CN109573019A - A kind of imitative insect minisize flapping wing aircraft - Google Patents
A kind of imitative insect minisize flapping wing aircraft Download PDFInfo
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- CN109573019A CN109573019A CN201811590043.4A CN201811590043A CN109573019A CN 109573019 A CN109573019 A CN 109573019A CN 201811590043 A CN201811590043 A CN 201811590043A CN 109573019 A CN109573019 A CN 109573019A
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000005096 rolling process Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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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 imitative insect minisize flapping wing aircrafts, including the first driving mechanism, crank and rocker mechanism, pulley mechanism, two wings, pulley mechanism includes big pulley, two truckles and two transmission belts, two truckles are located at big pulley two sides, big pulley is connected by a transmission belt with one of truckle, big pulley after another transmission belt reversion 180 degree with another truckle by being connected, two truckles are connected with two wings respectively, drive wing to flutter by the rotation of truckle.The beneficial effects of the present invention are: 1. structures are simple, it is at low cost convenient for manufacture；2. being combined using crank and rocker mechanism with pulley mechanism to realize that the amplitude of imitative insect minisize flapping wing aircraft is fluttered, aeroperformance is good；3. imitative insect minisize flapping wing aircraft can hovering flight, wing flapping parameters can be changed in flight course, to change the flight attitude of imitative insect minisize flapping wing aircraft, realize hovering flight.
Description
Technical field
The present invention relates to bionic flapping-wing flying vehicle field more particularly to a kind of imitative insect minisize flapping wing aircrafts.
Background technique
Since this concept of micro flapping wing air vehicle proposes, answered since it is potentially wide in terms of military affairs and civilian two
With prospect, micro flapping wing air vehicle oneself become the competing research and development focus first put into of advanced country in the world.The development of this kind of aircraft, it is main
There are two broad aspects: imitative insect flapping wing aircraft and imitative bird flapping wing aircraft.Compared to imitative bird flapping wing aircraft, insect flapping wing is imitated
Its volume of aircraft is smaller, weight is lighter, mobility is stronger, and hovering flight may be implemented, for complicated landform observation, army
The fields such as thing scouting, have and more preferably research and develop advantage.
Current existing imitative insect minisize flapping wing mechanism is fluttered before and after can only largely realizing direction along the horizontal plane, but is flutterred
Dynamic amplitude is little (generally at 100 degree or so), and its wing flapping parameters cannot change.
Summary of the invention
The present invention provides a kind of imitative insect minisize flapping wing aircrafts, including the first driving mechanism, crank and rocker mechanism, cunning
Mechanism, two wings are taken turns, the pulley mechanism includes big pulley, two truckles and two transmission belts, described two small cunnings
Wheel is located at the big pulley two sides, and the big pulley is connected by a transmission belt with one of truckle, described big
Pulley is inverted by another transmission belt to be connected after 180 degree with another truckle, two truckles respectively with two wings
Wing is connected, and drives the wing to flutter by the rotation of the truckle；First driving mechanism drives the crank
Rocker device is rotated, and the crank and rocker mechanism is connected with the big pulley, passes through the folk prescription of the crank and rocker mechanism
The big pulley is driven to be rotated clockwise and anticlockwise to rotation, the rotation of the big pulley drives a truckle to carry out
It rotates clockwise, while the rotation of the big pulley drives another truckle to be rotated counterclockwise.
As a further improvement of the present invention, the crank and rocker mechanism includes crank gear, crank, connecting rod, the song
Handle is mounted on the crank gear, and described connecting rod one end is connected with the crank, the connecting rod other end and the big pulley
It is connected, first driving mechanism drives the crank gear rotation, and the crank drives according to the rotation of the crank gear
The connecting rod pulls and the big pulley is pushed to be rotated clockwise and anticlockwise.
