CN108820207A - A kind of flapping flight robot driver and flapping flight robot - Google Patents
A kind of flapping flight robot driver and flapping flight robot Download PDFInfo
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- CN108820207A CN108820207A CN201810444242.8A CN201810444242A CN108820207A CN 108820207 A CN108820207 A CN 108820207A CN 201810444242 A CN201810444242 A CN 201810444242A CN 108820207 A CN108820207 A CN 108820207A
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- flapping
- wing
- connecting rod
- flapping wing
- flight robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The present invention provides a kind of flapping flight robot driver and flapping flight robots.Wherein driver includes pedestal；Gear set is set to the upper layer of pedestal；Two groups of flapping wing connecting rods, are set to the upper layer of gear set, and two groups of flapping wing connecting rods are articulated with flapping wing hinge point；Line constraint mechanism, limitation flapping wing hinge point are moved in vertical direction；Drive link, one end is hinged with gear set, and the other end and flapping wing hinge are point articulated；Drive link drives flapping wing hinge point when vertical direction moves back and forth, and two groups of flapping wing connecting rods carry out beating campaign, and patting angular phase difference is zero.Delayed phase is not present in the flapping wing connecting rod of driver two output, eliminates unbalanced steering moment, promotes steering behaviour, extends the life cycle of mechanism.Hinge point is overlapped by improved link mechanism, so that mechanism be made to can be realized biggish angle of flapping, promotes flying quality.Mechanism is compact, it is ensured that the stability of device, lighter in weight improve kinetic characteristic of flapping.
Description
Technical field
The present invention relates to vehicle technology fields, more particularly, to a kind of flapping flight robot driver and flapping wing
Flying robot.
Background technique
Flapping flight robot (Flapping-wing aerial vehicles) is as a kind of emerging bionical flying machine
Device people, it is a kind of bio-robot that the flying method by imitating insect and birds manufactures, and has high-efficient, quality
Gently, mobility strong, the remarkable advantages such as low energy consumption, all have broad application prospects in defense military and civil field.
Unfavorable limitation, the existing flapping flight robots such as that there are fuselage sizes is small for flapping flight robot, and load is low are more
Driving method is used as using crank and rocker mechanism, piezoelectric material, electromagnetism and chemical muscle etc..Wherein crank and rocker mechanism can be compared with
Good simulated hexapod or the aerofoil of birds, which are swung the bat, to be moved while having many advantages, such as that the relatively easy efficiency of energy utilization of structure is high, can be made
Flapping flight robot obtains higher forward flight speed.Crank and rocker mechanism can be divided into single crank rocking bar and Double crank rocker, single
Crank rocker uses simplest asymmetric movement of swinging the bat, and asymmetry caused by this inherent characteristic because of mechanism can cause to clap the wing
Always there is a phase difference in two sides, swinging the bat for left and right aerofoil in motion process is caused to move asymmetry, influence the micro- flight of flapping wing
Thus practicability has certain restrictions to the stability of robot.It symmetrically flutters though Double crank rocker driver can be realized, it is deposited
It is difficult to compact, rubs the problems such as larger in structure.It is, therefore, desirable to provide a kind of new driving mechanism for flapping wing, solves the prior art
The relevant issues of middle driving mechanism for flapping wing.
Summary of the invention
In view of this, the present invention provides a kind of flapping flight robot driver and flapping flight robots.
The present invention provides a kind of flapping flight robot drivers, including pedestal, further include：
Gear set is set to the upper layer of the pedestal；
Two groups of flapping wing connecting rods, are set to the upper layer for being set to the gear set, and flapping wing connecting rod described in two groups is articulated with
Flapping wing hinge point；
Line constraint mechanism limits the flapping wing hinge point and moves in vertical direction；
Drive link, one end and the gear set are hinged, and the other end and the flapping wing hinge are point articulated；The drive link
When the flapping wing hinge point being driven to prolong vertical direction reciprocating motion, flapping wing connecting rod described in two groups carries out beating campaign, and pats
Angular phase difference is zero.
