Tail mechanism and ornithopter

Abstract

This application relates to a tail fin mechanism and a flapping-wing aircraft. The tail fin mechanism includes a tail fin mount, a control plate assembly, and a servo assembly. The control plate assembly includes a center control plate, a left control plate, and a right control plate. The center control plate is located at the rear of the tail fin mount, while the left and right control plates are located on the left and right sides of the tail fin mount, respectively. The servo assembly is located on the tail fin mount and includes a steering servo and a pitch servo. The steering servo drives the left and right control plates to rotate, achieving left or right yaw of the flapping-wing aircraft. The pitch servo drives the center control plate to rotate, achieving climb and dive of the flapping-wing aircraft. This application achieves rigid decoupling of the tail fin mechanism in pitch-yaw steering control of the flapping-wing aircraft through structural design, separating pitch and yaw steering adjustments into two independent adjustment mechanisms. This reduces control difficulty, improves the flexibility and reliability of the flapping-wing aircraft, and allows the same steering servo to control both left and right yaw of the flapping-wing aircraft, simplifying the structural setup and reducing the overall weight.

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 mechanism for a flapping-wing aircraft. The tail mechanism includes a tail fin mount, a control blade assembly, and a servo assembly. The control blade assembly includes a center control blade, a left control blade, and a right control blade. The center control blade is disposed at the tail of the tail fin mount, the left control blade is disposed on the left side of the tail fin mount, and the right control blade is disposed on the right side of the tail fin mount. The servo assembly is disposed on the tail fin mount and includes a steering servo and a pitch servo. The steering servo is connected to the left and right control blades respectively and is used to drive the left and right control blades to rotate to achieve left or right yaw of the flapping-wing aircraft. The pitch servo is connected to the center control blade and is used to drive the center control blade to rotate to achieve climb and dive of the flapping-wing aircraft.

[0005] The tail mechanism proposed in this application allows the flapping-wing aircraft to yaw or turn when the aircraft needs to yaw. A steering servo drives the left and right rudder blades to rotate, and the flapping-wing aircraft yaws left or right under the yaw torque provided by the left and right rudder blades. When the flapping-wing aircraft needs to climb or dive, a pitch servo drives the middle rudder blade to rotate, and the flapping-wing aircraft climbs or dives under the propulsion of the airflow. This application, through the structural design of the tail mechanism, separates pitch adjustment and yaw adjustment into two independent steps, achieving rigid decoupling of the pitch-steering control of traditional tail mechanisms. This reduces control difficulty, improves the overall flexibility, reliability, and stability of the aircraft, and allows the same steering servo to achieve both left and right yaw, simplifying the structural design and reducing the overall weight.

[0006] In some embodiments, the tail fin mechanism further includes a steering rocker arm, a first link, and a second link. The steering rocker arm and the steering servo are driven together. The two ends of the first link are respectively hinged to the left rudder and the steering rocker arm, and the two ends of the second link are respectively hinged to the right rudder and the steering rocker arm. The first link and the second link are hinged on both sides of the rotation point of the steering rocker arm. The steering servo drives the steering rocker arm to rotate in a first direction, drives the left rudder to rotate downward through the first link, and drives the right rudder to rotate upward through the second link, thereby achieving left yaw of the flapping-wing aircraft. The steering servo drives the steering rocker arm to rotate in a second direction, drives the left rudder to rotate upward through the first link, and drives the right rudder to rotate downward through the second link, thereby achieving right yaw of the flapping-wing aircraft.

[0007] In some embodiments, the tail wing mechanism further includes a pitch rocker arm and a third link. The pitch rocker arm and the pitch servo are driven together. The two ends of the third link are respectively hinged to the center rudder and the pitch rocker arm. The pitch servo drives the steering rocker arm to rotate, which in turn drives the third link to drive the center rudder to rotate up or down, thereby realizing the climb or dive of the flapping wing aircraft.

[0008] In some embodiments, the steering servo and the pitch servo are arranged along the length of the tail fin, with the steering servo near the head of the tail fin and the pitch servo near the tail of the tail fin.

[0009] In some embodiments, the tail fin mount is provided with a first fixing slot and a second fixing slot along its length, the steering servo is mounted in the first fixing slot, and the pitch servo is mounted in the second fixing slot.

[0010] In some embodiments, the tail fin mount is provided with a first fixing hole, a second fixing hole, and a third fixing hole. The first fixing hole is located at the edge of the first fixing groove away from the second fixing groove, the second fixing hole is located between the first fixing groove and the second fixing groove, and the third fixing hole is located at the edge of the second fixing groove away from the first fixing groove. The steering servo is fixed to the tail fin mount through the first fixing hole and the second fixing hole, and the pitch servo is fixed to the tail fin mount through the second fixing hole and the third fixing hole.