As a further improvement of the present invention, first driving mechanism includes motor, motor gear, duplicate gear, institute
It states motor gear to be mounted on the output shaft of the motor, the rotation of motor gear described in the motor driven, the motor gear
The duplicate gear is driven to rotate, the duplicate gear drives the crank gear rotation.
As a further improvement of the present invention, the wing includes wing root, wing leading edge, wing, the wing peace
Between the wing root and wing leading edge, the wing leading edge is connected with the truckle, and the truckle rotates band
The wing leading edge movement is moved, to complete fluttering for the wing.
As a further improvement of the present invention, which includes the second driving mechanism, and described the
Two driving mechanisms are connected with the wing root, and second driving mechanism drives the wing root to carry out around wing leading edge
Rotation.
As a further improvement of the present invention, second driving mechanism includes upper end steering engine, kinematic link, rocking bar, is somebody's turn to do
Imitative insect minisize flapping wing aircraft further includes bracket, and the branch is provided with stand connection, and the upper end steering engine is equipped with upper end rudder
Disk, described kinematic link one end and the upper end steering wheel are rotation connection, and the kinematic link other end and the rocking bar are to turn
Dynamic connection, the rocking bar and the stand connection are rotation connection, and two wing roots are mounted on the rocking bar, are led to
The rotation of the rocking bar is crossed to drive two wing roots are synchronous to be rotated around wing leading edge.
As a further improvement of the present invention, which further includes third driving mechanism, described
Third driving mechanism is connected with the wing root, and the third driving mechanism drives the wing root around perpendicular to the wing
Nose of wing direction rotates in the wing.
As a further improvement of the present invention, which further includes intermediate connector, and described the
Three driving mechanisms include lower end steering engine and lower end connecting shaft, and the lower end steering engine is equipped with lower end steering wheel, the lower end connecting shaft one
End be connected with the lower end steering wheel, lower end connecting shaft left-right rotation described in the lower end servo driving, the rocking bar include cross bar,
Vertical pole, brace, the vertical pole are connected with the cross bar, and described brace one end and the kinematic link are rotation connection, described oblique
The bar other end is connected with the cross bar or the vertical pole, and the intermediate connector is equipped with groove, and the intermediate connector bottom is set
There is via hole, the vertical pole protrudes into the groove, and two wing root ends and the cross bar are rotation connection, described in two
The wing root other end and the intermediate connector are rotation connection；The lower end connecting shaft penetrates in the via hole, under described
Lower end connecting shaft described in the servo driving of end swings, and makes be mounted on the cross bar and intermediate connector two wings
Root rotates in the wing around perpendicular to wing leading edge direction；Two wing roots are synchronous to surround wing leading edge
When being rotated, the via hole is moved along the lower end connecting shaft.
As a further improvement of the present invention, which shakes including the first driving mechanism, crank
Linkage, pulley mechanism, the second driving mechanism, the installation of third driving mechanism are on the bracket.
As a further improvement of the present invention, the wing is made of flexible material.
The beneficial effects of the present invention are: 1. structures are simple, it is at low cost convenient for manufacture；2. using crank and rocker mechanism and cunning
Wheel mechanism combines to realize that the amplitude of imitative insect minisize flapping wing aircraft is fluttered, and aeroperformance is good；3. of the invention is imitative
Insect minisize flapping wing aircraft can hovering flight, wing flapping parameters can be changed in flight course, to change imitative insect minisize
The flight attitude of flapping wing aircraft realizes hovering flight；4. invention enhances the flexibility of imitative insect minisize flapping wing aircraft,
Imitative insect minisize flapping wing aircraft is improved in the application scenarios in the fields such as military surveillance, complicated landform observation.
