CN111319742B

CN111319742B - Parallel type space tail pendulum propulsion device

Info

Publication number: CN111319742B
Application number: CN202010240724.9A
Authority: CN
Inventors: 王淑妍; 马德壮; 袁卓俊; 郭栋祥
Original assignee: Donghua University
Current assignee: Shenzhen Shuishui Technology Co ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2021-06-18
Anticipated expiration: 2040-03-31
Also published as: CN111319742A

Abstract

The invention relates to a parallel type space tail pendulum propulsion device, belonging to the technical field of underwater automatic aircrafts; comprises a football-shaped shell, a fishtail space orienting device, a gravity center adjusting mechanism, a tail plane reciprocating mechanism and a control system; under the action of the parallel mechanism, the fishtail space orientation device realizes the orientation of the fishtail swing plane by outputting three position points; the gravity center adjusting mechanism adjusts the gravity center of the fish body in real time under the combined action of the push rod and the ball pair, so that the gravity center of the robot fish is still kept basically unchanged when the tail of the robot fish does space motion; the tail plane reciprocating mechanism adopts a gear pair and a four-bar mechanism to realize the swinging/flapping of the tail fin through the cooperative motion. The invention can realize free switching of swimming modes such as Ke mode swimming and dolphin mode swimming, has simple mechanism principle and structure composition, and is suitable for the power device of the underwater automatic vehicle.

Description

Parallel type space tail pendulum propulsion device

Technical Field

The invention relates to a parallel type space tail pendulum propulsion device, and belongs to the technical field of underwater automatic aircrafts.

Background

The excellent swimming ability of fish, which is a product evolved in nature, is increasingly concerned by scholars at home and abroad. The high swimming capability of aquatic animals such as tunas, dolphins and the like is difficult to compare with that of ships propelled by the current propeller, the adopted tail fin propulsion mode is considered to be the propulsion mode with highest efficiency and fastest speed, the propulsion mode is also considered to be the final design target of a future underwater automatic aircraft power device, and the propeller has great application prospect in the fields of ocean observation, military monitoring, underwater operation, underwater lifesaving and the like under complex ocean environments. The prior patents are found through the literature search of the prior art: chinese patent publication No.: CN 101301926B, announcement date: 2010.10.06, patent name: the bionic robot fish is provided with a lifting and submerging module and a tail module, the lifting and submerging of the robot fish are realized through the lifting and submerging module, a screw rod mechanism of the tail module outputs reciprocating movement, and the left-right maneuvering and the propulsion of the robot fish are finally realized under the action of a connecting rod assembly, so that the space maneuvering of the robot fish is realized; chinese patent publication No.: CN2011026625Y, announcement date: 2008.08.20, patent name: the three-dimensional motion bionic robot fish realizes the propulsion and the left-right maneuvering of the robot fish through a steering engine connected with the tail in series, and changes the posture of the robot fish through a gravity center changing device, thereby realizing the ascending and descending. Chinese patent publication No.: CN104724269A, announcement date: 2015.6.24, patent name: a space maneuvering tail pendulum propelling device. The patent can realize the flexible conversion of two motion modes of the tail fin swing/flapping, and can flexibly change the motion direction of the tail fin swing/flapping on the basis of keeping an effective water-beating angle; meanwhile, the rotating device of the movable frame can change the direction of the motion axis of the tail fin to generate lateral force/lift force in different directions, so that the motion characteristics of propulsion, turning, lifting and submerging and the like are realized.

Among the existing patents, patent publication nos.: the tail fin swinging propulsion mode adopted by CN 101301926B simulates single fish, the gravity center adjusting mechanism or a drainage mechanism similar to a fish body air bag is adopted to realize the lifting and submerging of the robot fish, and the propulsion and lifting submerging are respectively realized by different mechanisms, so that the space utilization rate is reduced, the complexity of the mechanism is increased, and the reliability is also reduced; patent publication No.: the CN2011026625Y patent also simulates a single fish, and adopts a series-connection steering engine and a gravity center changing device to change the posture of the robot fish to realize ascending and descending; patent publication No.: the patent CN104724269A is a space tail fin propulsion device, which can simulate the propulsion of different fishes, but needs to be connected and driven cooperatively by a more complicated mechanical device, and is suitable for the application in the occasion of large propulsion force, but is not favorable for the miniaturization and light weight of the bionic fishes. At present, a multi-degree-of-freedom driving device with simple structure and flexible operation is needed in the technical field, and the device has important significance for miniaturization and light weight of an underwater unmanned vehicle.