Furthermore, it is understood that in the flapping flight robot driver,
The line constraint mechanism includes：
First stock, the second stock, the first quarter butt and the second quarter butt；
Second stock is fixed with the pedestal；
Wherein the first end of first stock and the first end of second stock are hinged by first quarter butt, institute
The midpoint for stating the first stock is hinged by the second end of second quarter butt and second stock, and the second of first stock
End is connect with the flapping wing hinge point.
Furthermore, it is understood that in the flapping flight robot driver,
The equal length of first quarter butt and the second quarter butt is the half of the described first long pole length.
Furthermore, it is understood that further including driving motor in the flapping flight robot driver；
The gear set includes：
With the primary speed-down pinion gear of the output axis connection of the driving motor；
The primary speed-down gear wheel hinged with the pedestal is engaged with the primary speed-down pinion gear；
Double reduction pinion gear, setting coaxial with the primary speed-down gear wheel；
The double reduction gear wheel hinged with the pedestal is engaged with the double reduction pinion gear；
One end of the drive link and the double reduction gear wheel are hinged.
Furthermore, it is understood that in the flapping flight robot driver,
Flapping wing connecting rod described in every group includes first connecting rod and second connecting rod, and the first connecting rod and the pedestal are hinged, often
The first connecting rod and the second connecting rod of the group flapping wing connecting rod are hinged, and two described second of flapping wing connecting rod described in two groups
Connecting rod is articulated with the flapping wing hinge point.
The present invention provides a kind of flapping flight robots, including the flapping flight machine according to any of the above one
People's driver.
Furthermore, it is understood that in the flapping flight robot,
Further include：Wing is connect with the flapping wing connecting rod of the flapping flight robot driver；
The wing includes wing skeleton and wing overlay film, and the material of the wing skeleton is carbon fiber, and the wing covers
The material of film is haloflex.
Furthermore, it is understood that in the flapping flight robot,
The flapping flight robot further includes：
Fuselage, the fuselage include two carbon fiber bars disposed in parallel, and the end of two carbon fiber bars passes through one
A connector connects, and is provided with empennage mounting hole on the connector.
Furthermore, it is understood that in the flapping flight robot,
The flapping flight robot further includes：Empennage；
The empennage includes two empennage skeletons, and the empennage skeleton is connect with the empennage mounting hole；The empennage bone
Empennage overlay film is covered on frame, the material of the empennage skeleton is carbon fiber, and the material of the empennage overlay film is haloflex.
Furthermore, it is understood that in the flapping flight robot,
Rudder and rudder face are provided on the empennage, the rudder drives the rudder face rotation.
Beneficial effects of the present invention：Flapping flight robot driver in the embodiment of the present invention, the flapping wing of two output
Delayed phase is not present in connecting rod, eliminates unbalanced steering moment, promotes steering behaviour, extends the life cycle of mechanism.Change
Into link mechanism hinge point is overlapped, angle of oscillation does not constrain, so that mechanism be made to can be realized biggish angle of flapping, is promoted and is flown
Row performance.The mechanism of flapping flight robot driver is compact in the embodiment of the present invention, it is ensured that the stability of device, weight compared with
Gently, kinetic characteristic of flapping is improved, is suitble to use on mini-sized flap wings flying robot.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, above-mentioned and other purposes of the invention, feature and
Advantage will be apparent from, in the accompanying drawings：
Fig. 1 shows the structural schematic diagrams of flapping flight robot driver in inventive embodiments；
Fig. 2 indicates the structural schematic diagram of the pedestal of flapping flight robot driver in inventive embodiments；
Fig. 3 indicates the structural schematic diagram of the gear set of flapping flight robot driver in inventive embodiments；
Fig. 4 indicates the relation schematic diagram of the link mechanism of flapping flight robot driver in inventive embodiments；
Fig. 5 indicates the relation schematic diagram of the line constraint mechanism of flapping flight robot driver in inventive embodiments；
Fig. 6 indicates the structural representation of the flapping flight robot in inventive embodiments including flapping flight robot driver
Figure；
Fig. 7 indicates the structural schematic diagram of the wing of flapping flight robot in inventive embodiments；
Fig. 8 shows the structural schematic diagrams of the fuselage of flapping flight robot in inventive embodiments；
Fig. 9 indicates the structural schematic diagram of the empennage of flapping flight robot in inventive embodiments.
