CN110435888A - A kind of flapping wing aircraft - Google Patents
A kind of flapping wing aircraft Download PDFInfo
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- CN110435888A CN110435888A CN201910775872.8A CN201910775872A CN110435888A CN 110435888 A CN110435888 A CN 110435888A CN 201910775872 A CN201910775872 A CN 201910775872A CN 110435888 A CN110435888 A CN 110435888A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0054—Fuselage structures substantially made from particular materials
- B64C2001/0072—Fuselage structures substantially made from particular materials from composite materials
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of flapping wing aircraft, including tab construction unit, flapping wing driving structure unit, airframe structure unit and flight controller unit；The tab construction unit uses bionic flapping-wing；The flapping wing driving structure unit uses single crank double rocker mechanism, drives tab construction unit motion in the way of hollow-cup motor driving single crank double rocker mechanism, can satisfy the upper frequency of flapping wing aircraft needs；Take T-type empennage in the tail portion of the airframe structure unit；The empennage movement of the flight controller unit control tab construction unit and airframe structure unit, to assist the controllable flight of flapping wing aircraft.Flapping wing aircraft flight effect of the present invention is preferable, improves flight efficiency.
Description
Technical field
The present invention relates to aircraft, in particular to a kind of flapping wing aircraft.
Background technique
Unmanned vehicle initially starts from the 1940s, being mainly used for the antiaircraft gunner of training.It is close with development in science and technology
Unmanned vehicle plays increasingly important role in modern society over year, is ground according to scientist and the continuous of engineers
Study carefully, following flying robot's master-plan expectation is intended to compact, flexibility.
Wherein, flapping-wing type aircraft from birds and insects flight course, since itself has many advantages, such as,
A new hot spot as unmanned vehicle area research.It, can also be firstly, not only propulsive efficiency is higher for flapping-wing type aircraft
High-altitude hovered it is more abundant using potential energy, so flapping-wing type aircraft is with respect to more supernumerary segment for the aircraft of rotary wind type
Energy.Secondly, the sized flap wings system collection of flapping wing aircraft generates lift and thrust simultaneously, lifting, hovering and the function that promotes in one,
By adjusting flapping wing control system flapping parameters can flexible change of flight state, enormously simplify the entirety of aircraft
Structure, to alleviate fuselage weight.Meanwhile flapping-wing type aircraft has good mobility and concealment, it is to operation ring
Border requirement is low, battlefield survival is relatively strong, shape can more be pretended, before having boundless application in military and civilian field
Scape.
However, current flapping wing aircraft is related to, research field is more, and there are many difficulties, electrostatic self-excitation, electromagnetism are flat for development
Planar coil driving method it is generally existing miniaturization cannot be considered in terms of with driving force, and can reach controllable flight control scheme compared with
It is few.
Summary of the invention
The purpose of the present invention is overcoming deficiency in the prior art, a kind of flapping wing aircraft is provided.The present invention passes through to not
Bionics fiber is carried out with insect wing, the aerofoil profile of flapping wing aircraft is optimized, suitable tail structure is had chosen.Together
When, by hollow-cup motor driving single crank double rocker mechanism in the way of drive flapping-wing aircraft all-wing aircraft move, and use it is mini from
Steady flight controller moves to control flapping wing and empennage, to assist the controllable flight of flapping wing aircraft.The present invention, which flies, imitates
Fruit is preferable, improves flight efficiency, provides experience for the exploitation of other flapping wing aircrafts.
The technical scheme adopted by the invention is that: a kind of flapping wing aircraft, comprising:
Tab construction unit, the tab construction unit include a pair of upper bionic flapping-wing and a pair of lower bionic flapping-wing；
Flapping wing driving structure unit, the flapping wing driving structure unit include wing frame, drive rod and gear set；The gear
Group includes the identical first gear of diameter and second gear and diameter is less than the small of the first gear and the second gear
Gear, the first gear and the second gear are arranged symmetrically in the two sides of the pinion gear and mutually nibble with the pinion gear
It closes；The wing frame includes two pairs of frame bodies, and each pair of frame body is by the upper connecting rod of interconnection and arrangement at an angle under
Connecting rod composition, the upper connecting rod of each pair of frame body are connected with one of bionic flapping-wing of the upper bionic flapping-wing, often
It is connected to the lower connecting rod of the frame body with one of bionic flapping-wing of the lower bionic flapping-wing, under two pairs of frame bodies
Connecting rod is connected by the drive rod with the first gear and the second gear respectively；
Airframe structure unit, the airframe structure unit include aircraft fuselage plate and empennage, and the empennage is fixed on institute
The tail portion for stating aircraft fuselage plate, the flapping wing driving structure unit being connected by the wing frame with the tab construction unit
It is fixed on the front of the aircraft fuselage plate；
Flight controller unit, the flight controller unit include single-chip microcontroller, accelerometer, for driving the gear
The hollow-cup motor organized and the digital rudder controller for controlling the empennage, the reduction gearing of the hollow-cup motor and the flapping wing
The pinion gear of driving structure unit is meshed, and the digital rudder controller is connect with the empennage, and the single-chip microcontroller passes through the acceleration
Degree meter controls the hollow-cup motor and the digital rudder controller, and then controls the fortune of the tab construction unit and the empennage
It is dynamic.