Disclosure of Invention

The invention aims to solve the technical problem of how to realize the miniaturization and light weight of an underwater driving device, so as to obtain a multi-degree-of-freedom driving device which is simple in structure and flexible in operation.

In order to solve the problems, the technical scheme adopted by the invention is to provide a parallel type space tail pendulum propulsion device, which comprises a shell, a fishtail space orienting device, a gravity center adjusting mechanism, a tail plane reciprocating mechanism and a control system, wherein the shell is provided with a tail plane reciprocating mechanism; the shell comprises a front shell and a rear shell, and the front shell and the rear shell are movably spliced to form a hollow football-shaped structure; a fishtail space orientation device is arranged in the front shell; a tail plane reciprocating mechanism is arranged in the rear shell; a gravity center adjusting mechanism is arranged between the fishtail space orienting device and the tail plane reciprocating mechanism; the shell is internally provided with a control system which is respectively connected with the fishtail space orienting device and the tail plane reciprocating mechanism.

Preferably, the fishtail space orienting device comprises a first power supply, a first controller, a first connecting plate, a first spherical hinge support, a second spherical hinge support, a third spherical hinge support, a first telescopic push rod, a second telescopic push rod, a third telescopic push rod, a first connecting piece, a second connecting piece, a third connecting piece and a second connecting plate; the front shell is internally provided with a first connecting plate vertical to the central axis of the rugby-shaped shell, and the first connecting plate is provided with a first ball hinge support, a second ball hinge support and a third ball hinge support; a second connecting plate perpendicular to the central axis of the rugby-ball-shaped shell is arranged in the rear shell, and a first connecting piece, a second connecting piece and a third connecting piece which correspond to the spherical hinge support on the first connecting plate are arranged on the second connecting plate; a first telescopic push rod is arranged between the first ball hinge support and the first connecting piece; a second telescopic push rod is arranged between the second spherical hinge bracket and the second connecting piece; a third telescopic push rod is arranged between the third spherical hinge bracket and the third connecting piece; the front shell is internally provided with a first power supply and a first controller, and the first power supply is respectively connected with a first telescopic push rod, a second telescopic push rod and a third telescopic push rod through the first controller.

Preferably, the centers of the 3 ball hinge supports arranged on the first connecting plate form an equilateral triangle, and the distances between the centers of the 3 ball hinge supports and the central axis of the rugby-ball-shaped shell are equal.

Preferably, one side of an equilateral triangle formed by the centers of the 3 ball hinge supports on the first connecting plate is arranged to be parallel to the horizontal plane.

Preferably, one end of the telescopic push rod connected with the ball hinge support is provided with a ball joint capable of rotating around the ball hinge support, and the other end of the telescopic push rod is movably connected with the connecting piece.

Preferably, the gravity center adjusting mechanism comprises a bracket fixedly arranged on the front shell, a rotating rod, a balancing weight, a counterweight telescopic push rod II, a spherical shell fixed on the front shell, an incomplete sphere and a counterweight telescopic push rod I; the bracket is horizontally provided with a cylindrical rotating rod; the rotating rod is sleeved with a balancing weight which can slide and rotate on the rotating rod; an incomplete sphere which can rotate relative to the spherical shell is arranged in the spherical shell fixed on the front shell, and a counterweight telescopic push rod I is arranged between the sphere center of the incomplete sphere and the connecting plate II; a second balance weight telescopic push rod is arranged between the ball center of the incomplete ball body and the balance weight block.

Preferably, a spherical connecting end is arranged at the connecting end of the second counterweight telescopic push rod and the counterweight block, and a concave spherical surface is correspondingly arranged on the counterweight block; the first counterweight telescopic push rod and the second connecting plate are provided with spherical connecting ends, and the second connecting plate is correspondingly provided with concave spherical surfaces.

Preferably, the tail plane reciprocating mechanism comprises a second power supply, a second controller, a first steering engine, a second gear, a tail fin rotating body, a first gear, a tail swinging mechanism and a tail fin; a second power supply and a second controller are arranged in the rear shell, and the second power supply is respectively connected with a first steering engine and a second steering engine through the second controller; a tail fin rotating body is arranged at the tail part of the rear shell, and a second steering engine and a tail swinging mechanism are arranged in the tail fin rotating body; one end of the tail swinging mechanism is connected with the second steering engine, and the other end of the tail swinging mechanism is connected with a tail fin arranged outside the shell; the first steering engine is connected with the tail fin rotating body through a first gear and a second gear.