[0011] In some embodiments, the tail fin mechanism further includes a left fin, a right fin, and a tail fin. The left fin is disposed on the left side of the tail fin frame, and the left rudder is rotatably disposed at the tail of the left fin. The right fin is disposed on the right side of the tail fin frame, and the right rudder is rotatably disposed at the tail of the right fin. The tail fin is disposed on the tail fin frame and located between the left fin and the right fin. The middle rudder is rotatably disposed at the tail of the tail fin.

[0012] In some embodiments, the tail fin mechanism further includes a first left carbon rod and a second left carbon rod. The first left carbon rod is disposed at the front end of the tail fin frame on a first side, and the first left carbon rod is angled to the plane on which the tail fin frame is located. The second left carbon rod is disposed at the rear end of the tail fin frame on a first side, and the second left carbon rod is angled to the plane on which the tail fin frame is located or parallel to the plane on which the tail fin frame is located. The left wing is connected to the first left carbon rod and the second left carbon rod.

[0013] In some embodiments, the tail fin mechanism further includes a first right carbon rod and a second right carbon rod. The first right carbon rod is disposed on the second side of the front end of the tail fin frame and is symmetrical to the first left carbon rod. The first right carbon rod is angled to the plane of the tail fin frame. The second right carbon rod is disposed on the second side of the rear end of the tail fin frame and is symmetrical to the second left carbon rod. The second right carbon rod is angled to the plane of the tail fin frame or parallel to the plane of the tail fin frame. The right winglet is connected to the first right carbon rod and the second right carbon rod.

[0014] In some embodiments, the head of the tail fin is provided with a main body mounting hole, and the tail fin is connected to the fuselage of the flapping-wing aircraft through the main body mounting hole.

[0015] A second aspect of this application provides a flapping-wing aircraft, which includes a fuselage and a tail fin mechanism of this application, the tail fin mechanism being disposed at the tail of the fuselage. 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 tail fin mechanism of a flapping-wing aircraft according to an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the tail fin frame according to one embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the structure of the tail fin bracket and carbon rod according to one embodiment of this application;

[0020] Figure 4 This is a top view of the tail fin mechanism of a flapping-wing aircraft during climb, according to an embodiment of this application.

[0021] Figure 5 The left view of the tail fin mechanism (excluding the left fin) of an flapping-wing aircraft during climb according to an embodiment of this application;

[0022] Figure 6 This is a top view of the tail fin mechanism of a flapping-wing aircraft during a dive, according to an embodiment of this application.

[0023] Figure 7 The left view of the tail fin mechanism (excluding the left fin) of a flapping-wing aircraft during a dive, according to an embodiment of this application;

[0024] Figure 8 This is a top view of the tail mechanism of a flapping-wing aircraft during left yaw according to an embodiment of this application;

[0025] Figure 9 This is a front view of the tail mechanism of a flapping-wing aircraft during left yaw according to an embodiment of this application;

[0026] Figure 10 This is a top view of the tail mechanism of a flapping-wing aircraft during right yaw according to an embodiment of this application;

[0027] Figure 11 This is a front view of the tail mechanism of an ornithopter during right yaw according to an embodiment of this application.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100. Tail wing mechanism;

[0030] 1. Tail wing bracket; 11. First mounting slot; 12. Second mounting slot; 13. First mounting hole; 14. Second mounting hole; 15. Third mounting hole; 16. Main body mounting hole; 17. First mounting hole; 18. First mounting slot; 19. Second mounting hole; 101. Second mounting slot; 2. Left wing flap; 21. Left rudder flap; 3. Right wing flap; 31. Right rudder flap; 4. Tail wing flap; 41. Middle rudder flap; 5. Steering servo; 6. Pitch servo; 7. Steering rocker arm; 8. First link; 9. Second link; 10. Pitch rocker arm; 20. Third link; 30. First left carbon rod; 40. Second left carbon rod; 50. First right carbon rod; 60. Second right carbon rod. 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 100 described in this application using an ornithopter is merely a preferred embodiment and is not intended to limit the application scope of the tail wing mechanism 100. For example, the tail wing mechanism 100 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 100 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 in the related technology is equipped with a tail mechanism 100, which enables the flapping-wing aircraft to yaw, dive, and climb, the tail mechanism 100 has strong coupling in pitch-turn control adjustment, which is not conducive to the flapping-wing aircraft's autonomous control flight.

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

[0037] The following is in conjunction with the instruction manual. Figures 1 to 11 The embodiments of this application are described below.

