Tail wing mechanism and flapping-wing aircraft

Abstract

This application relates to a tail fin mechanism and a flapping-wing aircraft. The tail fin mechanism includes a connecting part, a tail fin assembly, a pitch drive structure, a rudder assembly, and a servo assembly. The tail fin assembly has a first connection point and a second connection point. The tail fin assembly is hinged to the connecting part at the first connection point. The pitch drive structure is hinged at both ends to the connecting part and the second connection point, respectively. One end of the pitch drive structure and the hinge point of the connecting part, the first connection point, and the second connection point are arranged in a triangular pattern. The rudder assembly includes a left rudder and a right rudder. The left rudder is located on the left side of the tail fin assembly, and the right rudder is located on the right side of the tail fin assembly. The servo assembly includes a left servo and a right servo. The left servo is used to drive the left rudder to rotate, achieving left yaw of the flapping-wing aircraft, and the right servo is used to drive the right rudder to rotate, achieving right yaw of the flapping-wing aircraft. This application provides independent adjustment and control of the pitch and yaw steering of the flapping-wing aircraft, reducing control difficulty and improving flexibility, reliability, and stability.

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, which has led to their widespread application. Among them, the tail fin of flapping-wing aircraft is an important research topic for biomimetic bird flapping-wing aircraft, and it is also the foundation for biomimetic bird flapping-wing aircraft to achieve functions such as free flight and trajectory planning. Therefore, improving the control flexibility of flapping-wing aircraft is of great significance to their development. Utility Model Content

[0003] The purpose of this application is to at least solve the technical problem of inflexible tail fin adjustment in existing flapping-wing aircraft, and this purpose is achieved through the following technical solution:

[0004] The first aspect of this application provides a tail fin mechanism for a flapping-wing aircraft. The tail fin mechanism includes: a connecting portion, a tail fin assembly, a pitch drive structure, a rudder assembly, and a servo assembly. The tail fin assembly has a first connection point and a second connection point. The tail fin assembly is hinged to the connecting portion at the first connection point. One end of the pitch drive structure is hinged to the connecting portion, and the other end of the pitch drive structure is hinged to the second connection point of the tail fin assembly. The hinge point between the pitch drive structure and the connecting portion, and the first connection point... The components are arranged in a triangle with the second connection point. The pitch drive structure is used to drive the tail fin assembly to rotate, thereby enabling the flapping-wing aircraft to climb and dive. The rudder assembly includes a left rudder and a right rudder. The left rudder is located on the left side of the tail fin assembly, and the right rudder is located on the right side of the tail fin assembly. The servo assembly includes a left servo and a right servo. The left servo is used to drive the rotation of the left rudder to achieve left yaw of the flapping-wing aircraft, and the right servo is used to drive the rotation of the right rudder to achieve right yaw of the flapping-wing aircraft.

[0005] In this embodiment, the tail wing mechanism of the flapping-wing aircraft proposed in this application drives the overall rotation angle of the tail wing assembly through a pitch drive structure. Under the action of airflow, the flapping-wing aircraft can achieve climb and dive. The left rudder is driven by the left rudder to rotate, and the right rudder is driven by the right rudder to rotate, thereby realizing independent adjustment and control of the pitch and yaw of the flapping-wing aircraft. This achieves rigid decoupling of the pitch and yaw control, reduces the control difficulty, and improves the flexibility, reliability and stability of the flapping-wing aircraft.

[0006] Specifically, the pitch drive structure is set in a different position and with a different drive method than the servo assembly. The servo assembly realizes the left and right yaw adjustment inside the tail fin assembly, while the pitch drive structure realizes the pitch angle adjustment between the tail fin assembly and the connecting part. This reduces the mutual interference between the pitch angle adjustment and yaw steering adjustment of the flapping wing aircraft, and realizes the decoupling of the pitch angle adjustment and yaw steering of the flapping wing aircraft.

[0007] In addition, the hinge point, the first connection point and the second connection point of the connecting part are arranged in a triangle. Compared with straight lines and quadrilaterals, triangles have higher stability. Therefore, after the pitch drive structure adjusts the connecting part, the pitch drive structure and the tail fin assembly to the target angle, it can achieve the effect of rigidly positioning the pitch angle of the tail fin assembly.

[0008] In some embodiments, the pitch drive structure includes a housing, a telescopic rod, and a drive assembly. The telescopic rod is telescopically mounted on the housing, one end of the telescopic rod is hinged to the connecting portion, and the other end of the telescopic rod is hinged to the second connection point of the tail fin assembly. The drive assembly is mounted on the housing and is used to drive the telescopic rod to extend and retract to adjust the rotation angle of the tail fin assembly.

