a wide application prospect in many fields, such as military, express delivery, line inspection, etc.

[0003] There are three mainstream configurations of the electric vertical take-off and landing aircraft, including the vector thrust type (tilting rotor / airfoil), the lift+ cruising type configuration and the multi-rotor type.

[0004] Among them, the multi-rotor type is designed on the basis of the traditional four-rotor to realize vertical take-off by designing multiple rotors, so the design is simple, but the flight speed is slow, the load is small, and the range is short, which is only suitable for short-distance air transportation in the city.

[0005] The vector thrust type mainly adjusts the thrust direction of the engine to be vertical or horizontal through the rotation of the airfoil or the rotor, so as to realize the ability of vertical take-off and horizontal flight, and its advantage is that the flight speed is higher, the load is larger and the range is farther, but at the same time, the design complexity is also improved.

[0006] The lift+ cruising type configuration mainly installs multiple propeller engines to bear the lift function required for vertical take-off and the thrust function in the cruising state. Since it combines the characteristics of fixed-wing and rotor aircraft, the wing design of this type of aircraft is beneficial to improve the range, and the rotor design is convenient for vertical take-off and landing. Since the propulsion devices are different and designed separately, the overall performance is between the multi-rotor type and the vector thrust type.

[0007] From the current market development, the multi-rotor configuration and the lift+ cruising configuration have related design results and completed flight tests. The vector thrust type eVTOL aircraft is the most difficult to develop at present, and there is no mature model yet. Because of its high flight speed, large load and longer range, it is more worthy of in-depth research by technical personnel.

[0008] The key problem of the current vector thrust type eVTOL aircraft design is that the tilt rotors mostly adopt the mode of rotating motor, in the process of tilting and locking, the steering gear bears a large torque, which affects its stability and service life, and one steering gear can only control one tilt rotor, the efficiency is low, the self weight of the fuselage is increased, which affects the aircraft load to some extent, and brings a series of problems such as high maintenance frequency, high cost and the like. At the same time, the current electric vertical take-off and landing aircraft mostly adopts the shape of the traditional fixed-wing aircraft, and has the same problems as the traditional fixed-wing aircraft, such as large frictional resistance, low lift-drag ratio, small Mach number, easy to produce local shock wave and the like.

[0009] Therefore, how to improve the efficiency and stability of the tilt rotor and select what kind of aircraft layout has become a problem that needs to be further studied by technical personnel. Practical new type content

[0010] The chain connection synchronous tilting mechanism and the tilt rotor unmanned aerial vehicle can solve the problem of the steering gear controlling the rotation of the rotor.

[0011] In order to solve the above technical problems, the utility model provides a chain connection synchronous tilting mechanism, including base, front transmission gear, rear transmission gear, chain, front cantilever and rear cantilever, the front end of base is rotatably installed with front transmission gear, the rear end of base is rotatably installed with rear transmission gear, the front transmission gear and rear transmission gear are tensioned with chain, the front transmission gear and rear transmission gear are engaged with chain, one end of front cantilever is equipped with front lift mechanism, the other end of front cantilever is connected with front transmission gear, so that front cantilever becomes the structure that swings because of the rotation of front transmission gear, one end of rear cantilever is equipped with rear lift mechanism, the other end of rear cantilever is connected with rear transmission gear, so that rear cantilever becomes the structure that swings because of the rotation of rear transmission gear, the power output of front lift mechanism and rear lift mechanism is in the same direction.

[0012] In order to solve the above technical problems, the utility model further provides a tilt rotor unmanned aerial vehicle, including fuselage and the chain connection synchronous tilting mechanism described above, the front wing of fuselage is equipped with chain connection synchronous tilting mechanism, the tail of fuselage is equipped with tail lift mechanism, and the tail lift mechanism is a structure with adjustable power direction.

[0013] In one embodiment, the front lift mechanism is a rotor lift structure, and the swing of the front cantilever is used to switch the vertical lift power or horizontal flight power provided by the front lift mechanism.