Detailed description of the invention
Fig. 1 is imitative insect minisize flapping wing aircraft side view of the invention；
Fig. 2 is imitative insect minisize flapping wing aircraft structure chart of the invention；
Fig. 3 is imitative the first driving mechanism structure of insect minisize flapping wing aircraft figure of the invention；
Fig. 4 is that imitative insect minisize flapping wing aircraft pulley of the invention removes cord structure chart；
Fig. 5 is imitative the second driving mechanism structure of insect minisize flapping wing aircraft figure of the invention；
Fig. 6 is imitative insect minisize flapping wing aircraft third driving mechanism structure figure of the invention.
Specific embodiment
As shown in figures 1 to 6, the invention discloses a kind of imitative insect minisize flapping wing aircrafts, including the first driving mechanism, song
Handle rocker device, pulley mechanism, two wings, the pulley mechanism include 7, two truckles 5 of big pulley and two transmissions
Band 6, described two truckles 5 are located at 7 two sides of big pulley, and the big pulley 7 passes through a transmission belt 6 and wherein one
A truckle 5 is connected, and the big pulley 7 after another reversion 180 degree of transmission belt 6 with another truckle 5 by being connected, and two
Truckle 5 is connected with two wings respectively, drives the wing to flutter by the rotation of the truckle 5；It is described
First driving mechanism drives the crank and rocker mechanism to be rotated, and the crank and rocker mechanism is connected with the big pulley 7, leads to
The one direction rotation for crossing the crank and rocker mechanism drives the big pulley 7 to be rotated clockwise and anticlockwise, the big cunning
The rotation of wheel 7 drives a truckle 5 to be rotated clockwise, while the rotation of the big pulley 7 drives another truckle 5
It is rotated counterclockwise.
The conveyer belt 6 is cord.
The crank and rocker mechanism includes crank gear 11, crank 10, connecting rod 9, and the crank 10 is mounted on the crank
On gear 11, described 9 one end of connecting rod is connected with the crank 10, and 9 other end of connecting rod is connected with the big pulley 7, described
First driving mechanism drives the crank gear 11 to rotate, and the crank 10 is according to the rotation of the crank gear 11 drive
Connecting rod 9 pulls and the big pulley 7 is pushed to be rotated clockwise and anticlockwise.
First driving mechanism includes motor 14, motor gear 13, duplicate gear 12, and the motor gear 13 is mounted on
On the output shaft of the motor 14, the motor 14 drives the motor gear 13 to rotate, and the motor gear 13 drives described
Duplicate gear 12 rotates, and the duplicate gear 12 drives the crank gear 11 to rotate.
In the course of work, crank gear 11 carries out one direction rotation (rotating clockwise or counterclockwise), and crank 10, which drives, to be connected
Bar 9 moves, and connecting rod 9 pulls big pulley 7 to be rotated clockwise, and as the one direction of crank gear 11 rotates, crank 10 is driven
Connecting rod 9 moves, and makes connecting rod 9 that big pulley 7 be pushed to be rotated counterclockwise.That is, the one direction with crank gear 11 turns
It is dynamic, big pulley 7 is continuously pulled and pushes by connecting rod 9, so that big pulley 7 be made continuously to be turned clockwise and anticlockwise
It is dynamic.
For example, when big pulley 7 is rotated clockwise, because big pulley 7 is small with one of them by a transmission belt 6
Pulley 5 is connected, so a truckle 5 at this time is rotated clockwise；Because the big pulley 7 passes through another transmission belt
It is connected after 6 reversion 180 degrees with another truckle 5, so another truckle 5 is rotated counterclockwise.
The wing includes wing root 1, wing leading edge 2, wing 3, and the wing 3 is mounted on 1 He of wing root
Between wing leading edge 2, the wing leading edge 2 is connected with the truckle 5, and the rotation of truckle 5 drives the wing leading edge 2
Movement, to complete fluttering for the wing.
The imitative insect minisize flapping wing aircraft includes the second driving mechanism, second driving mechanism and the wing root
1 is connected, and second driving mechanism drives the wing root 1 to be rotated around wing leading edge 2.