[0009] In some embodiments, the telescopic rod includes a fixed section, a mating threaded sleeve, and a lead screw. One end of the fixed section is connected to the housing, and the other end of the fixed section is hinged to the second connection point of the tail fin assembly. The threaded sleeve is slidably mounted on the housing, and the end of the threaded sleeve away from the lead screw is hinged to the connection portion. The lead screw and the drive assembly are in a transmission engagement. The lead screw is driven to rotate, thereby driving the threaded sleeve to slide, thus realizing the extension and retraction of the telescopic rod.

[0010] In some embodiments, the lead screw is coaxially fixed with a driven gear, and the drive assembly includes a drive motor and a transmission gear, wherein the drive motor and the transmission gear are in transmission engagement, and the transmission gear and the driven gear are meshed.

[0011] In some embodiments, the pitch drive structure further includes a gear reduction mechanism, and the drive motor is driven by the gear reduction mechanism and the transmission gear.

[0012] In some embodiments, the pitch drive structure further includes a detection mechanism mounted on the housing, the detection mechanism being used to control the drive assembly to shut down when the telescopic rod's extension length is detected to reach a preset value.

[0013] In some embodiments, the detection mechanism is a sliding potentiometer, which includes a potentiometer body and a sliding contact slidably disposed on the potentiometer body. The potentiometer body is electrically connected to the control motherboard, and the sliding contact and the telescopic rod move synchronously.

[0014] In some embodiments, the hinge point is located on the front side of the tail fin assembly, the first connection point is located on the upper side of the tail fin assembly, and the second connection point is located on the lower side of the tail fin assembly, forming a vertically distributed triangular structure between the hinge point, the first connection point, and the second connection point.

[0015] In some embodiments, the tail fin assembly includes a tail fin frame and a tail fin. The tail fin frame is provided with a first connection point and a second connection point. The tail fin is connected to the tail fin frame. The left rudder and the right rudder are rotatably disposed on the left and right sides of the tail fin frame, respectively. The left rudder is pushed and pulled to rotate by a first linkage, and the right rudder is pushed and pulled to rotate by a second linkage.

[0016] A second aspect of this application provides a flapping-wing aircraft, the flapping-wing aircraft including a fuselage and a tail wing mechanism of this application, the tail wing mechanism being connected to the tail of the fuselage. Attached Figure Description

[0017] 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:

[0018] Figure 1 This is a schematic diagram of the structure of an flapping-wing aircraft according to an embodiment of this application;

[0019] Figure 2 for Figure 1 Axonometric view of the tail mechanism of the flapping-wing aircraft shown;

[0020] Figure 3 for Figure 2 Top view of the tail fin mechanism shown;

[0021] Figure 4 for Figure 2 A schematic diagram showing the connection of the tail fin mechanism, the pitch drive structure, and the tail fin mount.

[0022] Figure 5 for Figure 4 The diagram shows the exploded structure of the tail fin mechanism's connecting part, pitch drive structure, and tail fin mount.

[0023] Figure 6 for Figure 2 A cross-sectional view of the pitch drive structure of the tail fin mechanism shown.

[0024] Figure 7 This is a schematic diagram of the internal structure of a pitch drive structure according to an embodiment of this application;

[0025] Figure 8 This is a schematic diagram illustrating how a pitch drive structure drives the tail fin to rotate to different angles according to an embodiment of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100. Ornithopter;

[0028] 10. Tail fin mechanism; 11. Connecting part; 111. Hinge point; 12. Tail fin assembly; 121. Tail fin bracket; 1211. First connection point; 1212. Second connection point; 122. Tail fin; 13. Pitch drive structure; 130. Drive assembly; 131. Housing; 132. Telescopic rod; 1321. Fixed section; 1322. Threaded sleeve; 1323. Lead screw; 13231. Driven gear; 133. 134. Drive motor; 135. Transmission gear; 136. Gear reduction mechanism; 1360. Detection mechanism; 136. Sliding potentiometer; 1361. Potentiometer body; 1362. Sliding contact; 14. Left rudder; 15. Right rudder; 16. Left rudder motor; 161. Left rocker arm; 162. First link; 17. Right rudder motor; 171. Right rocker arm; 172. Second link; 18. Left rudder holder; 19. Right rudder holder;

[0029] 20. Organism;

[0030] 30. Flapping wings. Detailed Implementation

[0031] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that the tail wing mechanism 10 described in this application using the flapping-wing aircraft 100 is merely a preferred embodiment and is not intended to limit the application scope of the tail wing mechanism 10. For example, the tail wing mechanism 10 of this application can also be used in other aircraft, and such adjustments do not depart from the protection scope of the tail wing mechanism 10 of this application.