[0014] In one of the embodiments, the front lift mechanism comprises a front base, a front power rudder and a front rotor; the front base is fixedly connected with the end of the front cantilever; the front power rudder is arranged on the front base and is used to drive the rotation of the front rotor; the rotation axis of the front rotor is perpendicular to the swing axis of the front cantilever and the length axis of the front cantilever.

[0015] In one of the embodiments, the rear lift mechanism is a rotor lift structure, and the swing of the rear cantilever is used to switch the rear lift mechanism to provide vertical lift power or horizontal flight power.

[0016] In one of the embodiments, the rear lift mechanism comprises a rear base, a rear power rudder and a rear rotor; the rear base is fixedly connected with the end of the rear cantilever; the rear power rudder is arranged on the rear base and is used to drive the rotation of the rear rotor; the rotation axis of the rear rotor is perpendicular to the swing axis of the rear cantilever and the length axis of the rear cantilever.

[0017] In one of the embodiments, a rear wing is connected between the front wing of the fuselage and the vertical tail of the fuselage, and the front wing and the rear wing form a diamond shape.

[0018] In one of the embodiments, the tail lift mechanism comprises a power direction changing state to provide vertical lift power or horizontal flight power.

[0019] In one of the embodiments, tail cantilevers are arranged on both sides of the tail of the fuselage, the tail cantilevers extend outwardly from the fuselage, and the tail lift mechanism is arranged on the tail cantilevers.

[0020] In one of the embodiments, the tail lift mechanism comprises a first tail rudder, a second tail rudder, a first tail bracket, a second tail bracket, a tail power rudder and a tail rotor; the first tail rudder is arranged on the tail cantilever, the first tail rudder is rotationally connected with the first tail bracket, and the rotation axis of the first tail bracket is perpendicular to the axis of the fuselage; the second tail rudder is arranged on the first tail bracket, the second tail rudder is rotationally connected with the second tail bracket, and the rotation axis of the second tail bracket is perpendicular to the rotation axis of the first tail bracket; the tail power rudder is arranged on the second tail bracket and is used to drive the rotation of the tail rotor; the rotation axis of the tail rotor is perpendicular to the rotation axis of the first tail bracket and the rotation axis of the second tail bracket.

[0021] The beneficial effects of the utility model are as follows:

[0022] Compared with the prior art, the utility model discloses not use the rudder directly to control the rotor rotation, but utilize the chain drive mode to control the front lift mechanism and the rear lift mechanism to change the power output direction, in the process of tilting and locking, there is no problem of the rudder bearing the greater moment and the influence on its stability and service life, and one operation can change the power output direction change of the front lift mechanism and the rear lift mechanism simultaneously, and the above technical effect is also the prior art can not realize.

[0023] In addition, the utility model discloses the diamond wing configuration design of wing selection, based on a group of wing profile same chord consistent front and rear wing skew distribution, present diamond structure on horizontal projection plane. The utility model discloses compared with traditional aircraft has more advantages. In aerodynamic aspect, compared with conventional layout, the utility model has excellent aerodynamic characteristics, and the large aspect ratio of the front and rear wings can effectively reduce the induced drag and improve the lift-drag ratio, and improve the critical mach number of the aircraft. In structural support aspect, the rear wing of the diamond wing supports the front wing, can bear the bending moment of the front wing and effectively suppress the aeroelastic deformation of the front wing, reduce the weight of the wing bearing structure, make the diamond wing structure compact and the wing stiffness is big. In the maneuvering control aspect, the utility model discloses cancel all rudder surfaces, greatly reduce the number of actuating mechanisms, utilize 6 rotors to realize the vector propulsion control of aircraft, complete vertical take-off, horizontal flight pitch, yaw, roll and other actions, thereby effectively adapt to different environments. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical scheme of the utility model, the following will be to the embodiment needed to use the drawings briefly introduced, obviously, the following description in the drawings only some embodiments of the utility model, for those skilled in the art, under the premise of not paying the creative labor, can also obtain other drawings according to these drawings.