Second driving mechanism includes upper end steering engine 8, kinematic link 4, rocking bar 18, the imitative insect minisize flapping wing aircraft
It further include bracket 17, the bracket 17 is equipped with stand connection 171, and the upper end steering engine 8 is equipped with upper end steering wheel 81, the transmission
4 one end of connecting rod and the upper end steering wheel 81 are rotation connection, and 4 other end of kinematic link and the rocking bar 18 are that rotation connects
It connects, the rocking bar 18 and the stand connection 171 are rotation connection, and two wing roots 1 are mounted on the rocking bar 18
On, by the rotation of the rocking bar 18 to drive two wing roots 1 are synchronous to be rotated around wing leading edge 2, from
And realize the front and back flight of the imitative insect minisize flapping wing aircraft.
The imitative insect minisize flapping wing aircraft further includes third driving mechanism, the third driving mechanism and the wing root
Portion 1 is connected, the third driving mechanism drive the wing root 1 around perpendicular to 2 direction of wing leading edge in the wing 3
Interior rotation.
The imitative insect minisize flapping wing aircraft further includes intermediate connector 19, and the third driving mechanism includes lower end steering engine
16 and lower end connecting shaft 15, the lower end steering engine 16 is equipped with lower end steering wheel 161, described 15 one end of lower end connecting shaft and the lower end
Steering wheel 161 is connected, and the lower end steering engine 16 drives 15 left-right rotation of lower end connecting shaft, the rocking bar 18 include cross bar 181,
Vertical pole 182, brace 183, the vertical pole 182 are connected with the cross bar 181, and described 183 one end of brace is with the kinematic link 4
Rotation connection, 183 other end of brace are connected with the cross bar 181 or the vertical pole 182, and the intermediate connector 19 is equipped with
Groove 191,19 bottom of intermediate connector are equipped with via hole 41, and the vertical pole 182 protrudes into the groove 191, but vertical pole 182 with
Groove 191 is not fixedly connected, can be movable, and the vertical pole 182 is not connected with the groove 191, only at 18 turns of the rocking bar
Support force is provided for the intermediate connector 19 when dynamic, the rocking bar 18 also constitutes parallel four side with intermediate connector 19
Shape mechanism, two described 1 one end of wing root and the cross bar 181 are rotation connection, two 1 other ends of wing root with
The intermediate connector 19 is rotation connection；The lower end connecting shaft 15 penetrates in the via hole 41, and the lower end steering engine 16 drives
It moves the lower end connecting shaft 15 to swing, makes two wings being mounted on the cross bar 181 and intermediate connector 19
Root 1 rotates in the wing 3 around perpendicular to 2 direction of wing leading edge；Two wing roots 1 are synchronous to surround wing
When leading edge 2 is rotated, the via hole 41 is moved along the lower end connecting shaft 15.
Because two wing roots 1 rotate in the wing 3 around perpendicular to 2 direction of wing leading edge, thus
Realize the left and right flight of the imitative insect minisize flapping wing aircraft.
The imitative insect minisize flapping wing aircraft includes the first driving mechanism, crank and rocker mechanism, pulley mechanism, the second driving
Mechanism, third driving mechanism are mounted on the bracket 17.
The wing 3 is made of flexible material.
This imitative insect minisize flapping wing aircraft may be implemented to flutter greatly, and (wing inertia, reachable when consideration is fluttered for amplitude flight
About 190 degree)；
One crank and rocker mechanism in conjunction with pulley mechanism, is formed imitative insect minisize by this imitative insect minisize flapping wing aircraft
Flapping wing aircraft flapping mechanism, crank and rocker mechanism are used to generate the movement of fluttering of imitative insect minisize flapping wing aircraft, turbine
Structure can be final to realize that imitative insect minisize flapping wing aircraft amplitude of fluttering greatly is fluttered by the amplitude amplification of fluttering of rocker device.