[0032] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” and “having” are inclusive and therefore indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0033] Although terms such as "first," "second," etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Furthermore, in the description of this application, unless otherwise expressly specified and limited, the terms "set up" and "connected" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a direct connection or an indirect connection via an intermediate medium. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] For ease of description, spatial relative terms can be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure. These relative terms include, for example, "upper," "lower," "inner," "outer," "end," "side," etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation, in addition to the orientations depicted in the figure.

[0035] Although the flapping-wing aircraft 100 in the related technology is equipped with a tail mechanism 10, which enables the flapping-wing aircraft 100 to yaw, turn, dive and climb, the tail mechanism 10 has strong coupling in pitch-turn control adjustment, which is not conducive to the flapping-wing aircraft 100 to perform autonomous control flight.

[0036] To address the shortcomings of inflexible pitch and yaw control in the tail mechanism 10 of the existing flapping-wing aircraft 100, the purpose of this application is to achieve rigid decoupling of the tail mechanism 10 in pitch-yaw control through structural design. The pitch adjustment and yaw adjustment of the tail mechanism 10 are separated into two independent adjustment mechanisms, which reduces the control difficulty and improves the flexibility, reliability and stability of the flapping-wing aircraft 100.

[0037] The following is in conjunction with the instruction manual. Figures 1 to 8The embodiments of this application are described below.

[0038] like Figures 1 to 3 As shown, according to an embodiment of the present invention, in one aspect, a tail fin mechanism 10 is disclosed for a flapping-wing aircraft 100. The tail fin mechanism 10 includes a connecting portion 11, a tail fin assembly 12, a pitch drive structure 13, a rudder assembly, and a servo assembly. The tail fin assembly 12 has a first connection point 1211 and a second connection point 1212. The tail fin assembly 12 is hinged to the connecting portion 11 at the first connection point 1211. One end of the pitch drive structure 13 is hinged to the connecting portion 11, and the other end of the pitch drive structure 13 is hinged to the second connection point 1212 of the tail fin assembly 12. One end of the pitch drive structure 13 is hinged to the connecting portion 11 at the second connection point 1212. The hinge point 111, the first connection point 1211, and the second connection point 1212 are arranged in a triangle. The pitch drive structure 13 is used to drive the tail fin assembly 12 to rotate, so as to realize the climb and dive of the flapping wing aircraft 100. The rudder assembly includes a left rudder 14 and a right rudder 15. The left rudder 14 is located on the left side of the tail fin assembly 12, and the right rudder 15 is located on the right side of the tail fin assembly 12. The servo assembly includes a left servo 16 and a right servo 17. The left servo 16 is used to drive the rotation of the left rudder 14 to realize the left yaw of the flapping wing aircraft 100, and the right servo 17 is used to drive the rotation of the right rudder 15 to realize the right yaw of the flapping wing aircraft 100.

[0039] In this embodiment, the tail wing mechanism 10 of the flapping-wing aircraft 100 proposed in this application drives the tail wing assembly 12 to rotate as a whole through the pitch drive structure 13. Under the action of airflow, the flapping-wing aircraft 100 can achieve climb and dive. The left rudder 16 drives the rotation of the left rudder 14 to achieve left yaw of the flapping-wing aircraft 100, and the right rudder 17 drives the rotation of the right rudder 15 to achieve right yaw of the flapping-wing aircraft 100. This realizes independent adjustment and control of the pitch-yaw steering of the flapping-wing aircraft 100, achieves rigid decoupling of the pitch-yaw steering control, reduces the control difficulty, and improves the flexibility, reliability and stability of the flapping-wing aircraft 100.

[0040] Specifically, the pitch drive structure 13 is positioned differently from the servo assembly and uses a different drive method. The servo assembly adjusts the left and right yaw inside the tail fin assembly 12, while the pitch drive structure 13 adjusts the pitch angle between the tail fin assembly 12 and the connecting part 11. This reduces the mutual interference between the pitch angle adjustment and yaw steering adjustment of the flapping wing aircraft 100, and decouples the pitch angle adjustment and yaw steering of the flapping wing aircraft 100.