[0025] Figure 1 It is the chain connection synchronous tilting mechanism structure schematic diagram provided by the utility model embodiment;

[0026] Figure 2 It is the tilting rotor unmanned aerial vehicle structure schematic diagram provided by the utility model embodiment;

[0027] Figure 3 It is Figure 2 A part enlarged structure schematic diagram of;

[0028] Figure 4 It is Figure 2 The state schematic diagram when changing to horizontal flight;

[0029] Figure 5 It is Figure 2 The state schematic diagram when changing to roll flight.

[0030] The reference signs are as follows:

[0031] 100, chain connection synchronous tilting mechanism;

[0032] 110, base;

[0033] 120, front transmission gear;

[0034] 130, rear transmission gear;

[0035] 140, chain;

[0036] 150, front cantilever;

[0037] 160, rear cantilever;

[0038] 170, front lifting mechanism; 171, front base; 172, front power steering gear; 173, front rotor;

[0039] 180, rear lifting mechanism; 181, rear base; 182, rear power steering gear; 183, rear rotor;

[0040] 200, fuselage;

[0041] 210, front wing;

[0042] 220, tail lifting mechanism; 221, first tail steering gear; 222, second tail steering gear; 223, first tail support; 224, second tail support; 225, tail power steering gear; 226, tail rotor;

[0043] 230, vertical tail;

[0044] 240, rear wing;

[0045] 250, tail cantilever. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model.

[0047] The utility model provides a chain connection synchronous tilting mechanism, its implementation such as Figure 1As shown, it comprises a base 110, a front transmission gear 120, a rear transmission gear 130, a chain 140, a front cantilever 150 and a rear cantilever 160; the front end of the base 110 is rotatably installed with the front transmission gear 120, and the rear end of the base 110 is rotatably installed with the rear transmission gear 130; the front transmission gear 120 and the rear transmission gear 130 are externally tensioned with the chain 140, and the front transmission gear 120 and the rear transmission gear 130 are both engaged with the chain 140; one end of the front cantilever 150 is provided with a front lift mechanism 170, and the other end of the front cantilever 150 is connected with the front transmission gear 120, so that the front cantilever 150 becomes a structure that swings due to the rotation of the front transmission gear 120; one end of the rear cantilever 160 is provided with a rear lift mechanism 180, and the other end of the rear cantilever 160 is connected with the rear transmission gear 130, so that the rear cantilever 160 becomes a structure that swings due to the rotation of the rear transmission gear 130; and the power output directions of the front lift mechanism 170 and the rear lift mechanism 180 are the same.

[0048] In application, only one of the front transmission gear 120 or the rear transmission gear 130 is driven to rotate, and the synchronous rotation of the chain 140, the front transmission gear 120 and the rear transmission gear 130 can be realized; for example, it is assumed that in application, the front transmission gear 120 drives the chain 140 to drive the rear transmission gear 130 to rotate synchronously, so when the front transmission gear 120 drives the front lift mechanism 170 to provide lift in the vertical direction, the rear transmission gear 130 will drive the rear lift mechanism 180 to also provide lift in the vertical direction, and when the front transmission gear 120 drives the front lift mechanism 170 to provide power in the horizontal direction, the rear transmission gear 130 will drive the rear lift mechanism 180 to also provide power in the horizontal direction.

[0049] Moreover, compared with the prior art, the utility model does not use a rudder directly to control the rotation of the rotor, but uses the chain 140 transmission mode to control the front lift mechanism 170 and the rear lift mechanism 180 to change the power output direction, and in the process of tilting and locking, the problem that the rudder bears a large torque and affects its stability and service life does not exist, and one operation can simultaneously change the power output direction change of the front lift mechanism 170 and the rear lift mechanism 180, and the above technical effects are also not realized by the prior art.