Further, the bionical shape of the upper bionic flapping-wing and the lower bionic flapping-wing is dragonfly wing shape, described
The aerofoil profile aspect ratio of upper bionic flapping-wing and the lower bionic flapping-wing is 9, and the upper bionic flapping-wing and the lower bionic flapping-wing wrap
Finned surface and flapping wing connecting rod are included, one end of the flapping wing connecting rod is fixedly connected with the finned surface, the other end and the flapping wing drive
The wing frame of dynamic structural unit connects, and the cell of several hollow outs, the hollow out shape of the cell are provided in the finned surface
For triangle, quadrangle or pentagonal one of which.
Wherein, the position that the dragonfly wing pterostigma is corresponded on the finned surface opens up rigidity greater than quadrangle and pentagon
The triangular shaped cell, the dragonfly wing is corresponded on the finned surface from the position of arteries and veins and opens up rigidity less than triangle
The cell of shape and the pentagon shaped of quadrangle, remaining position on the finned surface open up rigidity less than triangle, big
In the cell of pentagonal quadrangle form.
Wherein, the finned surface for being provided with hollow out cell is made up using carbon fibre material of 3D printing, the finned surface
Surface is covered with BOPP film.
Further, the included angle between the upper connecting rod and lower connecting rod of the wing frame is between 0 ° to 180 °.
Further, the aircraft fuselage plate is made of 0.5mm thickness carbon fibre material.
Further, the empennage uses T-type tailplane, including two horizontal stabilizers and a fixed fin,
Two horizontal stabilizers and a fixed fin are connect with a digital rudder controller respectively, pass through the number
The control of steering engine adjusts, and realizes longitudinal stability and deflection when flapping wing aircraft flight.
The beneficial effects of the present invention are: the present invention proposes a kind of small and exquisite, light, flexible controllable type flapping wing aircraft, root
According to aerodynamics and bionics, so that the design of aerofoil profile is more scientific, it is therefore prevented that wing generates curling, part in flight course
The problems such as unstability, improves the intensity of wing, helps to improve aircraft lift；Whole drive scheme is compact-sized, gross weight compared with
Gently, and it can satisfy flapping wing and flutter required necessary frequency up and down, help to improve flight efficiency；It takes flapping wing aircraft tail portion
T-type empennage, and use flight controller and control the movement of flapping wing and empennage, and then realize the controllable flight of aircraft,
Help to provide reasonable plan for the controllable flight of flapping wing aircraft.
Detailed description of the invention
Fig. 1: flapping wing aircraft structural schematic diagram of the present invention；
Fig. 2: upper (lower) bionic flapping-wing structural schematic diagram of the invention；
Fig. 3: single crank double rocker mechanism schematic diagram used by flapping wing driving structure unit of the present invention；
Fig. 4: flapping wing driving structure cellular construction schematic diagram of the invention；
Fig. 5 a: the schematic view of the front view of aircraft fuselage plate of the invention；
Fig. 5 b: the side structure schematic view of aircraft fuselage plate of the invention；
Fig. 5 c: the schematic perspective view of aircraft fuselage plate of the invention；
Attached drawing mark: 1, upper bionic flapping-wing；2, lower bionic flapping-wing；3, flapping wing driving structure unit；4, wing frame；5, it drives
Bar；6, first gear；7, second gear；8, pinion gear；9, upper connecting rod；10, lower connecting rod；11, aircraft fuselage plate；12,
Digital rudder controller；13, finned surface；14, flapping wing connecting rod；15, cell；16, horizontal stabilizer；17, fixed fin；18, battery is put
Set；19, power supply；20, driving mechanism hole location；21, flight controller hole location；22, bottom plate threading hole hole；23, support bar；24,
Empennage and digital rudder controller hole location.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
As shown in attached drawing 1 to Fig. 5 c, a kind of flapping wing aircraft, mainly by tab construction unit, flapping wing driving structure unit
3, airframe structure unit and flight controller unit composition.
(1) tab construction unit
There is extraordinary stability and high bearing capacity according to dragonfly wing, it is special to show superior mechanics
Property, the present invention chooses more light carbon fibre material, right using the combination of the geometric figures such as triangle, quadrangle, pentagon
Dragonfly wing has carried out structure and has suitably simplified.