[0038] like Figure 1 As shown, according to an embodiment of the present invention, a tail fin mechanism is disclosed for a flapping-wing aircraft. The tail fin mechanism 100 includes a tail fin frame 1, a rudder assembly, and a servo assembly. The rudder assembly includes a center rudder 41, a left rudder 21, and a right rudder 31. The center rudder 41 is disposed at the tail of the tail fin frame 1, the left rudder 21 is disposed on the left side of the tail fin frame 1, and the right rudder 31 is disposed on the right side of the tail fin frame 1. The servo assembly is disposed on the tail fin frame 1 and includes a steering servo 5 and a pitch servo 6. The steering servo 5 is connected to the left rudder 21 and the right rudder 31 respectively, and is used to drive the left rudder 21 and the right rudder 31 to rotate to achieve left or right yaw of the flapping-wing aircraft. The pitch servo 6 is connected to the center rudder 41 and is used to drive the center rudder 41 to rotate to achieve climb and dive of the flapping-wing aircraft.

[0039] In this embodiment, the tail mechanism 100 proposed in this application, when the flapping-wing aircraft needs to turn and yaw, the steering servo 5 drives the left rudder 21 and the right rudder 31 to rotate by an angle. Under the action of the yaw torque provided by the left rudder 21 and the right rudder 31, the flapping-wing aircraft achieves left or right yaw. When the flapping-wing aircraft needs to climb or dive, the pitch servo 6 drives the middle rudder 41 to rotate by an angle. Under the propulsion of the airflow, the flapping-wing aircraft achieves climb and dive. By setting the structure of the tail mechanism 100, this application separates pitch adjustment and steering and yaw adjustment into two independent steps, realizing rigid decoupling of the pitch-steering control of the traditional tail mechanism 100, reducing the control difficulty, improving the flexibility, reliability and stability of the whole aircraft, and the same steering servo 5 can realize the left and right yaw of the flapping-wing aircraft, simplifying the structural setting and reducing the weight of the whole aircraft.

[0040] like Figure 4 , Figure 6 , Figures 8 to 11As shown, in some embodiments, the tail wing mechanism 100 further includes a steering rocker arm 7, a first link 8, and a second link 9. The steering rocker arm 7 and the steering servo 5 are driven together. The two ends of the first link 8 are respectively hinged to the left rudder 21 and the steering rocker arm 7, and the two ends of the second link 9 are respectively hinged to the right rudder 31 and the steering rocker arm 7. The first link 8 and the second link 9 are hinged on both sides of the rotation point of the steering rocker arm 7. The steering servo 5 drives the steering rocker arm 7 to rotate in a first direction, drives the left rudder 21 to rotate downward through the first link 8, and drives the right rudder 31 to rotate upward through the second link 9, thereby achieving left yaw of the flapping-wing aircraft. The steering servo 5 drives the steering rocker arm 7 to rotate in a second direction, drives the left rudder 21 to rotate upward through the first link 8, and drives the right rudder 31 to rotate downward through the second link 9, thereby achieving right yaw of the flapping-wing aircraft.

[0041] The steering servo 5 drives the steering arm 7 to rotate in the first direction, pushing the first link 8 to drive the left rudder 21 to rotate downward, and pulling the second link 9 to drive the right rudder 31 to rotate upward. The flapping-wing aircraft yaws to the left under the push of the airflow. The steering servo 5 drives the steering arm 7 to rotate in the second direction, pulling the first link 8 to drive the left rudder 21 to rotate upward, and pushing the second link 9 to drive the right rudder 31 to rotate downward. The flapping-wing aircraft yaws to the right under the push of the airflow.

[0042] Specifically, for ease of connection, a left rudder angle and a right rudder angle (not shown in the figure) can be set on the left rudder plate 21 and the right rudder plate 31. The first link 8 is hinged to the left rudder angle of the left rudder plate 21, and the second link 9 is hinged to the right rudder angle of the right rudder plate 31.

[0043] Preferably, the rotation point of the steering rocker arm 7 is set at the middle position of the steering rocker arm 7, while the first link 8 and the second link 9 are symmetrically arranged at both ends of the middle position of the steering rocker arm 7, to ensure that the forces on both sides of the steering rocker arm 7 are balanced and to improve the stability of steering adjustment.

[0044] In some embodiments, the tail wing mechanism 100 further includes a pitch rocker arm 10 and a third link 20, wherein the pitch rocker arm 10 and the pitch servo 6 are driven together, and the two ends of the third link 20 are respectively hinged to the middle rudder 41 and the pitch rocker arm 10. The pitch servo 6 drives the steering rocker arm 7 to rotate, thereby driving the third link 20 to drive the middle rudder 41 to rotate upward or downward, so as to realize the climb or dive of the flapping wing aircraft.