[0050] In addition, the utility model also provides a chain connection synchronous tilting mechanism for a tilting rotor unmanned aerial vehicle, and the implementation thereof is as shown in the accompanying drawings. Figure 2 As shown, it comprises a fuselage 200 and the above-mentioned chain connection synchronous tilting mechanism 100; the chain connection synchronous tilting mechanism 100 is arranged on the front wing 210 of the fuselage 200, and the tail of the fuselage 200 is provided with a tail lift mechanism 220, which is a structure with adjustable power direction.

[0051] After the scheme is adopted, since the tail lift mechanism 220 is a power direction adjustable structure, after the chain connection synchronous tilting mechanism 100 is cooperated, the use requirement in different situations can be met.

[0052] For example, when the tilt-rotor unmanned aerial vehicle needs to take off vertically, as shown in Figure 1 and Figure 2 , the chain connection synchronous tilting mechanism 100 can be started, the power output directions of the front lift mechanism 170 and the rear lift mechanism 180 are adjusted, so that the front lift mechanism 170 and the rear lift mechanism 180 are both in the state of the power output direction downward, and the tail lift mechanism 220 can also be started, so that the power output direction of the tail lift mechanism 220 is also arranged downward, so that the tilt-rotor unmanned aerial vehicle can obtain multiple vertical direction lift.

[0053] For example, when the tilt-rotor unmanned aerial vehicle needs to fly horizontally, as shown in Figure 1 and Figure 4 , the chain connection synchronous tilting mechanism 100 can be started, the power output directions of the front lift mechanism 170 and the rear lift mechanism 180 are adjusted, so that the front lift mechanism 170 and the rear lift mechanism 180 are both in the state of the power output direction horizontally, and the tail lift mechanism 220 can also be started, so that the power output direction of the tail lift mechanism 220 is adjusted according to the flight direction, and the power of the tilt-rotor unmanned aerial vehicle in the yaw or pitch direction is provided.

[0054] For example, when the tilt-rotor unmanned aerial vehicle needs to roll to the left, as shown in Figure 1 and Figure 5 , the left chain connection synchronous tilting mechanism 100 can be kept to provide horizontal direction power output, and then the right chain connection synchronous tilting mechanism 100 can be started, the power output directions of the right front lift mechanism 170 and the right rear lift mechanism 180 are adjusted, so that the right front lift mechanism 170 and the right rear lift mechanism 180 are both in the state of the power output direction downward, so that the right lift and the moment of rolling to the left are increased, so that the tilt-rotor unmanned aerial vehicle rolls to the left, and the principle of the tilt-rotor unmanned aerial vehicle rolling to the right is the same, so it is not described again.

[0055] For example, when the tilt-rotor unmanned aerial vehicle needs to take off vertically, as shown in Figure 1As shown, in this embodiment, the front lift mechanism 170 is configured as a rotor lift structure, and the swing of the front cantilever 150 is used to switch the front lift mechanism 170 to provide vertical lift or horizontal flight power. To achieve this purpose, the front lift mechanism 170 includes a front base 171, a front power servo 172, and a front rotor 173. The front base 171 is fixedly connected to the end of the front cantilever 150. The front power servo 172 is mounted on the front base 171 and is used to drive the front rotor 173 to rotate. The rotation axis of the front rotor 173 is perpendicular to the swing axis of the front cantilever 150 and the length axis of the front cantilever 150.

[0056] With this configuration, once the front cantilever 150 swings, it can drive the front base 171, the front power servo 172, and the front rotor 173 to swing synchronously, thereby realizing the function of adjusting the power output direction of the front rotor 173.

[0057] like Figure 1 As shown, in this embodiment, the rear lift mechanism 180 is configured as a rotor lift structure, and the swing of the rear cantilever 160 is used to switch the rear lift mechanism 180 to provide vertical lift or horizontal flight power. To achieve this purpose, the rear lift mechanism 180 includes a rear base 181, a rear power servo 182, and a rear rotor 183. The rear base 181 is fixedly connected to the end of the rear cantilever 160. The rear power servo 182 is mounted on the rear base 181 and is used to drive the rear rotor 183 to rotate. The rotation axis of the rear rotor 183 is perpendicular to the swing axis of the rear cantilever 160 and the length axis of the rear cantilever 160.