Imitative insect minisize flapping wing aircraft wing root 1 of the invention vertically, wing leading edge 2 in the horizontal direction,
Wing 3, which is fluttered, under normal circumstances can produce lift vertically upward, by installing a upper end steering engine 8, upper end rudder above wing 3
Machine 8 is connected by a kinematic link 4, the rocking bar 18 with wing wing root 1, so that wing wing root 1 can be carried out around wing leading edge 2
Rotation generates pitching moment, realizes flight before and after imitative insect minisize flapping wing aircraft；By being installed under one below wing 3
Steering engine 16 is held, so that wing wing root 1 can rotate in wing 3 around perpendicular to 2 direction of wing leading edge, and then flutters imitative insect minisize
Lift produced by rotor aircraft or so wing 3 is different, generates rolling moment, realizes that imitative insect minisize flapping wing aircraft or so flies
Row, meanwhile, pitching moment and rolling moment can be used for adjusting imitative insect minisize flapping wing aircraft flight attitude, realize that imitative insect is micro-
Type flapping wing aircraft hovering flight.
The beneficial effects of the present invention are: 1. structures are simple, it is at low cost convenient for manufacture；2. using crank and rocker mechanism and cunning
Wheel mechanism combines to realize that the amplitude of imitative insect minisize flapping wing aircraft is fluttered, and aeroperformance is good；3. of the invention is imitative
Insect minisize flapping wing aircraft can hovering flight, 3 flapping parameters of wing can be changed in flight course, to change imitative insect minisize
The flight attitude of flapping wing aircraft realizes hovering flight；4. invention enhances the flexibility of imitative insect minisize flapping wing aircraft,
Imitative insect minisize flapping wing aircraft is improved in the application scenarios in the fields such as military surveillance, complicated landform observation.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (10)
1. a kind of imitative insect minisize flapping wing aircraft, it is characterised in that: including the first driving mechanism, crank and rocker mechanism, pulley
Mechanism, two wings, the pulley mechanism include big pulley (7), two truckles (5) and two transmission belts (6), described
Two truckles (5) are located at big pulley (7) two sides, and the big pulley (7) passes through a transmission belt (6) and wherein one
A truckle (5) is connected, the big pulley (7) by after another transmission belt (6) reversion 180 degree with another truckle (5)
It is connected, two truckles (5) are connected with two wings respectively, drive the wing by the rotation of the truckle (5)
It flutters；First driving mechanism drives the crank and rocker mechanism to be rotated, the crank and rocker mechanism with it is described
Big pulley (7) is connected, and drives the big pulley (7) to carry out by the one direction rotation of the crank and rocker mechanism clockwise and inverse
The rotation of hour hands rotation, the big pulley (7) drives a truckle (5) to be rotated clockwise, while the big pulley (7)
Rotation drive another truckle (5) to be rotated counterclockwise.
2. imitative insect minisize flapping wing aircraft according to claim 1, it is characterised in that: the crank and rocker mechanism includes
Crank gear (11), crank (10), connecting rod (9), the crank (10) are mounted on the crank gear (11), the connecting rod
(9) one end is connected with the crank (10), and connecting rod (9) other end is connected with the big pulley (7), first driving machine
Structure drives crank gear (11) rotation, and the crank (10) drives the connecting rod according to the rotation of the crank gear (11)
(9) it pulls and the big pulley (7) is pushed to be rotated clockwise and anticlockwise.
3. imitative insect minisize flapping wing aircraft according to claim 2, it is characterised in that: first driving mechanism includes
Motor (14), motor gear (13), duplicate gear (12), the motor gear (13) are mounted on the output shaft of the motor (14)
On, the motor (14) drives motor gear (13) rotation, and the motor gear (13) drives the duplicate gear (12)
Rotation, the duplicate gear (12) drive crank gear (11) rotation.