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings the embodiment of the present invention.However, it should be understood that these descriptions are only exemplary
, and be not intended to limit the scope of the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with
Avoid unnecessarily obscuring idea of the invention.
Term as used herein is not intended to limit the present invention just for the sake of description specific embodiment.It uses herein
The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of
Or add other one or more features, step, operation or component.
Referring to figs. 1 to providing a kind of flapping flight robot driver shown in Fig. 5, in the embodiment of the present invention, including
Pedestal 100 further includes：
Gear set 200 is set to the upper layer of pedestal 100；
Two groups of flapping wing connecting rods 500, are set to the upper layer for being set to the gear set, and flapping wing connecting rod described in two groups is hinged
In flapping wing hinge point 400；
Line constraint mechanism 300 limits the flapping wing hinge point and moves in vertical direction；
Drive link 600, one end and the gear set 200 are hinged, and the other end and the flapping wing hinge point 400 are hinged；It drives
When dynamic connecting rod 600 drives flapping wing hinge point 400 to prolong vertical direction reciprocating motion, two groups of flapping wing connecting rods 500 carry out beating campaign, and
And patting angular phase difference is zero.
The function of flapping flight robot driver is to convert driving flapping flight machine for the rotation output of brushless motor
The linear convergent rate of two groups of flapping wing connecting rods 500 of device people, for controlling the beating campaign of its left and right both wings, to generate liter thrust
It is set to complete flare maneuver.
Specifically, pedestal 100 is the basis of entire flapping flight robot driver, the upper surface of it there are fixation hole with
Axis hole provides mounting hole etc. for installing motor, shaft and gear set 200, and for line constraint mechanism 300 (Evans mechanism).
Wherein the two connecting rod through-holes 1 in top and connecting rod through-hole 2 for the fixing axle of flapping wing connecting rod 500 provide installation site.In
Between four hole motor fixing holes 3, motor fixing hole 4, motor fixing hole 5 and motor fixing hole 6 realize the fixation to motor.Motor
Axis hole 7 can make the axis of driving motor stretch out, and gear set axis hole 8 and gear set axis hole 9 are used for hinged gear.Second stock
304 provide installation site for line constraint mechanism 300 (Evans mechanism).
Furthermore, it is understood that line constraint mechanism 300 (Evans mechanism) includes：
First stock 301, the second stock 304, the first quarter butt 302 and the second quarter butt 303；
Wherein the second stock 304 and the fixation on pedestal 100；The wherein first end of the first stock 301 and the second stock 304
First end it is hinged by the first quarter butt 302, the midpoint of the first stock 301 pass through the second quarter butt 302 and the second stock 304 the
Two ends are hinged, and the second end of the first stock 301 is connect with flapping wing hinge point 400.
Furthermore, it is understood that in the flapping flight robot driver, the length of the first quarter butt 302 and the second quarter butt 303
Spend it is equal, be 301 length of the first stock half.
Evans mechanism principle is as shown in figure 5, be the mechanical structure that a kind of mechanism simply realizes linear motion.First is long
Bar 301 is AC, and the second stock 304 is DE, the first quarter butt 302 is CD and 303 BE of the second quarter butt.D, E point is fixed, A, B, C
It is movable point.Wherein DE bar is formed by chassis extension, and horizontal by fixing clamp angle beta.BE, CD, AC conduct
Motor point A connect with above-mentioned flapping wing hinge point 400, hinge point vertical motion within the scope of heavy line can be realized by sliding bar.
It meets following condition：
β=30 ° AB=BC=BE=CD=1/2DE, ∠
Wherein, the double leval jib that flapping wing connecting rod 500 and drive link 600 form and Evans mechanism cooperation as shown in figure 4,
Four-bar mechanism realizes that gear rotary motion, which is converted to wing, pats movement, to realize that wing is symmetrically patted, it is necessary to assure Q point
(flapping wing hinge point) can vertical motion, but due to not having a restraint device, four-bar mechanism itself during the motion can be with
Gear rotates and generates offset, cannot achieve and symmetrically flutters.And Evans mechanism can be realized flapping wing hinge point in a certain range
Vertical motion, therefore A point is connect with Q point, realization moves synchronously.