[0058] With this configuration, once the rear cantilever 160 swings, it will drive the rear base 181, the rear power servo 182, and the rear rotor 183 to swing synchronously, thereby realizing the function of adjusting the power output direction of the rear rotor 183.

[0059] like Figure 1 As shown, in this embodiment, a rear wing 240 is connected between the front wing 210 of the fuselage 200 and the vertical tail 230 of the fuselage 200. The front wing 210 and the rear wing 240 form a rhombus shape, which improves the structural strength of the fuselage.

[0060] Specifically, at this point, the root of the forewing 210 is connected to the fuselage 200, and is 10-25% of the fuselage 200 length from the front of the fuselage 200, with a leading edge sweep angle of 30 degrees; while the front of the rear wing 240 is connected to the forewing 210, with the connection point located at 30% half span from the wingtip of the forewing 210, with a forward sweep angle of 45-50 degrees, and the rear end of the rear wing 240 is connected to a section of wing with a sweep angle of 0 degrees, which then continues to extend and eventually connects closely with the vertical tail 230.

[0061] This setting mode can assist the front wing 210 to fly straight, the profile of the front wing 210 and the rear wing 240 is a classic airfoil structure, the upper part is more curved than the lower part, which provides lift for the tilt-rotor unmanned aerial vehicle, the front wing 210 comprises a front wing shell and a front wing frame arranged in the front wing shell, and the rear wing 240 comprises a rear wing shell and a rear wing frame arranged in the rear wing shell, so that the tilt-rotor unmanned aerial vehicle is streamlined to reduce the resistance.

[0062] As shown in Figure 2 and Figure 3 , the tail lift mechanism 220 of this embodiment is provided, which includes a power direction changing state for providing vertical lift power or horizontal flight power; at this time, the tail of the fuselage 200 is provided with two tail cantilevers 250, the tail cantilevers 250 extend outwardly from the fuselage 200, and the tail lift mechanism 220 is arranged on the two tail cantilevers 250; and the tail lift mechanism 220 comprises a first tail rudder 221, a second tail rudder 222, a first tail bracket 223, a second tail bracket 224, a tail power rudder 225 and a tail rotor 226; the first tail rudder 221 is arranged on the tail cantilever 250, the first tail rudder 221 is rotationally connected with the first tail bracket 223, and the rotation axis of the first tail bracket 223 is perpendicular to the axis of the fuselage 200; the second tail rudder 222 is arranged on the first tail bracket 223, the second tail rudder 222 is rotationally connected with the second tail bracket 224, and the rotation axis of the second tail bracket 224 is perpendicular to the rotation axis of the first tail bracket 223; the tail power rudder 225 is arranged on the second tail bracket 224, and the tail power rudder 225 is used to drive the tail rotor 226 to rotate; the rotation axis of the tail rotor 226 is perpendicular to the rotation axes of the first tail bracket 223 and the second tail bracket 224.

[0063] After adopting this setting mode, if the first tail rudder 221 is started, the first tail bracket 223, the second tail bracket 224, the second tail rudder 222, the tail power rudder 225 and the tail rotor 226 can be driven to swing horizontally; if the second tail rudder 222 is started, the second tail bracket 224, the tail power rudder 225 and the tail rotor 226 can be driven to swing vertically, thereby meeting the requirement of multi-angle regulation of the tail lift mechanism 220.

[0064] The above is the preferred embodiment of the present application, it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements also as the protection scope of the present application.