[0045] The pitch servo 6 drives the steering arm 7 to rotate in the first direction, pulling the third link 20 to drive the middle rudder 41 to rotate upward, and the flapping-wing aircraft climbs under the propulsion of the airflow. The pitch servo 6 drives the steering arm 7 to rotate in the second direction, pushing the third link 20 to drive the middle rudder 41 to rotate downward, and the flapping-wing aircraft dives under the propulsion of the airflow.

[0046] It should be noted here that the first direction described in this embodiment is... Figure 4 or Figure 8 The direction indicated by arrow 'a' (counter-clockwise rotation direction) is the second direction in this embodiment. Figure 6 or Figure 10 The direction indicated by arrow b (clockwise rotation direction).

[0047] Specifically, for ease of connection, a center rudder angle (not shown in the figure) can be set on the center rudder plate 41, and the third link 20 is hinged to the center rudder angle of the center rudder plate 41.

[0048] It should be noted that the connection point between the third link 20 and the steering rocker arm 7 and the rotation point of the steering rocker arm 7 are staggered to ensure that when the steering rocker arm 7 rotates, it can drive the third link 20 to push and pull to adjust the rotation angle of the centering rudder plate 41.

[0049] Conversely, if the connection point between the third link 20 and the steering rocker arm 7 coincides with the rotation point of the steering rocker arm 7, the steering rocker arm 7 will not be able to drive the third link 20 to push or pull when it rotates, and thus the adjustment of the rotation angle of the centering rudder plate 41 cannot be achieved.

[0050] like Figure 1 As shown, in some embodiments, the steering servo 5 and the pitch servo 6 are arranged along the length of the tail fin 1, with the steering servo 5 near the head of the tail fin 1 and the pitch servo 6 near the tail of the tail fin 1.

[0051] By arranging the steering servo 5 and pitch servo 6 along the length of the tail fin 1, the width of the tail fin 1 can be reduced. Furthermore, by placing the steering servo 5 closer to the head of the tail fin 1 and the pitch servo 6 closer to the tail of the tail fin 1, interference between steering and pitch adjustments can be avoided, ensuring independent adjustment.

[0052] like Figure 1 and Figure 2 As shown, in some embodiments, the tail fin 1 is provided with a first fixing groove 11 and a second fixing groove 12 along its length direction, the steering servo 5 is installed in the first fixing groove 11, and the pitch servo 6 is installed in the second fixing groove 12.

[0053] The first fixing slot 11 is set to enable the installation and positioning of the steering servo 5, and the second fixing slot 12 is set to enable the installation and positioning of the pitch servo 6, ensuring the accuracy and reliability of the installation position.

[0054] Specifically, the shape and dimensions of the first fixing slot 11 and the second fixing slot 12 are matched with the external dimensions of the steering servo 5 and the pitch servo 6, respectively, to facilitate installation. The specific dimensions can be set as needed. For example, in this embodiment, the steering servo 5 and the pitch servo 6 are generally square in shape. Therefore, both the first fixing slot 11 and the second fixing slot 12 are square slots, and the size of the square slots is slightly larger than the external dimensions of the steering servo 5 and the pitch servo 6, so that the steering servo 5 can be installed in the first fixing slot 11 and the pitch servo 6 can be installed in the second fixing slot 12.

[0055] like Figure 1 and Figure 2 As shown, in some embodiments, the tail fin mount 1 is provided with a first fixing hole 13, a second fixing hole 14 and a third fixing hole 15. The first fixing hole 13 is located at the edge of the first fixing groove 11 away from the second fixing groove 12, the second fixing hole 14 is located between the first fixing groove 11 and the second fixing groove 12, and the third fixing hole 15 is located at the edge of the second fixing groove 12 away from the first fixing groove 11. The steering servo 5 is fixed to the tail fin mount 1 through the first fixing hole 13 and the second fixing hole 14, and the pitch servo 6 is fixed to the tail fin mount 1 through the second fixing hole 14 and the third fixing hole 15.

[0056] The steering servo 5 is fixed to the first fixing slot 11 of the tail wing 1 through the first fixing hole 13 and the second fixing hole 14 provided on the tail wing 1. The pitch servo 6 is fixed to the second fixing slot 12 of the tail wing 1 through the second fixing hole 14 and the third fixing hole 15 provided on the tail wing 1. The steering servo 5 and the pitch servo 6 are arranged in a side-by-side position and share the second fixing hole 14 for installation and fixation, which reduces the number of holes, thereby reducing the weight of the whole machine and simplifying the installation steps.