Flapping wing connecting rod 500 described in every group includes first connecting rod 501 and second connecting rod 502, first connecting rod 501 and pedestal 100
Connecting rod through-hole 2 it is hinged, the first connecting rod 501 and second connecting rod 502 of flapping wing connecting rod 500 described in every group are hinged, and two groups of flapping wings connect
Two second connecting rods 502 of bar 500 are articulated with flapping wing hinge point 400.
It is that hinge point is overlapped to Q point (flapping wing hinge point) on the basis of traditional common double leval jib, the wherein length of connecting rod
Degree meets following relational expression (1)：
S=L cos α-Nsin θ
T=M sin θ
Since the birds with 120 ° of beating angles in real world have positive influence to aerodynamic characteristic.We select θ=
60 °, experiments verify that, a=20 °, L=50, compact design may be implemented and show more excellent flying quality.
Shown in 3, furthermore, it is understood that flapping flight robot driver further includes driving motor；Gear set packet
It includes：With the primary speed-down pinion gear 11 of the output axis connection of driving motor；The primary speed-down gear wheel 12 hinged with pedestal, with one
Grade reduction pinion teeth 11 engages；The setting coaxial with primary speed-down gear wheel 12 of double reduction pinion gear 13；Two hinged with pedestal
Grade deceleration gear wheel 14, engages 13 with double reduction pinion gear；One end of drive link 600 and double reduction gear wheel 14 are cut with scissors
It connects.
Gear set uses double reduction standard straight spur geer, module 0.5.The tooth of primary speed-down pinion gear 11
Number is 10, and the number of teeth of primary speed-down gear wheel 12 is 48, and the number of teeth of double reduction pinion gear 13 is 12, double reduction gear wheel 14
The number of teeth be 78.The pairing material of two-stage gear is identical, and coefficient of facewidth is equal, and the transmission ratio being designed in this way can guarantee face
Intensity is roughly equal.
To sum up, it show flapping flight robot driver's overall schematic referring to Fig.1, the bottom is pedestal 100, pedestal
The gear set 200 of 100 upper layer cooperation.The upper layer of gear set 200 is line constraint mechanism 300 (Evans mechanism), line constraint
The motor point of mechanism 300 and the hinge tie point of link mechanism are flapping wing hinge point 400.Top layer is improved flapping wing connecting rod
500 and drive link 600 form double leval jib.Drive link 600 is fixed on double reduction gear wheel, is apart from shaft core position
Length D.After installing motor, mechanism can realize 120 ° of beating angles, and flapping wing hinge point 400 is made vertically in the stroke of 10mm
Movement, phase difference zero.
Referring to shown in Fig. 6 to Fig. 9, the present invention provides a kind of flapping flight robots, including according to any of the above one
The flapping flight robot driver.
Flapping flight robot in the embodiment utilizes Evans line constraint mechanism single crank rocking bar flapping flight machine
People's driver, occupies little space for one kind, and high reliablity is, it can be achieved that driving mechanism of the left and right wing without phase difference, high angle of fluttering.
Using the cooperation of improved double leval jib and Evans mechanism, the phase difference of crank rocker is eliminated, while mitigating mechanism, improves and stablizes
The life cycle of property and mechanism.It lays a solid foundation further to promote the flying quality of traditional flapping flight robot.
Referring to shown in Fig. 7, furthermore, it is understood that in the flapping flight robot, including：Wing, with flapping flight machine
The flapping wing connecting rod of device people's driver connects；Wing includes wing skeleton and wing overlay film, and the material of the wing skeleton is carbon fiber
Dimension, the material of the wing overlay film are haloflex.Wing uses carbon fibre material and haloflex (CPE) film system
The advantages that work has structure simple, high-intensitive, lightweight.Its two output end for being installed on flapping flight robot driver, when
Flapping flight robot driver converts the rotary motion of motor to when motor rotation drives flapping flight robot driver
The movement of fluttering of output end drives two sides wing to realize and flutters up and down, generates thrust and lift.