Claims

1. A chain connection synchronous tilting mechanism, characterized in that, it comprises a base, a front transmission gear, a rear transmission gear, a chain, a front cantilever and a rear cantilever; a front end of the base is rotatably installed with the front transmission gear, and a rear end of the base is rotatably installed with the rear transmission gear; the front transmission gear and the rear transmission gear are externally tensioned with the chain, and the front transmission gear and the rear transmission gear are both engaged with the chain; one end of the front cantilever is provided with a front lift mechanism, and the other end of the front cantilever is connected with the front transmission gear, so that the front cantilever becomes a structure that swings due to rotation of the front transmission gear; one end of the rear cantilever is provided with a rear lift mechanism, and the other end of the rear cantilever is connected with the rear transmission gear, so that the rear cantilever becomes a structure that swings due to rotation of the rear transmission gear; the power output directions of the front lift mechanism and the rear lift mechanism are the same. 2.A tilt-rotor unmanned aerial vehicle, characterized in that, it comprises a fuselage and the chain connection synchronous tilting mechanism of claim 1; the chain connection synchronous tilting mechanism is arranged on a front wing of the fuselage, and a tail lift mechanism is arranged on a tail of the fuselage, and the tail lift mechanism is a structure with adjustable power direction. 3.The tilt-rotor unmanned aerial vehicle of claim 2, characterized in that, the front lift mechanism is a rotor lift structure, and swinging of the front cantilever is used to switch the front lift mechanism to provide vertical lift power or horizontal flight power. 4.The tilt-rotor unmanned aerial vehicle of claim 3, characterized in that, the front lift mechanism comprises a front base, a front power steering engine and a front rotor; the front base is fixedly connected with an end of the front cantilever; the front power steering engine is arranged on the front base, and the front power steering engine is used to drive the front rotor to rotate; a rotation axis direction of the front rotor is perpendicular to both a swinging axis direction of the front cantilever and a length axis direction of the front cantilever. 5.The tilt-rotor unmanned aerial vehicle of claim 2, characterized in that, the rear lift mechanism is a rotor lift structure, and swinging of the rear cantilever is used to switch the rear lift mechanism to provide vertical lift power or horizontal flight power. 6.The tilt-rotor unmanned aerial vehicle of claim 5, characterized in that, the rear lift mechanism comprises a rear base, a rear power steering engine and a rear rotor; the rear base is fixedly connected with an end of the rear cantilever; the rear power steering engine is arranged on the rear base, and the rear power steering engine is used to drive the rear rotor to rotate; a rotation axis direction of the rear rotor is perpendicular to both a swinging axis direction of the rear cantilever and a length axis direction of the rear cantilever. 7.The tilt-rotor unmanned aerial vehicle of claim 2, characterized in that, a rear wing is connected between a front wing of the fuselage and a vertical tail of the fuselage, and the front wing and the rear wing enclose a rhombus shape. 8.The tilt-rotor unmanned aerial vehicle of claim 2, characterized in that, the tail lift mechanism comprises a state in which a power direction is changed to provide vertical lift power or horizontal flight power. 9.The tilt-rotor unmanned aerial vehicle of claim 8, characterized in that, The tail of the fuselage is provided with tail cantilevers on both sides, the tail cantilevers extend to the outside of the fuselage, and the tail lift mechanism is arranged on the tail cantilevers.

10. The tilt-rotor unmanned aerial vehicle according to claim 9, characterized in that, The tail lift mechanism comprises a first tail steering engine, a second tail steering engine, a first tail support, a second tail support, a tail power steering engine and a tail rotor. The first tail steering engine is arranged on the tail cantilever, the first tail steering engine is rotationally connected with the first tail support, and the rotation axis of the first tail support is perpendicular to the axis of the fuselage. The second tail steering engine is arranged on the first tail support, the second tail steering engine is rotationally connected with the second tail support, and the rotation axis of the second tail support is perpendicular to the rotation axis of the first tail support. The tail power steering engine is arranged on the second tail support, and the tail power steering engine is used for driving the tail rotor to rotate. The rotation axis of the tail rotor is perpendicular to the rotation axis of the first tail support and the rotation axis of the second tail support.

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