[0041] Furthermore, the hinge point 111, the first connection point 1211, and the second connection point 1212 of the connecting part 11 are arranged in a triangle. Compared with straight lines and quadrilaterals, triangles have higher stability. Therefore, after the pitch drive structure 13 adjusts the connecting part 11, the pitch drive structure 13, and the tail fin assembly 12 to the target angle, it is possible to achieve the effect of rigidly positioning the pitch angle of the tail fin assembly 12.

[0042] Specifically, when the flapping-wing aircraft 100 needs to climb, the pitch drive structure 13 drives the tail fin assembly 12 to rotate upward as a whole, so that the flapping-wing aircraft 100 generates a pitching moment to achieve climbing. When the flapping-wing aircraft 100 needs to dive, the pitch drive structure 13 drives the tail fin assembly 12 to rotate downward as a whole, so that the flapping-wing aircraft 100 generates a nose-down moment to achieve diving.

[0043] like Figure 1 and Figure 2 As shown, in some embodiments, the tail fin assembly 12 includes a tail fin frame 121 and a tail fin 122. The tail fin frame 121 is provided with a first connection point 1211 and a second connection point 1212. The tail fin 122 is connected to the tail fin frame 121. The left rudder 14 and the right rudder 15 are rotatably disposed on the left and right sides of the tail fin frame 121, respectively. The left rudder 16 pushes and pulls the left rudder 14 to rotate through the first connecting rod 162, and the right rudder 17 pushes and pulls the right rudder 15 to rotate through the second connecting rod 172.

[0044] In this embodiment, the tail fin mount 121 provides rigid support to the structure, ensuring the overall strength of the tail fin mechanism 10. When the left servo motor 16 drives the left rudder blade 14 to rotate upward through the first link 162, the flapping-wing aircraft 100 yaws to the left under the action of the left yaw moment. When the right servo motor 17 drives the right rudder blade 15 to rotate upward through the second link 172, the flapping-wing aircraft 100 yaws to the right under the action of the right yaw moment, thus achieving independent control of the left and right yaw of the flapping-wing aircraft 100.

[0045] It should be noted that by controlling the upward rotation angle of the left rudder blade 14 and the right rudder blade 15, the yaw angle of the flapping-wing aircraft 100 to the left and right can be achieved. When the flapping-wing aircraft 100 needs to adjust from left or right yaw to straight flight, the left rudder blade 14 and the right rudder blade 15 can be controlled to rotate downward until they are parallel to the tail fin 122 and the tail fin mount 121.

[0046] like Figure 4 and Figure 5As shown, in this embodiment, the tail fin 121 is arched in the middle and tilted downwards on the left and right sides, that is, the projection of the tail fin 121 in the length direction is V-shaped. The left rudder 14 and the right rudder 15 are arranged on the left and right sides of the tail fin 121, which can achieve the purpose of semi-concealment, realize the miniaturization design of the tail fin mechanism 10, and can achieve the purpose of improving the airflow direction. It effectively improves the yaw turning moment of the left rudder 14 and the right rudder 15, and improves the yaw turning control flexibility of the flapping wing aircraft 100.

[0047] The shape of the tail fin 122 matches the tail fin support 121. The tail fin 122 is located below the tail fin support 121 and extends around the tail fin support 121, so that the flapping-wing aircraft 100 has good flight balance.

[0048] Specifically, the left rudder blade 14 is rotatably mounted on the left side of the tail fin frame 121 via the left rudder blade holder 18. The left rudder blade holder 18 is hinged to the first connecting rod 162, and the first connecting rod 162 is driven by the left rocker arm 161 and the left rudder motor 16. During the flight of the flapping-wing aircraft 100, the left rudder motor 16 drives the first connecting rod 162 through the left rocker arm 161 to rotate the left rudder blade holder 18 and the left rudder blade 14 to achieve left yaw.

[0049] The right rudder blade 15 is rotatably mounted on the right side of the tail fin frame 121 via the right rudder blade holder 19. The right rudder blade holder 19 is hinged to the second link 172, which is driven by the right rocker arm 171 and the right rudder motor 17. During the flight of the flapping-wing aircraft 100, the right rudder motor 17 drives the second link 172 via the right rocker arm 171 to rotate the right rudder blade holder 19 and the right rudder blade 15 to achieve right yaw.

[0050] Meanwhile, the flapping-wing aircraft 100 uses the left rudder 16 and right rudder 17 to control the two control surfaces of the left rudder blade 14 and right rudder blade 15, which enables the flapping-wing aircraft 100 to have autonomous straight flight capability at the same time, thereby achieving attitude control.