Preferably, the tail swinging mechanism comprises a crank, a connecting rod and a rocker; no. two steering wheel fixed connection crank's one end, the articulate other end and the one end swing joint of connecting rod, the other end of connecting rod and the one end swing joint of rocker, the other end and the tail fin swing joint of rocker.

Preferably, the control system comprises a remote control end, a receiving end and a controller; the command of the remote control end is sent by the wireless signal transmitter and received and executed by the receiving ends arranged on the first controller and the second controller.

Compared with the prior art, the invention has the following beneficial effects:

1. the tail fin in the space tail pendulum bionic propulsion device can realize reciprocating swing in any plane in a hemispherical surface, the optimal tail fin swing plane can be found by adjusting according to different external environments, and the space tail pendulum bionic propulsion device is strong in environmental adaptability and high in operability.

2. The parallel mechanism adopted by the invention has simple composition, mature and reliable control model and easy realization.

3. The gravity center adjusting mechanism has a simple structure, can adjust the gravity center of the fish body in real time, realizes that the advancing direction of the fish body is always kept horizontal, not only solves the balance problem of the fish body when the fish body moves in the tail space, but also lays a foundation for the subsequent underwater photographing.

Drawings

FIG. 1 is a schematic front view of the overall structure of the bionic propulsion device of the present invention.

FIG. 2 is a schematic top view of the overall structure of the bionic propulsion device of the present invention.

FIG. 3 is a longitudinal section view A-A of the bionic propulsion device of the invention.

FIG. 4 is a cross-sectional view B-B of the bionic propulsion device of the invention.

FIG. 5 is a cross-sectional view C-C of the bionic propulsion device of the invention.

FIG. 6 is a cross-sectional view D-D of the bionic propulsion device of the present invention.

Reference numerals: 1. the front shell 2, the first connecting plate 31, the first ball hinge support 32, the second ball hinge support 33, the third ball hinge support 4, the support 5 fixed on the front shell, the rotating rod 6, the counterweight 71, the first telescopic push rod 72, the second telescopic push rod 73, the third telescopic push rod 8, the rear shell 9, the spherical shell 10 fixed on the front shell, the incomplete sphere 111, the first connecting piece 112, the second connecting piece 113, the third connecting piece 12, the second connecting plate 13, the tail fin rotator 14, the first gear 15, the second gear 16, the first steering engine 17, the second power supply 18, the first counterweight telescopic push rod 19, the second counterweight telescopic push rod 20, the first power supply 21, the first controller 22, the second controller 23, the connecting rod 24, the crank 25, the rocker 26, the tail fin 27, the second steering engine

Detailed Description

In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:

as shown in fig. 1-6, the invention provides a parallel type space tail pendulum propulsion device, which comprises a shell, a fishtail space orienting device, a gravity center adjusting mechanism, a tail plane reciprocating mechanism and a control system, wherein the shell is provided with a tail space orienting device; the shell comprises a front shell 1 and a rear shell 8, wherein the front shell 1 and the rear shell 8 are movably spliced to form a hollow football-shaped structure; a fishtail space orientation device is arranged in the front shell 1; a tail plane reciprocating mechanism is arranged in the rear shell; a gravity center adjusting mechanism is arranged between the fishtail space orienting device and the tail plane reciprocating mechanism; the shell is internally provided with a control system which is respectively connected with the fishtail space orienting device and the tail plane reciprocating mechanism. The fishtail space orienting device comprises a first power supply 20, a first controller 21, a first connecting plate 2, a first ball hinge support 31, a second ball hinge support 32, a third ball hinge support 33, a first telescopic push rod 71, a second telescopic push rod 72, a third telescopic push rod 73, a first connecting piece 111, a second connecting piece 112, a third connecting piece 113 and a second connecting plate 12; a first connecting plate 2 perpendicular to the central axis of the rugby-shaped shell is arranged in the front shell 1, and a first ball hinge support 31, a second ball hinge support 32 and a third ball hinge support 33 are arranged on the first connecting plate 2; a second connecting plate 12 perpendicular to the central axis of the rugby-ball-shaped shell is arranged in the rear shell 8, and a first connecting piece 111, a second connecting piece 112 and a third connecting piece 113 corresponding to the ball hinge support on the first connecting plate 2 are arranged on the second connecting plate 12; a first telescopic push rod 71 is arranged between the first ball hinge support 31 and the first connecting piece 111; a second telescopic push rod 72 is arranged between the second ball hinge bracket 32 and the second connecting piece 112; a third telescopic push rod 73 is arranged between the third ball hinge support 33 and the third connecting piece 113; the front shell 1 is provided with a first power supply 20 and a first controller 21, and the first power supply 20 is respectively connected with a first telescopic push rod 71, a second telescopic push rod 72 and a third telescopic push rod 73 through the first controller 21. The centers of 3 spherical hinge supports arranged on the first connecting plate 2 form an equilateral triangle, and the distances between the centers of the 3 spherical hinge supports and the central axis of the rugby-ball-shaped shell are equal. One side of an equilateral triangle formed by the centers of the 3 ball hinge supports on the first connecting plate 2 is set to be parallel to the horizontal plane. One end of the telescopic push rod connected with the ball hinge support is provided with a ball joint which can rotate around the ball hinge support, and the other end of the telescopic push rod is movably connected with the connecting piece. The gravity center adjusting mechanism comprises a bracket 4 fixedly arranged on the front shell 1, a rotating rod 5, a balancing weight 6, a counterweight telescopic push rod II 19, a spherical shell 9 fixed on the front shell, an incomplete sphere 10 and a counterweight telescopic push rod I18; the bracket 4 is horizontally provided with a cylindrical rotating rod 5; the rotating rod 5 is sleeved with a balancing weight 6 which can slide and rotate on the rotating rod 5; a rotatable incomplete sphere 10 is arranged in a spherical shell 9 fixed on the front shell 1, and a counterweight telescopic push rod I18 is arranged between the sphere center of the incomplete sphere 10 and the connecting plate II 12; a second counterweight telescopic push rod 19 is arranged between the ball center of the incomplete ball body 10 and the counterweight block 6. The connecting end of the second counterweight telescopic push rod 19 and the counterweight block 6 is provided with a spherical connecting end, and the counterweight block 6 is correspondingly provided with an inwards concave spherical surface; the connecting end of the first counterweight telescopic push rod 18 and the second connecting plate 12 is provided with a spherical connecting end, and the second connecting plate 12 is correspondingly provided with a concave spherical surface. The tail plane reciprocating mechanism comprises a second power supply 17, a second controller 22, a first steering engine 16, a second steering engine 27, a second gear 15, a tail fin rotating body 13, a first gear 14, a tail swinging mechanism and a tail fin 26; a second power supply 17 and a second controller 22 are arranged in the rear shell 8, and the second power supply 17 is respectively connected with a first steering engine 16 and a second steering engine 27 through the second controller 22; a tail fin rotating body 13 is arranged at the tail part of the rear shell 8, and a second steering engine 27 and a tail swinging mechanism are arranged inside the tail fin rotating body 13; one end of the tail swinging mechanism is connected with a second steering engine 27, and the other end of the tail swinging mechanism is connected with a tail fin 26 arranged outside the shell; the first steering engine 16 is in gear connection with the tail fin rotating body 13 through a first gear 14 and a second gear 15. The tail swinging mechanism comprises a crank 24, a connecting rod 23 and a rocker 25; no. two steering wheel 27 fixed connection crank 24's one end, the other end of crank 24 and the one end swing joint of connecting rod 23, the other end of connecting rod 23 and the one end swing joint of rocker 25, the other end and the skeg 26 swing joint of rocker 25. The control system comprises a remote control end, a receiving end and a controller; the command of the remote control end is sent by a wireless signal transmitter and received and executed by the receiving ends arranged on the first controller 21 and the second controller 22.