[0057] Specifically, screws can be driven into the first fixing hole 13, the second fixing hole 14 and the third fixing hole 15 to install and fix the steering servo 5 and the pitch servo 6.

[0058] like Figure 1 , Figure 4 , Figure 6 , Figure 8 and Figure 10 As shown, in some embodiments, the tail wing mechanism 100 further includes a left wing 2, a right wing 3, and a tail wing 4. The left wing 2 is disposed on the left side of the tail wing frame 1, the left rudder 21 is rotatably disposed at the tail of the left wing 2, the right wing 3 is disposed on the right side of the tail wing frame 1, the right rudder 31 is rotatably disposed at the tail of the right wing 3, the tail wing 4 is disposed on the tail wing frame 1 and the tail wing 4 is located between the left wing 2 and the right wing 3, and the middle rudder 41 is rotatably disposed at the tail of the tail wing 4.

[0059] By setting a rotatable left rudder 21 at the tail of the left wing 2, a rotatable right rudder 31 at the tail of the right wing 3, and a rotatable center rudder 41 at the tail of the tail wing 4, the flapping-wing aircraft can achieve left and right yaw, climb, and dive adjustments.

[0060] In this embodiment, the left wing 2 and the left rudder 21 are integrally formed, the right wing 3 and the right rudder 31 are integrally formed, and the tail wing 4 and the middle rudder 41 are integrally formed. A hot pressing process is used to hot press the tail of the left wing 2, the tail of the right wing 3, and the tail of the tail wing 4 to form the rotatable left rudder 21, right rudder 31, and middle rudder 41. This eliminates the need for connecting parts such as hinges, reduces installation steps and the weight of the whole machine, and simplifies the processing and manufacturing process.

[0061] Specifically, it can be along Figure 1 The path shown by the dashed line is hot-pressed to form a rotatable left rudder blade 21, right rudder blade 31, and middle rudder blade 41.

[0062] In terms of materials, EPP plates can be selected for the left wing 2, right wing 3 and tail wing 4, but they are not limited to this and other materials can also be selected.

[0063] In terms of specific shapes, the left wing 2, the right wing 3, and the tail wing 4 can be set as V-shaped, Z-shaped, or fan-shaped as needed, and this embodiment does not impose specific limitations.

[0064] It should be noted that the tail fin 4 is provided with clearance holes that match the first mounting slot 18 and the second mounting slot 101, so as to allow clearance for the installation of the steering servo 5 and the pitch servo 6.

[0065] For ease of description of the embodiments of this application, the embodiments of this application are defined below as front end, rear end, first side and second side. In the embodiments of this application, the front end refers to the position of the tail wing 1 near the head of the aircraft, the rear end refers to the position of the tail wing 1 near the tail of the aircraft, the first side refers to the position located on the left wing of the aircraft, and the second side refers to the position located on the right wing of the aircraft.

[0066] like Figure 1 and Figure 3As shown, in some embodiments, the tail wing mechanism 100 further includes a first left carbon rod 30 and a second left carbon rod 40. The first left carbon rod 30 is disposed on the first side of the front end of the tail wing frame 1. The first left carbon rod 30 is set at an angle to the plane on which the tail wing frame 1 is located, with the angle range being 0-90°, preferably 45°. The second left carbon rod 40 is disposed on the first side of the rear end of the tail wing frame 1. The second left carbon rod 40 is set at an angle to the plane on which the tail wing frame 1 is located or is parallel to the plane on which the tail wing frame 1 is located. The left wing piece 2 is connected to the first left carbon rod 30 and the second left carbon rod 40.

[0067] The first left carbon rod 30 supports the front end of the left wing piece 2 on the first side, and the second left carbon rod 40 supports the rear end of the left wing piece 2 on the first side, thereby ensuring the installation strength and reliability of the left wing piece 2.

[0068] It should be noted that the position of the second left carbon rod 40 is staggered from the position of the left rudder blade 21 to avoid the second left carbon rod 40 affecting the rotation of the left rudder blade 21.

[0069] like Figure 1 and Figure 3 As shown, in some embodiments, the tail fin mechanism 100 further includes a first right carbon rod 50 and a second right carbon rod 60. The first right carbon rod 50 is disposed on the second side of the front end of the tail fin frame 1 and is symmetrical to the first left carbon rod 30. The first right carbon rod 50 is set at an angle to the plane on which the tail fin frame 1 is located, with the angle range being 0-90°, preferably 45°. The second right carbon rod 60 is disposed on the second side of the rear end of the tail fin frame 1 and is symmetrical to the second left carbon rod 40. The second right carbon rod 60 is set at an angle to the plane on which the tail fin frame 1 is located or is parallel to the plane on which the tail fin frame 1 is located. The right wing 3 is connected to the first right carbon rod 50 and the second right carbon rod 60.