[0051] like Figure 6 As shown, in some embodiments, the pitch drive structure 13 includes a housing 131, a telescopic rod 132, and a drive assembly 130. The telescopic rod 132 is telescopically mounted on the housing 131. One end of the telescopic rod 132 is hinged to the connecting portion 11, and the other end of the telescopic rod 132 is hinged to the second connection point 1212 of the tail fin assembly 12. The drive assembly 130 is mounted on the housing 131 and is used to drive the telescopic rod 132 to extend and retract, thereby adjusting the rotation angle of the tail fin assembly 12.

[0052] The drive assembly 130 drives the telescopic rod 132 to extend, and the extension of the telescopic rod 132 drives the tail fin assembly 12 to rotate upward relative to the connecting part 11, so that the flapping-wing aircraft 100 generates an upward lifting torque to achieve climbing. The drive assembly 130 drives the telescopic rod 132 to shorten, and the shortening of the telescopic rod 132 drives the tail fin assembly 12 to rotate downward relative to the connecting part 11, so that the flapping-wing aircraft 100 generates a downward pitching torque to achieve diving.

[0053] As an alternative implementation, the telescopic rod 132 can be shortened by the drive assembly 130, causing the tail fin assembly 12 to rotate upward relative to the connecting part 11, thereby generating an upward lifting torque for the flapping-wing aircraft 100 to climb; or the telescopic rod 132 can be extended by the drive assembly 130, causing the tail fin assembly 12 to rotate downward relative to the connecting part 11, thereby generating a downward pitching torque for the flapping-wing aircraft 100 to dive.

[0054] Specifically, the housing 131 has a through sliding hole, the telescopic rod 132 is installed in the sliding hole and both ends of the telescopic rod 132 extend out of the housing 131 and are respectively hinged to the connecting part 11 and the second connection point 1212 of the tail fin assembly 12.

[0055] It is understandable that, such as Figure 2 , Figure 6 and Figure 8 As shown, when the flapping-wing aircraft 100 needs to climb, the drive assembly 130 drives the telescopic rod 132 to extend, and can control the extension of the telescopic rod 132 to different lengths, causing the tail fin assembly 12 to rotate upwards to different angles, thereby controlling the climb speed of the flapping-wing aircraft 100. Conversely, when the flapping-wing aircraft 100 needs to dive, the drive assembly 130 drives the telescopic rod 132 to shorten, and can control the shortening of the telescopic rod 132 to different lengths, causing the tail fin assembly 12 to rotate downwards to different angles, thereby controlling the dive speed of the flapping-wing aircraft 100. Specifically, the tail fin assembly 12 is entirely along... Figure 8 Rotate in the direction indicated by the x-arrow in the diagram to achieve angle adjustment.

[0056] like Figure 6 As shown, in some embodiments, the telescopic rod 132 includes a fixed section 1321, a cooperating threaded sleeve 1322, and a lead screw 1323. One end of the fixed section 1321 is connected to the housing 131, and the other end of the fixed section 1321 is hinged to the second connection point 1212 of the tail fin assembly 12. The threaded sleeve 1322 is slidably installed on the housing 131, and the end of the threaded sleeve 1322 away from the lead screw 1323 is hinged to the connecting part 11. The lead screw 1323 and the drive assembly 130 are in a transmission engagement. The lead screw 1323 is driven to rotate, thereby driving the threaded sleeve 1322 to slide, realizing the extension and retraction of the telescopic rod 132.

[0057] The drive assembly 130 drives the lead screw 1323 to rotate in the forward or reverse direction, causing the threaded sleeve 1322, which cooperates with the lead screw 1323, to slide out or retract into the housing 131 along the sliding hole. This allows the telescopic rod 132 to extend and shorten, thereby adjusting the rotation angle of the tail fin assembly 12 and enabling the flapping wing aircraft 100 to climb and dive. Furthermore, the cooperation between the lead screw 1323 and the threaded sleeve 1322 allows for better control of adjustment accuracy. When the telescopic rod 132 reaches the required length position, it can self-lock through the lead screw 1323. This self-locking can be achieved without power, and the self-locking force can be several times or even tens of times that of a continuously powered servo linkage mechanism or a simple servo control for pitch angle under the same mass. This results in higher reliability and energy saving.

[0058] Furthermore, the corresponding distance that the threaded sleeve 1322 slides for one revolution of the lead screw 1323 corresponds to the rotation angle of the tail fin assembly 12 can also be calculated. Therefore, by controlling the number of revolutions of the lead screw 1323, the sliding distance of the threaded sleeve 1322 can be controlled, thereby realizing the control and adjustment of the rotation angle of the tail fin assembly 12 and ensuring the accuracy of adjustment and control.