Furthermore, it is understood that flapping flight robot further includes：
Fuselage, the fuselage include two carbon fiber bars 15 and carbon fiber bar 16 disposed in parallel, two carbon fibers
The end of bar is connected by a connector, is provided with empennage mounting hole 17 and empennage mounting hole 18 on the connector.The machine
Body is made of carbon fibre material and 3D printing part, and effect is to provide installation site for airborne equipment and device.It is mainly tied
Structure is parallel two carbon fiber bars 15 and carbon fiber bar 16, and the 3D printing part between them using PLA material install solid
Fixed, empennage mounting hole 17 and empennage mounting hole 18 are for installing empennage.With bending resistance, securely, the advantages that lightweight.Further come
It says, flapping flight robot further includes：Empennage；Empennage includes two empennage skeletons 19, empennage skeleton 19 and empennage mounting hole 17
It is connected with empennage mounting hole 18；Empennage overlay film is covered on the empennage skeleton 19, the material of the empennage skeleton is carbon fiber,
The material of the empennage overlay film is haloflex.
As shown in figure 9, rudder 22 and rudder 23 are provided on empennage, rudder face 20 and rudder face 21.Rudder drives rudder
Face rotation.Two rudder faces cooperate the flight attitude of adjustable flapping flight robot.
There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood
Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Meaning, without that should be explained with idealization or excessively mechanical mode.
It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to
Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C "
Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or
System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come
Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least
One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have
B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more
The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing
A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should
A possibility that being understood to include " A " or " B " or " A and B ".
The embodiment of the present invention is described above.But the purpose that these embodiments are merely to illustrate that, and
It is not intended to limit the scope of the invention.Although respectively describing each embodiment above, but it is not intended that each reality
Use cannot be advantageously combined by applying the measure in example.The scope of the present invention is defined by the appended.It does not take off
From the scope of the present invention, those skilled in the art can make a variety of alternatives and modifications, these alternatives and modifications should all fall in this
Within the scope of invention.
Claims (10)
1. a kind of flapping flight robot driver, including pedestal, which is characterized in that the flapping flight robot driver is also
Including：
Gear set is set to the upper layer of the pedestal；
Two groups of flapping wing connecting rods, are set to the upper layer for being set to the gear set, and flapping wing connecting rod described in two groups is articulated with flapping wing
Hinge point；
Line constraint mechanism limits the flapping wing hinge point and moves in vertical direction；
Drive link, one end and the gear set are hinged, and the other end and the flapping wing hinge are point articulated；The drive link driving
When the flapping wing hinge point prolongs vertical direction reciprocating motion, flapping wing connecting rod described in two groups carries out beating campaign, and pats angle
Phase difference is zero.
2. flapping flight robot driver according to claim 1, it is characterised in that：Line constraint mechanism packet
It includes：
First stock, the second stock, the first quarter butt and the second quarter butt；
Second stock is fixed with the pedestal；
Wherein the first end of first stock and the first end of second stock are hinged by first quarter butt, and described the
The midpoint of one stock is hinged by the second end of second quarter butt and second stock, the second end of first stock with
The flapping wing hinge point connection.
3. flapping flight robot driver according to claim 2, it is characterised in that：First quarter butt and second short
The equal length of bar is the half of the described first long pole length.
4. flapping flight robot driver according to claim 1, it is characterised in that：It further include driving motor；
The gear set includes：
With the primary speed-down pinion gear of the output axis connection of the driving motor；
The primary speed-down gear wheel hinged with the pedestal is engaged with the primary speed-down pinion gear；
Double reduction pinion gear, setting coaxial with the primary speed-down gear wheel；
The double reduction gear wheel hinged with the pedestal is engaged with the double reduction pinion gear；
One end of the drive link and the double reduction gear wheel are hinged.