[0070] The first right carbon rod 50 supports the second side of the front end of the right wing 3, and the second right carbon rod 60 supports the second side of the rear end of the right wing 3, thereby ensuring the installation strength and reliability of the right wing 3.

[0071] It should be noted that the position of the second right carbon rod 60 is staggered from the position of the right rudder blade 31 to avoid the second right carbon rod 60 affecting the rotation of the right rudder blade 31.

[0072] The tail wing mechanism 100 of this application uses four carbon rods and tail wing frame 1 to form a tail wing frame, which can effectively reduce the weight of the tail wing mechanism 100 without reducing its stability, and is suitable for small flapping-wing aircraft.

[0073] In this embodiment, the second left carbon rod 40 is parallel to the tail fin 1 to support the first side of the rear end of the left wing 2. The second right carbon rod 60 is parallel to the tail fin 1 to support the second side of the rear end of the right wing 3. A first mounting hole 17 is provided on the first side of the front end of the tail fin 1, and a second mounting hole 19 is provided on the second side of the front end of the tail fin 1. The first left carbon rod 30 is fixed to the first mounting hole 17 with glue, and the first right carbon rod 50 is fixed to the second mounting hole 19 with glue. A first mounting groove 18 is provided on the first side of the rear end of the tail fin 1, and a second mounting groove 101 is provided on the second side of the rear end of the tail fin 1. The second left carbon rod 40 is fixed to the first mounting groove 18 with glue, and the second right carbon rod 60 is fixed to the second mounting groove 101 with glue.

[0074] As an alternative implementation, the second left carbon rod 40 and the second right carbon rod 60 can also be set at an angle to the plane where the tail fin bracket 1 is located, for example, the angle range is set to 0-90°, preferably 45°. Alternatively, fasteners can be used to fix the first left carbon rod 30 and the first right carbon rod 50 to the first mounting hole 17 and the second mounting hole 19 respectively, and the second left carbon rod 40 and the second right carbon rod 60 to the first mounting groove 18 and the second mounting groove 101 respectively, not limited to the solutions in this embodiment.

[0075] More specifically, the first mounting groove 18 and the second mounting groove 101 can extend along the length of the tail fin 1 to form a strip-shaped groove of a certain length, so as to increase the mounting contact area with the second left carbon rod 40 and the second right carbon rod 60 and improve the installation reliability.

[0076] In some embodiments, the front end of the tail wing 1 is provided with a main body mounting hole 16, and the tail wing 1 is connected to the fuselage of the flapping-wing aircraft through the main body mounting hole 16.

[0077] A main body mounting hole 16 is provided at the front end of the tail wing frame 1, so that the tail wing mechanism 100 can be easily connected to the fuselage of the flapping wing aircraft, thereby improving the overall stability of the aircraft.

[0078] Specifically, the main mounting hole 16 can be a square hole, which can achieve connection while preventing circumferential rotation at the connection point. Of course, the shape of the main mounting hole 16 can also be set as needed. For example, in other embodiments, the main mounting hole 16 can also be set as a circle, an ellipse or other geometric shapes.

[0079] To facilitate understanding of the tail wing mechanism 100 in this embodiment, its installation and usage processes are described below:

[0080] Installation process: as follows Figures 1 to 3As shown, the tail fin frame 1 is formed by injection molding. The first left carbon rod 30 and the first right carbon rod 50 are inserted into the first mounting holes 17 and the second mounting holes 19 on both sides of the front end of the tail fin frame 1, respectively, and fixed with glue. The second left carbon rod 40 and the second right carbon rod 60 are inserted into the first mounting slot 18 and the second mounting slot 101 on both sides of the rear end of the tail fin frame 1, respectively, and fixed with glue to form the tail fin frame. The steering servo 5 is installed in the first fixing slot 11, and the pitch servo 6 is installed in the second fixing slot 12. The pre-cut tail fin 4, left fin 2 and right fin 3 are attached to form the wing surface. The left rudder angle, right rudder angle and center rudder angle are installed on the left rudder angle 21, right rudder angle 31 and center rudder angle 41 at the end of the wing surface. The two ends of the first connecting rod 8 are connected to the steering rocker arm 7 and the left rudder angle, respectively. The two ends of the second connecting rod 9 are connected to the steering rocker arm 7 and the right rudder angle, respectively. The two ends of the third connecting rod 20 are connected to the pitch rocker arm 10 and the center rudder angle, respectively, to complete the installation.