[0059] Specifically, the fixed section 1321 is fixed to the sliding hole of the housing 131 and extends out of the housing 131, the threaded sleeve 1322 is slidably installed in the sliding hole, and the lead screw 1323 is rotatably installed in the sliding hole.

[0060] To prevent the threaded sleeve 1322 from rotating circumferentially within the sliding hole, this embodiment provides a square limiting protrusion (not shown in the figure) on the outer surface of the threaded sleeve 1322. The square limiting protrusion slides against the inner wall of the sliding hole, thereby restricting the circumferential movement of the threaded sleeve 1322.

[0061] Preferably, the square limiting protrusion is provided at one end of the threaded sleeve 1322 near the fixed section 1321, so that when the threaded sleeve 1322 slides to the longest distance, the square limiting protrusion is always located in the sliding hole and will not slide out of the housing 131 with the threaded sleeve 1322, causing the limiting failure.

[0062] like Figure 6 and Figure 7 As shown, in some embodiments, the lead screw 1323 is coaxially fixed with the driven gear 13231, and the drive assembly 130 includes a drive motor 133 and a transmission gear 134. The drive motor 133 and the transmission gear 134 are in transmission cooperation, and the transmission gear 134 and the driven gear 13231 are meshed.

[0063] The drive motor 133 drives the transmission gear 134 to rotate, which in turn drives the driven gear 13231 meshing with the transmission gear 134 to rotate, which in turn drives the lead screw 1323 to rotate. The rotation of the lead screw 1323 drives the threaded sleeve 1322 that it is engaged with to slide, thereby adjusting the rotation angle of the tail fin assembly 12 and realizing the dive and climb of the flapping wing aircraft 100.

[0064] In this embodiment, after the tail fin assembly 12 is adjusted to the desired angle, the drive motor 133 is de-energized and the lead screw 1323 stops rotating, thus achieving self-locking and preventing the threaded sleeve 1322 from continuing to slide. The self-locking force can keep the tail fin assembly 12 at the preset angle position, taking into account both reliability and energy saving.

[0065] like Figure 6 or Figure 7 As shown, in some embodiments, the pitch drive structure 13 further includes a gear reduction mechanism 135, and the drive motor 133 is driven by the gear reduction mechanism 135 and the transmission gear 134.

[0066] The gear reduction mechanism 135 can reduce the output speed of the drive motor 133, and then transfer the kinetic energy to the transmission gear 134 after the speed is reduced, so as to ensure the smoothness and reliability of the adjustment process.

[0067] Since the gear reduction mechanism 135 is existing technology, it will not be described in detail here.

[0068] In some embodiments, the pitch drive structure 13 further includes a detection mechanism 1360, which is mounted on the housing 131. The detection mechanism 1360 is used to control the drive assembly 130 to close when it detects that the extension length of the telescopic rod 132 has reached a preset value.

[0069] The detection mechanism 1360 is used to detect the extension length of the telescopic rod 132. When the detection mechanism 1360 detects that the extension length of the telescopic rod 132 has reached the preset value, the control drive component 130 is shut down in time to save power and ensure the accuracy of adjustment.

[0070] like Figure 6 As shown, in some embodiments, the detection mechanism 1360 is a sliding potentiometer 136. The sliding potentiometer 136 includes a potentiometer body 1361 and a sliding contact 1362 slidably disposed on the potentiometer body 1361. The potentiometer body 1361 is electrically connected to the control main board, and the sliding contact 1362 and the telescopic rod 132 move synchronously.

[0071] When the telescopic rod 132 extends or retracts, it drives the sliding contact 1362 to move synchronously. During the sliding process, the sliding contact 1362 transmits a signal to the potentiometer body 1361. The potentiometer body 1361 transmits the movement information to the control board. When the telescopic rod 132 reaches the preset value, the control board controls the drive motor 133 to shut down.

[0072] In this embodiment, the sliding contact 1362 and the threaded sleeve 1322 move synchronously. When the threaded sleeve 1322 slides, it drives the sliding contact 1362 to slide along the potentiometer body 1361, thereby detecting the sliding distance of the threaded sleeve 1322 and controlling the rotation angle of the tail fin assembly 12 to ensure adjustment accuracy and reliability.

[0073] As an alternative implementation, the detection mechanism 1360 can also be configured as a displacement sensor, which can also detect the extension length of the telescopic rod 132, and is not limited to this embodiment.