5. flapping flight robot driver according to claim 1, it is characterised in that：Flapping wing connecting rod described in every group includes
First connecting rod and second connecting rod, the first connecting rod and the pedestal are hinged, the first connecting rod of flapping wing connecting rod described in every group
Hinged with the second connecting rod, two second connecting rods of flapping wing connecting rod described in two groups are articulated with the flapping wing hinge point.
6. a kind of flapping flight robot, which is characterized in that including flapping wing as claimed in any of claims 1 to 5
Flying robot's driver.
7. flapping flight robot according to claim 6, it is characterised in that：Further include：Wing, with the flapping flight
The flapping wing connecting rod of robot driver connects；
The wing includes wing skeleton and wing overlay film, and the material of the wing skeleton is carbon fiber, the wing overlay film
Material is haloflex.
8. flapping flight robot according to claim 6, it is characterised in that：The flapping flight robot further includes：
Fuselage, the fuselage include two carbon fiber bars disposed in parallel, and the end of two carbon fiber bars passes through a company
Fitting connects, and is provided with empennage mounting hole on the connector.
9. flapping flight robot according to claim 8, it is characterised in that：The flapping flight robot further includes：
Empennage；
The empennage includes two empennage skeletons, and the empennage skeleton is connect with the empennage mounting hole；On the empennage skeleton
It is covered with empennage overlay film, the material of the empennage skeleton is carbon fiber, and the material of the empennage overlay film is haloflex.
10. flapping flight robot according to claim 9, it is characterised in that：Be provided on the empennage rudder and
Rudder face, the rudder drive the rudder face rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810444242.8A CN108820207A (en) | 2018-05-10 | 2018-05-10 | A kind of flapping flight robot driver and flapping flight robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810444242.8A CN108820207A (en) | 2018-05-10 | 2018-05-10 | A kind of flapping flight robot driver and flapping flight robot |
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| Publication Number | Publication Date |
|---|---|
| CN108820207A true CN108820207A (en) | 2018-11-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810444242.8A Pending CN108820207A (en) | 2018-05-10 | 2018-05-10 | A kind of flapping flight robot driver and flapping flight robot |
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| CN110239711A (en) * | 2019-05-27 | 2019-09-17 | 北京科技大学 | A kind of stable flapping wing driving structure of the wide-angle with three wire cross type structure |
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN113501129A (en) * | 2021-07-20 | 2021-10-15 | 哈尔滨工业大学 | Water surface flapping wing flying robot |
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| CN105416582A (en) * | 2015-11-24 | 2016-03-23 | 西北工业大学 | Passive amplitude changing flapping mechanism and flapping method |
| TWI572526B (en) * | 2015-02-24 | 2017-03-01 | Miniature aircraft wings drive structure | |
| CN107472526A (en) * | 2017-06-30 | 2017-12-15 | 南京航空航天大学 | A kind of single crank double rocking lever is without difference driving mechanism for flapping wing |
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| US20070205322A1 (en) * | 2006-03-06 | 2007-09-06 | Wei-Hsiang Liao | Micro aviation vehicle |
| CN102815399A (en) * | 2012-08-09 | 2012-12-12 | 上海交通大学 | Hummingbird-wing-flapping-imitating micro air vehicle |
| TWI572526B (en) * | 2015-02-24 | 2017-03-01 | Miniature aircraft wings drive structure | |
| CN105416582A (en) * | 2015-11-24 | 2016-03-23 | 西北工业大学 | Passive amplitude changing flapping mechanism and flapping method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239711A (en) * | 2019-05-27 | 2019-09-17 | 北京科技大学 | A kind of stable flapping wing driving structure of the wide-angle with three wire cross type structure |
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| CN113212749B (en) * | 2021-07-08 | 2021-10-01 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
| US11613351B2 (en) | 2021-07-08 | 2023-03-28 | University Of Science And Technology Beijing | Butterfly-inspired flapping-wing aerial robot and pull cord type turning mechanism thereof |
| CN113501129A (en) * | 2021-07-20 | 2021-10-15 | 哈尔滨工业大学 | Water surface flapping wing flying robot |
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Application publication date: 20181116 |
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| RJ01 | Rejection of invention patent application after publication |