4. imitative insect minisize flapping wing aircraft according to claim 1, it is characterised in that: the wing includes wing root
(1), wing leading edge (2), wing (3), the wing (3) are mounted between the wing root (1) and wing leading edge (2), institute
Wing leading edge (2) to be stated to be connected with the truckle (5), truckle (5) rotation drives wing leading edge (2) movement, from
And complete fluttering for the wing.
5. imitative insect minisize flapping wing aircraft according to claim 4, it is characterised in that: the imitative insect minisize flapping flight
Device includes the second driving mechanism, and second driving mechanism is connected with the wing root (1), the second driving mechanism driving
The wing root (1) is rotated around wing leading edge (2).
6. imitative insect minisize flapping wing aircraft according to claim 5, it is characterised in that: second driving mechanism includes
Upper end steering engine (8), kinematic link (4), rocking bar (18), which further includes bracket (17), the branch
Frame (17) is equipped with stand connection (171), and the upper end steering engine (8) is equipped with upper end steering wheel (81), described kinematic link (4) one end
It is rotation connection with the upper end steering wheel (81), kinematic link (4) other end and the rocking bar (18) are rotation connection, institute
Rocking bar (18) and the stand connection (171) are stated as rotation connection, two wing roots (1) are mounted on the rocking bar
(18) on, by the rotation of the rocking bar (18) to drive two wing roots (1) synchronous around wing leading edge (2) into
Row rotation.
7. imitative insect minisize flapping wing aircraft according to claim 6, it is characterised in that: the imitative insect minisize flapping flight
Device further includes third driving mechanism, and the third driving mechanism is connected with the wing root (1), and the third driving mechanism is driven
The wing root (1) is moved around the rotation in the wing (3) perpendicular to wing leading edge (2) direction.
8. imitative insect minisize flapping wing aircraft according to claim 7, it is characterised in that: the imitative insect minisize flapping flight
Device further includes intermediate connector (19), and the third driving mechanism includes lower end steering engine (16) and lower end connecting shaft (15), described
Lower end steering engine (16) is equipped with lower end steering wheel (161), and described lower end connecting shaft (15) one end is connected with the lower end steering wheel (161),
The lower end steering engine (16) drives lower end connecting shaft (15) left-right rotation, and the rocking bar (18) includes cross bar (181), vertical pole
(182), brace (183), the vertical pole (182) are connected with the cross bar (181), described brace (183) one end and the transmission
Connecting rod (4) is rotation connection, and brace (183) other end is connected with the cross bar (181) or the vertical pole (182), described
Intermediate connector (19) is equipped with groove (191), and intermediate connector (19) bottom is equipped with via hole (41), the vertical pole (182)
It protrudes into the groove (191), two described wing root (1) one end and the cross bar (181) are rotation connection, two wings
Wing root portion (1) other end and the intermediate connector (19) are rotation connection；The lower end connecting shaft (15) penetrates the via hole
(41) in, the lower end steering engine (16) drives the lower end connecting shaft (15) to swing, make to be mounted on the cross bar (181) and
Two wing roots (1) on intermediate connector (19) around perpendicular to wing leading edge (2) direction in the wing (3)
Interior rotation；Two wing roots (1) are synchronous when being rotated around wing leading edge (2), and the via hole (41) is under described
It is moved at end connecting shaft (15).
9. imitative insect minisize flapping wing aircraft according to claim 8, it is characterised in that: the imitative insect minisize flapping flight
Device is mounted on described including the first driving mechanism, crank and rocker mechanism, pulley mechanism, the second driving mechanism, third driving mechanism
On bracket (17).