[0074] like Figure 4 and Figure 5 As shown, in some embodiments, hinge point 111 is located on the front side of tail fin assembly 12, first connection point 1211 is located on the upper side of tail fin assembly 12, and second connection point 1212 is located on the lower side of tail fin assembly 12. The hinge point 111, first connection point 1211 and second connection point 1212 form a vertically distributed triangular structure.

[0075] The pitch drive structure 13 is arranged in a triangle with the hinge point 111, the first connection point 1211 and the second connection point 1212 of the connecting part 11, which has higher strength and stability than other tail wing mechanisms 10.

[0076] Specifically, in the triangle formed by the hinge point 111, the first connection point 1211, and the second connection point 1212 of the pitch drive structure 13 and the connecting part 11, the distance from the hinge point 111 to the first connection point 1211 and the distance from the first connection point 1211 to the second connection point 1212 remain unchanged. Only the distance between the hinge point 111 and the second connection point 1212 changes length or shortens due to the driving of the pitch drive structure 13. Therefore, this application achieves the adjustment of the rotation angle of the tail fin assembly 12 by changing the length of one side of the triangle, thereby improving the stability of the adjustment process.

[0077] To facilitate understanding of the tail fin mechanism 10 of this application, its usage process is described as follows:

[0078] When the flapping-wing aircraft 100 needs to climb, the drive motor 133 drives the transmission gear 134 to rotate forward through the gear reduction mechanism 135, which in turn drives the driven gear 13231 meshing with the transmission gear 134 to rotate forward, causing the lead screw 1323 to rotate forward, which in turn drives the threaded sleeve 1322 cooperating with the lead screw 1323 to slide out of the housing 131 to extend the telescopic rod 132. The extension of the telescopic rod 132 drives the tail fin assembly 12 to rotate upward relative to the connecting part 11, thereby increasing the windward area of ​​the tail fin mechanism 10, so that the flapping-wing aircraft 100 can climb under the action of lift torque.

[0079] When the flapping-wing aircraft 100 needs to dive, the drive motor 133 drives the transmission gear 134 to rotate in the opposite direction through the gear reduction mechanism 135, which in turn drives the driven gear 13231 meshing with the transmission gear 134 to rotate in the opposite direction, causing the lead screw 1323 to rotate in the opposite direction, which drives the threaded sleeve 1322 cooperating with the lead screw 1323 to retract and slide back into the housing 131 to shorten the telescopic rod 132. The shortening of the telescopic rod 132 drives the tail fin assembly 12 to rotate downward relative to the connecting part 11, thereby reducing the windward area of ​​the tail fin mechanism 10, so that the flapping-wing aircraft 100 can dive under the action of the nose-down torque.

[0080] When the flapping-wing aircraft 100 needs to yaw to the left, the left rudder 16 drives the left rocker arm 161 to rotate, which in turn drives the first link 162 to rotate the left rudder plate frame 18 and the left rudder plate 14 upward, so that the flapping-wing aircraft 100 can yaw to the left under the action of the left yaw torque.

[0081] When the flapping-wing aircraft 100 needs to yaw to the right, the right servo motor 17 drives the right rocker arm 171 to rotate, which in turn drives the second link 172 to rotate the right rudder plate frame 19 and the right rudder plate 15 upward, so that the flapping-wing aircraft 100 can yaw to the right under the action of the right yaw torque.

[0082] like Figure 1 As shown, according to an embodiment of the present invention, in another aspect, a flapping-wing aircraft 100 is disclosed. The flapping-wing aircraft 100 includes a body 20 and a tail wing mechanism 10 for the flapping-wing aircraft 100 as described in this application, wherein the tail wing mechanism 10 is connected to the tail of the body 20.

[0083] The flapping-wing aircraft 100 of this application includes a tail wing mechanism 10. Therefore, the flapping-wing aircraft 100 of this application has the same technical effect as the tail wing mechanism 10, which will not be described in detail here.

[0084] Furthermore, the embodiments of this application only focus on the structures in the flapping-wing aircraft 100 that are related to the improvements of this application, and do not mean that the flapping-wing aircraft 100 does not have other structures. For example, the flapping-wing aircraft 100 also includes flapping wings 30 disposed on both sides of the fuselage 20. These structures are all within the protection scope of the embodiments of this application, and will not be described in detail here.