[0081] When an ornithopter needs to climb, such as Figure 4 and Figure 5 As shown, the pitch rocker arm 10 moves along the first direction (e.g., Figure 4 Rotate in the direction indicated by arrow 'a', pulling the third linkage 20 to drive the middle rudder 41 to rotate upward (middle rudder 41 along...). Figure 5 (As indicated by the arrow, the flapping-wing aircraft climbs under the action of the pitching moment.)

[0082] When an ornithopter needs to perform a dive, such as Figure 6 and Figure 7 As shown, the pitch rocker arm 10 moves along the second direction (e.g.) Figure 6 The direction indicated by arrow b in the diagram is rotated, pushing the third link 20 to drive the middle rudder 41 to rotate downwards (the middle rudder 41 rotates along the direction indicated by arrow b). Figure 7 (As indicated by the middle arrow, the flapping-wing aircraft descends) and achieves a dive under the action of the nose-down moment.

[0083] When an ornithopter needs to achieve left yaw, such as Figure 8 and Figure 9 As shown, the steering rocker arm 7 moves along the first direction (e.g.) Figure 8 The direction indicated by arrow 'a' in the diagram is rotated, pushing the first linkage 8 to drive the left rudder 21 to rotate downwards (the left rudder 21 rotates along the direction indicated by arrow 'a' in the diagram). Figure 9 (Turn in the direction indicated by the arrow on the left), pull the second linkage 9 to drive the right rudder 31 to rotate upward (the right rudder 31 rotates along the direction indicated by the arrow on the left). Figure 9 (Rotating in the direction indicated by the arrow on the right) causes the flapping-wing aircraft to generate a counterclockwise rolling torque relative to its own forward direction, thereby achieving left yaw.

[0084] When an ornithopter needs to achieve right yaw, such as Figure 10 and Figure 11 As shown, the steering rocker arm 7 moves along the second direction (e.g.) Figure 10Rotate in the direction indicated by arrow b, pulling the first linkage 8 to drive the left rudder 21 to rotate upward (left rudder 21 along...). Figure 11 (Turn in the direction indicated by the arrow on the left), pushing the second linkage 9 to drive the right rudder 31 to rotate downwards (the right rudder 31 rotates along the direction indicated by the arrow on the left). Figure 11 (Rotating in the direction indicated by the arrow on the right) causes the flapping-wing aircraft to generate a clockwise rolling torque relative to its own forward direction, thereby achieving right yaw.

[0085] It should be noted that in this embodiment, the head and tail are described with reference to the flight direction of the flapping-wing aircraft. Specifically, the head is in the direction of flight of the flapping-wing aircraft, and the tail is in the direction of flight away from the flight direction of the flapping-wing aircraft.

[0086] The second aspect of this application provides a flapping-wing aircraft, which includes an airframe and a tail mechanism 100 of this application, the tail mechanism 100 being disposed at the tail of the airframe.

[0087] Since the flapping-wing aircraft of this application includes the tail wing mechanism 100 of this application, the flapping-wing aircraft of this application has the same technical effects as the tail wing mechanism 100, and will not be described in detail here.

[0088] Furthermore, the embodiments of this application only focus on the structures in the flapping-wing aircraft that are related to the improvements of this application, and do not mean that the flapping-wing aircraft does not have other structures. For example, the flapping-wing aircraft also includes flapping wings disposed on both sides of the fuselage. These structures are all within the protection scope of the embodiments of this application, and will not be described in detail here.

[0089] 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 fin mechanism for a flapping-wing aircraft, characterized in that, The tail fin mechanism (100) includes: Tail wing mount (1); The rudder assembly includes a center rudder (41), a left rudder (21), and a right rudder (31). The center rudder (41) is located at the tail of the tail fin (1), the left rudder (21) is located on the left side of the tail fin (1), and the right rudder (31) is located on the right side of the tail fin (1). The servo assembly is mounted on the tail fin mount (1). The servo assembly includes a steering servo (5) and a pitch servo (6). The steering servo (5) is connected to the left rudder (21) and the right rudder (31) respectively, and is used to drive the left rudder (21) and the right rudder (31) to rotate to achieve left or right yaw of the flapping-wing aircraft. The pitch servo (6) is connected to the middle rudder (41) and is used to drive the middle rudder (41) to rotate to achieve climb and dive of the flapping-wing aircraft.