The first power supply 20 and the first controller 21 are fixedly connected with the front shell 1, the first power supply 20 supplies power to the first controller 21 and the first telescopic push rod 71, the second telescopic push rod 72 and the third telescopic push rod 73, the first controller 21 provides motion signals for the first telescopic push rod 71, the second telescopic push rod 72 and the third telescopic push rod 73, the first connecting plate 2 needs to have certain thickness and strength and is connected with the front shell 1 through threads, the first connecting plate 2 is connected with the first ball hinge support 31, the second ball hinge support 32 and the third ball hinge support 33 through threads, on one hand, the three ball hinge supports are fixed, on the other hand, the three ball hinge supports provide supporting force, the three ball hinge supports are distributed on the first connecting plate 2 at intervals of 120 degrees, one ends of the first telescopic push rod 71, the second telescopic push rod 72 and the third telescopic push rod 73 with ball joints are respectively connected with the three ball hinge supports to form a ball pair, the three telescopic push rods can rotate in a certain range around the three ball hinge supports respectively, the other ends of the telescopic push rods (71, 72 and three 73) are connected with the connecting piece (111, 112 and three 113) respectively through pins to form revolute pairs, so that the three telescopic push rods rotate at the pins of the connecting piece (111, 112 and three 113) respectively, and the connecting piece (111, 112 and three 113) are fixedly connected with the connecting plate (12) with certain strength and rigidity through threads to form a parallel mechanism, namely a fishtail space orientation device. The bracket 4 fixed on the front shell is connected with the front shell 1 by welding, a certain welding quality is required, the bracket provides a certain supporting force for the rotating rod 5, the rotating rod 5 is connected with the bracket 4 fixed on the front shell by a pin, the surface of the rotating rod 5 needs to be processed, the roughness value is smaller, the inner surface of the hole on the balancing weight 6 needs to be processed, the roughness value is smaller, the rotating rod 5 is sleeved with the rotating rod 5 to form a cylindrical pair, the balancing weight 6 rotates and slides on the rotating rod 5, the counterweight telescopic push rod two 19 is provided with a spherical end which is connected with the inner concave spherical surface of the balancing weight 6 to form a spherical pair, the counterweight telescopic push rod two 19 rotates around the balancing weight 6 in a certain range, the other end of the counterweight telescopic push rod two 19 is connected with the incomplete sphere 10 by welding, a certain welding quality is required at the welding position to bear the torsional force caused by the incomplete sphere 10, the incomplete sphere, the other end of the incomplete sphere 10 is connected with the aspheric end of the first counterweight telescopic push rod 18 in a welding mode, a welding part needs certain welding quality to bear the torsional force brought by the second connecting plate 12, and the spherical end of the first counterweight telescopic push rod 18 is embedded into the concave spherical surface of the second connecting plate 12 to form a spherical pair, so that the first counterweight telescopic push rod 18 can rotate around the second connecting plate 12 within a certain range, and a gravity center adjusting mechanism is formed. A second power supply 17 and a second controller 22 are fixed on the rear shell 8, the second power supply 17 supplies power to the second controller 22, a first steering engine 16 and a second steering engine 27, the second controller 22 provides motion signals for the first steering engine 16 and the second steering engine 27, the first steering engine 16 is fixedly connected on the rear shell 8, the first steering engine 16 is fixedly connected with a second gear 15 through a rotating shaft, the second gear 15 and the rotating shaft synchronously rotate, the second gear 15 is meshed with a first gear 14 on the tail fin rotating body 13 to form a gear pair, so that the first steering engine 16 drives the tail fin rotating body 13 to rotate, the second steering engine 27 is fixedly connected on the tail fin rotating body 13, a crank 24 is fixedly connected with the rotating shaft of the second steering engine 27, the crank 24 and the rotating shaft of the second steering engine 27 synchronously rotate, a connecting rod 23 is connected with the crank 24 through a pin to form a rotating pair, so that the connecting rod 23 rotates by taking the pin as the center of a circle, the front end of the rocker 25 is connected with the connecting rod 23 through a pin to form a revolute pair, the rear end of the rocker 25 is connected with the tail fin rotating body 13 through a pin, on one hand, the rocker 25 rotates at the position where the tail fin rotating body 13 is connected with the pin, on the other hand, the rocker 25 is also positioned in the vertical direction, the tail fin 26 is fixedly connected with the rocker 25 through a welding mode, the tail fin 26 can move along with the rocker 25, and the crank 24, the connecting rod 23 and the rocker 25 form a four-bar mechanism, so that a tail plane reciprocating mechanism is formed.