[0085] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A tail wing mechanism for an ornithopter, characterized by, The tail fin mechanism (10) includes: Connecting part (11); A tail fin assembly (12) having a first connection point (1211) and a second connection point (1212), the tail fin assembly (12) being hinged at the first connection point (1211) and the connecting portion (11); A pitch drive structure (13) is provided, one end of which is hinged to the connecting part (11), and the other end of which is hinged to the second connection point (1212) of the tail fin assembly (12). The hinge point (111) of the pitch drive structure (13) and the connecting part (11), the first connection point (1211) and the second connection point (1212) are arranged in a triangle. The pitch drive structure (13) is used to drive the tail fin assembly (12) to rotate, thereby enabling the flapping wing aircraft (100) to climb and dive. The rudder assembly includes a left rudder (14) and a right rudder (15), the left rudder (14) being disposed on the left side of the tail fin assembly (12) and the right rudder (15) being disposed on the right side of the tail fin assembly (12). The servo assembly includes a left servo (16) and a right servo (17). The left servo (16) is used to drive the rotation of the left rudder (14) to achieve left yaw of the flapping-wing aircraft (100), and the right servo (17) is used to drive the rotation of the right rudder (15) to achieve right yaw of the flapping-wing aircraft (100).

2. The tail wing mechanism of claim 1, wherein, The pitch drive structure (13) includes: Shell (131); Telescopic rod (132) is telescopically mounted on the housing (131). One end of the telescopic rod (132) is hinged to the connecting part (11), and the other end of the telescopic rod (132) is hinged to the second connection point (1212) of the tail fin assembly (12). A drive assembly (130) is mounted on the housing (131) and is used to drive the telescopic rod (132) to extend and retract in order to adjust the rotation angle of the tail fin assembly (12).

3. The tail wing mechanism of claim 2, wherein, The telescopic rod (132) includes a fixed section (1321), a matching threaded sleeve (1322), and a lead screw (1323). One end of the fixed section (1321) is connected to the housing (131), and the other end of the fixed section (1321) is hinged to the second connection point (1212) of the tail fin assembly (12). The threaded sleeve (1322) is slidably installed on the housing (131), and the end of the threaded sleeve (1322) away from the lead screw (1323) is hinged to the connecting part (11). The lead screw (1323) and the drive assembly (130) are in a transmission engagement. The lead screw (1323) is driven to rotate, thereby driving the threaded sleeve (1322) to slide, thus realizing the extension and retraction of the telescopic rod (132).

4. The tail wing mechanism of claim 3, wherein, The lead screw (1323) is coaxially fixed with a driven gear (13231). The drive assembly (130) includes a drive motor (133) and a transmission gear (134). The drive motor (133) and the transmission gear (134) are in transmission cooperation, and the transmission gear (134) and the driven gear (13231) are meshed.

5. The tail wing mechanism of claim 4, wherein, The pitch drive structure (13) also includes a gear reduction mechanism (135), and the drive motor (133) is driven by the gear reduction mechanism (135) and the transmission gear (134).

6. The tail fin mechanism according to any one of claims 2 to 5, characterized in that, The pitch drive structure (13) further includes a detection mechanism (1360), which is installed on the housing (131). The detection mechanism (1360) is used to control the drive assembly (130) to close when the telescopic rod (132) reaches a preset value.

7. The tail wing mechanism of claim 6, wherein, The detection mechanism (1360) is a sliding potentiometer (136), which includes a potentiometer body (1361) and a sliding contact (1362) slidably disposed on the potentiometer body (1361). The potentiometer body (1361) is electrically connected to the control main board, and the sliding contact (1362) and the telescopic rod (132) move synchronously.

8. The tail wing mechanism according to any one of claims 1 to 5, characterized in that, The hinge point (111) is located on the front side of the tail fin assembly (12), the first connection point (1211) is located on the upper side of the tail fin assembly (12), and the second connection point (1212) is located on the lower side of the tail fin assembly (12). The hinge point (111), the first connection point (1211), and the second connection point (1212) form a vertically distributed triangular structure.

9. The tail wing mechanism according to any one of claims 1 to 5, characterized in that, The tail fin assembly (12) includes a tail fin frame (121) and a tail fin (122). The tail fin frame (121) is provided with a first connection point (1211) and a second connection point (1212). The tail fin (122) is connected to the tail fin frame (121). The left rudder (14) and the right rudder (15) are rotatably disposed on the left and right sides of the tail fin frame (121), respectively. The left rudder (16) pushes and pulls the left rudder (14) to rotate through the first link (162), and the right rudder (17) pushes and pulls the right rudder (15) to rotate through the second link (172).

10. A flapping-wing flying vehicle, characterized by, The flapping-wing aircraft (100) includes: Body (20); The tail mechanism (10) for a flapping-wing aircraft (100) according to any one of claims 1 to 9, wherein the tail of the fuselage (20) is connected to the tail mechanism (10).

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