2. The tail fin mechanism according to claim 1, characterized in that, The tail fin mechanism (100) further includes: Steering rocker arm (7), the steering rocker arm (7) and the steering servo (5) are in transmission cooperation; The first link (8) is hinged at both ends to the left rudder (21) and the steering rocker arm (7), respectively. The second link (9) is hinged at both ends to the right rudder (31) and the steering rocker arm (7) respectively, and the first link (8) and the second link (9) are hinged on both sides of the rotation point of the steering rocker arm (7). The steering servo (5) drives the steering rocker arm (7) to rotate in the first direction, drives the left rudder (21) to rotate downward through the first link (8), and drives the right rudder (31) to rotate upward through the second link (9), thereby achieving left yaw of the flapping-wing aircraft; the steering servo (5) drives the steering rocker arm (7) to rotate in the second direction, drives the left rudder (21) to rotate upward through the first link (8), and drives the right rudder (31) to rotate downward through the second link (9), thereby achieving right yaw of the flapping-wing aircraft.

3. The tail fin mechanism according to claim 1, characterized in that, The tail fin mechanism (100) further includes: Pitch rocker arm (10), the pitch rocker arm (10) and the pitch servo motor (6) are in transmission cooperation; The third link (20) is hinged at both ends to the middle rudder (41) and the pitch rocker arm (10) respectively. The pitch servo (6) drives the pitch rocker arm (10) to rotate, which in turn drives the third link (20) to drive the middle rudder (41) to rotate up or down, thereby enabling the flapping-wing aircraft to climb or dive.

4. The tail fin mechanism according to any one of claims 1 to 3, characterized in that, The steering servo (5) and the pitch servo (6) are arranged along the length of the tail fin (1), with the steering servo (5) near the head of the tail fin (1) and the pitch servo (6) near the tail of the tail fin (1).

5. The tail fin mechanism according to any one of claims 1 to 3, characterized in that, The tail fin mount (1) has a first fixing slot (11) and a second fixing slot (12) along its length. The steering servo (5) is installed in the first fixing slot (11), and the pitch servo (6) is installed in the second fixing slot (12).

6. The tail fin mechanism according to claim 5, characterized in that, The tail fin mount (1) is provided with a first fixing hole (13), a second fixing hole (14) and a third fixing hole (15). The first fixing hole (13) is located at the edge of the first fixing groove (11) away from the second fixing groove (12). The second fixing hole (14) is located between the first fixing groove (11) and the second fixing groove (12). The third fixing hole (15) is located at the edge of the second fixing groove (12) away from the first fixing groove (11). The steering servo (5) is fixed to the tail fin mount (1) through the first fixing hole (13) and the second fixing hole (14). The pitch servo (6) is fixed to the tail fin mount (1) through the second fixing hole (14) and the third fixing hole (15).

7. The tail fin mechanism according to any one of claims 1 to 3, characterized in that, The tail wing mechanism (100) further includes a left wing piece (2), a right wing piece (3), and a tail wing piece (4). The left wing piece (2) is disposed on the left side of the tail wing frame (1). The left rudder piece (21) is rotatably disposed at the tail of the left wing piece (2). The right wing piece (3) is disposed on the right side of the tail wing frame (1). The right rudder piece (31) is rotatably disposed at the tail of the right wing piece (3). The tail wing piece (4) is disposed on the tail wing frame (1) and the tail wing piece (4) is located between the left wing piece (2) and the right wing piece (3). The middle rudder piece (41) is rotatably disposed at the tail of the tail wing piece (4).

8. The tail fin mechanism according to claim 7, characterized in that, The tail fin mechanism (100) further includes: The first left carbon rod (30) is disposed on the first side of the front end of the tail fin (1), and the first left carbon rod (30) is set at an angle to the plane on which the tail fin (1) is located; The second left carbon rod (40) is disposed on the first side of the rear end of the tail wing frame (1). The second left carbon rod (40) is set at an angle to the plane where the tail wing frame (1) is located or is parallel to the plane where the tail wing frame (1) is located. The left wing piece (2) is connected to the first left carbon rod (30) and the second left carbon rod (40).

9. The tail fin mechanism according to claim 8, characterized in that, The tail fin mechanism (100) further includes: The first right carbon rod (50) is disposed on the second side of the front end of the tail fin frame (1) and is symmetrical to the first left carbon rod (30). The first right carbon rod (50) is set at an angle to the plane where the tail fin frame (1) is located. The second right carbon rod (60) is located on the second side of the rear end of the tail fin (1) and is symmetrical to the second left carbon rod (40). The second right carbon rod (60) is set at an angle to the plane where the tail fin (1) is located or is parallel to the plane where the tail fin (1) is located. The right wing (3) is connected to the first right carbon rod (50) and the second right carbon rod (60).

10. A flapping-wing aircraft, characterized in that, The flapping-wing aircraft includes: Organism; The tail wing mechanism (100) according to any one of claims 1 to 9 is disposed at the tail of the fuselage.

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