The specific working process of the invention is as follows:

when the robot fish needs to turn left, the first controller 21 receives a signal from the remote control end, and respectively transmits the signal to the motor of the first telescopic push rod 71, the motor of the second telescopic push rod 72 and the motor of the third telescopic push rod 73, and controls the three telescopic push rods to extend out different lengths, so that the rear shell 8 can rotate by a certain angle in the counterclockwise direction in the horizontal plane by taking the center of the incomplete sphere 10 as the center, the swing center of the tail fin 26 rotates by a certain angle in the counterclockwise direction, the amplitude of the right side swing of the tail fin 26 in the advancing direction of the robot fish is larger than the amplitude of the left side swing, the right side force applied to the advancing direction of the whole robot fish in a motion period is larger than the left side force, and the robot fish is maneuvered to the left side in the advancing direction; in the same way, the three telescopic push rods extend out of different lengths, so that the rear shell 8 can rotate by a certain angle in the horizontal clockwise direction by taking the sphere center of the incomplete sphere 10 as the center, and the robot fish turns forwards and turns rightwards flexibly.

When the robot fish needs to ascend and submerge, the first controller 21 receives signals of a remote control end, transmits the signals to the motor of the first telescopic push rod 71, the motor of the second telescopic push rod 72 and the motor of the third telescopic push rod 73 respectively, controls the three telescopic push rods to extend out of different lengths, enables the rear shell 8 to rotate upwards by a certain angle in a direction perpendicular to a horizontal plane by taking the center of the incomplete sphere 10 as the center, enables the tail fin 26 to move upwards in the swing center, and enables the tail fin 26 to generate propelling force along the advancing direction and component force perpendicular to the horizontal plane downwards, so that the robot fish dives; similarly, the first controller 21 receives the signal from the remote control end, and transmits the signal to the motor of the first telescopic push rod 71, the motor of the second telescopic push rod 72 and the motor of the third telescopic push rod 73 respectively, and controls the three telescopic push rods to extend out different lengths, so that the rear shell 8 rotates downwards by a certain angle in the direction perpendicular to the horizontal plane by taking the center of the incomplete sphere 10 as the center, and the robot fish floats upwards.

When the robot fish is converted into the dolphin mode from the carangid mode, after receiving an instruction from a remote control end, the second controller 22 at the tail of the rear shell 8 controls the first steering engine 16 to rotate, the second gear 15 is meshed with the first gear 14 on the tail fin rotating body 13, so that the tail fin rotating body 13 rotates 90 degrees anticlockwise, at the moment, the tail fin 26 is changed from being perpendicular to the horizontal plane to being parallel to the horizontal plane, namely, the water hitting angle of the tail fin 26 is changed, and the robot fish is converted into the dolphin mode from the carangid mode.

The fishtail space orientation device realizes the orientation of a fishtail swing plane by outputting three position points under the action of a parallel mechanism; the gravity center adjusting mechanism adjusts the gravity center of the fish body in real time under the combined action of the push rod and the ball pair, so that the gravity center of the robot fish is still kept basically unchanged when the tail of the robot fish does space motion; the tail plane reciprocating mechanism adopts a gear pair and a four-bar mechanism to realize the swinging/flapping of the tail fin through the cooperative motion. The invention can realize free switching of swimming modes such as Ke mode swimming and dolphin mode swimming, has simple mechanism principle and structure composition, and is suitable for the power device of the underwater automatic vehicle.

While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a parallel space tail pendulum advancing device which characterized in that: comprises a shell, a fishtail space orienting device, a gravity center adjusting mechanism, a tail plane reciprocating mechanism and a control system; the shell comprises a front shell and a rear shell, and the front shell and the rear shell are movably spliced to form a hollow football-shaped structure; a fishtail space orientation device is arranged in the front shell; a tail plane reciprocating mechanism is arranged in the rear shell; a gravity center adjusting mechanism is arranged between the fishtail space orienting device and the tail plane reciprocating mechanism; a control system is arranged in the shell and is respectively connected with the fishtail space orienting device and the tail plane reciprocating mechanism; the fishtail space orienting device comprises a first power supply (20), a first controller (21), a first connecting plate (2), a first ball hinge support (31), a second ball hinge support (32), a third ball hinge support (33), a first telescopic push rod (71), a second telescopic push rod (72), a third telescopic push rod (73), a first connecting piece (111), a second connecting piece (112), a third connecting piece (113) and a second connecting plate (12); a first connecting plate (2) perpendicular to the central axis of the rugby-shaped shell is arranged in the front shell, and a first ball hinge support (31), a second ball hinge support (32) and a third ball hinge support (33) are arranged on the first connecting plate (2); a second connecting plate (12) perpendicular to the central axis of the rugby-shaped shell is arranged in the rear shell, and a first connecting piece (111), a second connecting piece (112) and a third connecting piece (113) corresponding to the spherical hinge support on the first connecting plate are arranged on the second connecting plate (12);