10. according to the described in any item imitative insect minisize flapping wing aircrafts of claim 4 to 9, it is characterised in that: the wing
(3) it is made of flexible material.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811590043.4A CN109573019A (en) | 2018-12-25 | 2018-12-25 | A kind of imitative insect minisize flapping wing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811590043.4A CN109573019A (en) | 2018-12-25 | 2018-12-25 | A kind of imitative insect minisize flapping wing aircraft |
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| CN109573019A true CN109573019A (en) | 2019-04-05 |
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| CN110065631A (en) * | 2019-04-17 | 2019-07-30 | 哈尔滨工业大学（深圳） | A kind of changeable phases flapping mechanism and imitative dragonfly flapping wing aircraft |
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| CN113844651A (en) * | 2021-11-05 | 2021-12-28 | 中国科学院合肥物质科学研究院 | Elastic flapping mechanism, bionic mechanical dragonfly aircraft with elastic flapping mechanism and control method of aircraft |
| CN115447772A (en) * | 2022-10-25 | 2022-12-09 | 浙江大学 | Super-light structure and bionic hummingbird flapping-wing aircraft with control system |
| CN116022332A (en) * | 2023-02-20 | 2023-04-28 | 北京科技大学 | Line-driven beetle-like miniature ornithopter |
| CN116853547A (en) * | 2023-07-21 | 2023-10-10 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
| CN117622486A (en) * | 2024-01-24 | 2024-03-01 | 中国科学院合肥物质科学研究院 | Flapping wing aircraft capable of hovering and flying and control method thereof |
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| CN110143280A (en) * | 2019-05-29 | 2019-08-20 | 南开大学 | A kind of driving mechanism of the imitative hummingbird flapping wing unmanned vehicle based on link mechanism |
| CN110143280B (en) * | 2019-05-29 | 2022-05-27 | 南开大学 | Driving mechanism of hummingbird-flapping-wing-imitating unmanned aerial vehicle based on connecting rod mechanism |
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| CN110371288A (en) * | 2019-07-31 | 2019-10-25 | 武汉科技大学 | One kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle |
| CN110667840B (en) * | 2019-10-29 | 2021-09-21 | 北京科技大学 | Novel butterfly-imitating flapping-wing aircraft |
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| CN112173101A (en) * | 2020-11-05 | 2021-01-05 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
| CN112173101B (en) * | 2020-11-05 | 2022-07-19 | 北京航空航天大学 | Hovering double-flapping-wing aircraft based on Clap-flying mechanism |
| CN112278271A (en) * | 2020-11-24 | 2021-01-29 | 北京航空航天大学 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
| CN113002772A (en) * | 2021-03-26 | 2021-06-22 | 吉林大学 | Flapping-folding integrated bat-like flapping wing aircraft |
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| CN113022850A (en) * | 2021-05-11 | 2021-06-25 | 北京航空航天大学 | Hovering type micro bionic double-flapping-wing flying robot |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
| CN113386958B (en) * | 2021-06-15 | 2024-01-09 | 东北大学 | Phase-changing double-flapping-wing mechanism and micro air vehicle |
| CN113665808A (en) * | 2021-09-22 | 2021-11-19 | 北京航空航天大学 | Miniature flapping wing aircraft flapping mechanism based on linear transmission mechanism |
| CN113665808B (en) * | 2021-09-22 | 2024-05-03 | 北京航空航天大学 | Miniature flapping mechanism of flapping wing air vehicle based on line transmission mechanism |
| CN113844651B (en) * | 2021-11-05 | 2023-12-12 | 中国科学院合肥物质科学研究院 | Elastic flapping mechanism, bionic mechanical dragonfly aircraft with elastic flapping mechanism and control method of aircraft |
| CN113844651A (en) * | 2021-11-05 | 2021-12-28 | 中国科学院合肥物质科学研究院 | Elastic flapping mechanism, bionic mechanical dragonfly aircraft with elastic flapping mechanism and control method of aircraft |
| CN115447772A (en) * | 2022-10-25 | 2022-12-09 | 浙江大学 | Super-light structure and bionic hummingbird flapping-wing aircraft with control system |
| CN116022332A (en) * | 2023-02-20 | 2023-04-28 | 北京科技大学 | Line-driven beetle-like miniature ornithopter |
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