a first telescopic push rod (71) is arranged between the first ball hinge support (31) and the first connecting piece (111);

a second telescopic push rod (72) is arranged between the second spherical hinge bracket (32) and the second connecting piece (112); a third telescopic push rod (73) is arranged between the third ball hinge support (33) and the third connecting piece (113); a first power supply (20) and a first controller (21) are arranged in the front shell, and the first power supply (20) is respectively connected with a first telescopic push rod (71), a second telescopic push rod (72) and a third telescopic push rod (73) through the first controller (21); the gravity center adjusting mechanism comprises a support (4) fixedly arranged on the front shell, a rotating rod (5), a balancing weight (6), a balancing weight telescopic push rod II (19), a spherical shell (9) fixedly arranged on the front shell, an incomplete sphere (10) and a balancing weight telescopic push rod I (18); the bracket (4) is horizontally provided with a cylindrical rotating rod (5); a balancing weight (6) which can slide and rotate on the rotating rod (5) is sleeved on the rotating rod (5); an incomplete sphere (10) which can rotate relative to the spherical shell (9) is arranged in the spherical shell (9) fixed on the front shell, and a first counterweight telescopic push rod (18) is arranged between the sphere center of the incomplete sphere (10) and the second connecting plate (12); a second counterweight telescopic push rod (19) is arranged between the ball center of the incomplete ball body (10) and the counterweight block (6).

2. A parallel spatial tail rotor propulsion device according to claim 1, characterised in that: the centers of the 3 spherical hinge supports arranged on the first connecting plate (2) form an equilateral triangle, and the distances between the centers of the 3 spherical hinge supports and the central axis of the rugby-ball-shaped shell are equal.

3. A parallel spatial tail rotor propulsion device according to claim 2, characterised in that: one side of an equilateral triangle formed by the centers of the 3 ball hinge supports on the first connecting plate (2) is parallel to the horizontal plane.

4. A parallel spatial tail rotor propulsion device according to claim 3, characterised in that: one end of the telescopic push rod connected with the ball hinge support is provided with a ball joint capable of rotating around the ball hinge support, and the other end of the telescopic push rod is movably connected with the connecting piece.

5. A parallel spatial tail rotor propulsion device according to claim 4, characterised in that: the connecting end of the second counterweight telescopic push rod (19) and the counterweight block (6) is provided with a spherical connecting end, and the counterweight block (6) is correspondingly provided with an inwards concave spherical surface; the connecting end of the first counterweight telescopic push rod (18) and the second connecting plate (12) is provided with a spherical connecting end, and the second connecting plate (12) is correspondingly provided with an inwards concave spherical surface.

6. A parallel spatial tail rotor propulsion device according to claim 5, characterised in that: the tail plane reciprocating mechanism comprises a second power supply (17), a second controller (22), a first steering engine (16), a second steering engine (27), a second gear (15), a tail fin rotating body (13), a first gear (14), a tail swinging mechanism and a tail fin (26); a second power supply (17) and a second controller (22) are arranged in the rear shell, and the second power supply (17) is respectively connected with a first steering engine (16) and a second steering engine (27) through the second controller (22); a tail fin rotating body (13) is arranged at the tail of the rear shell, and a second steering engine (27) and a tail swinging mechanism are arranged inside the tail fin rotating body (13); one end of the tail swinging mechanism is connected with a second steering engine (27), and the other end of the tail swinging mechanism is connected with a tail fin (26) arranged outside the shell; the first steering engine (16) is in gear connection with the tail fin rotating body (13) through a first gear (14) and a second gear (15).

7. A parallel spatial tail rotor propulsion device according to claim 6, characterised in that: the tail swinging mechanism comprises a crank (24), a connecting rod (23) and a rocker (25); no. two steering wheel (27) fixed connection crank (24) one end, the other end of crank (24) and the one end swing joint of connecting rod (23), the other end of connecting rod (23) and the one end swing joint of rocker (25), the other end and the tail fin (26) swing joint of rocker (25).

8. A parallel spatial tail rotor propulsion device according to claim 7, characterised in that: the control system comprises a remote control end, a receiving end and a controller; the command of the remote control end is sent by a wireless signal transmitter and received and executed by receiving ends arranged on the first controller (21) and the second controller (22).