The tab construction unit includes a pair of upper bionic flapping-wing 1 and a pair of lower bionic flapping-wing 2.As shown in Fig. 2, on described
The bionical shape of bionic flapping-wing 1 and the lower bionic flapping-wing 2 is dragonfly wing shape, according to dragonfly wing design feature, in conjunction with
The aerofoil profile aspect ratio of aerodynamics and bionic analysis, the upper bionic flapping-wing 1 and the lower bionic flapping-wing 2 is 9.It is described
Upper bionic flapping-wing 1 and the lower bionic flapping-wing 2 include finned surface 13 and flapping wing connecting rod 14, one end of the flapping wing connecting rod 14
It is fixedly connected with the finned surface 13, the other end is connect with the wing frame 4 of the flapping wing driving structure unit 3, the finned surface 13
Fin root part there are the hole location for being inserted into the flapping wing connecting rod 14, the flapping wing connecting rod 14 uses carbon fibre material system
At.
Grid is constituted by the way of being combined by different shapes such as triangle, quadrangle, pentagons in the finned surface 13
The hollow out cell 15 of form, corresponded on the finned surface 13 the dragonfly wing pterostigma position open up rigidity greater than quadrangle and
The pentagonal triangular shaped cell 15, corresponds to the dragonfly wing on the finned surface 13 and opens up just from the position of arteries and veins
Degree is less than the cell 15 of the pentagon shaped of triangle and quadrangle, remaining position on the finned surface 13 opens up rigidity
Less than triangle, greater than the cell 15 of pentagonal quadrangle form, also, be located at the up-front quadrangle of the finned surface 13
The size of the cell 15 of shape is less than the size of the cell 15 of the quadrangle form positioned at 13 rear of finned surface, so that wing
13 various pieces of face have different rigidity, prevent finned surface 13 from local buckling's problem occurring in flight course, while can mention
Bending strength of the high finned surface 13 in spanwise, moreover it is possible to prevent entire finned surface 13 from generating curling well.
3D printing is one of the design scheme for processing the most convenient and efficient of nonstandard component.Pass through the lift of optimization design fin
After structure, using 3D printing blade when, the coefficient of elasticity of the PLA material used due to 3D printing is larger, leads to blade tip
It is unable to synchronous vibrating with root, fin can not be shaken with higher speed, cause lift output insufficient.It is provided with hollow out cell 15
The finned surface 13 (i.e. the skeleton part of bionic flapping-wing) be made up of 3D printing using carbon fibre material, the table of the finned surface 13
Face is covered with BOPP film, and hardness is big compared with other plastic films, is unlikely to deform in fin vibration, can generate bigger gas backward
Stream.
(2) flapping wing driving structure unit 3
As shown in figure 3, flapping wing driving structure unit 3 of the present invention uses single crank double rocker mechanism, established by origin of O point
The length of cartesian coordinate system, crank is A, and the length of connecting rod is that the distance of B, O point to O1 point and O point to O2 point is C, is shaken
The length of bar is D, and the distance of rocking bar hinge joint and connecting rod hinge point is E, and left rocker distal point is respectively P1 and P2, and γ is
The angle of OO1 and horizontal direction, α are the angle of OO1 and crank, P1 and P2 point coordinate can be by single crank double rocker mechanism principle meter
It obtains.
Based on the above principles, as shown in figure 4, the flapping wing driving structure unit 3 is by wing frame 4, drive rod 5 and gear set
The single crank double rocker mechanism collectively formed, reduction ratio 1:25.4.The gear set is hollow by the flight controller unit
Cup motor driven, including the identical first gear 6 of diameter and second gear 7 and diameter are less than the first gear 6 and described
The pinion gear 8 of second gear 7, the first gear 6 and the second gear 7 are arranged symmetrically in the two sides of the pinion gear 8 simultaneously
It is meshed with the pinion gear 8.The wing frame 4 include two pairs of frame bodies and support, each pair of frame body by be connected with each other simultaneously
The upper connecting rod 9 and lower connecting rod 10 of (for any angle between 0 ° to 180 °) arrangement at an angle form, the upper connection
The junction of bar 9 and the lower connecting rod 10 is connected on the support by shaft, enables the frame body around the shaft
Rotation；The upper connecting rod 9 of each pair of frame body is connected with one of bionic flapping-wing of the upper bionic flapping-wing 1, Mei Duisuo
The lower connecting rod 10 for stating frame body is connected with one of bionic flapping-wing of the lower bionic flapping-wing 2, under two pairs of frame bodies
Connecting rod 10 is connected by the drive rod 5 with the first gear 6 and the second gear 7 respectively；In the upper connection
There are hole location, the flapping wing connecting rod 14 for 13 root of finned surface of bionic flapping-wing is inserted into connection for the end of bar 9 and lower connecting rod 10
Flapping wing driving structure unit 3.
Wherein, the pinion gear 8 engages the crank for constituting mechanism, the small tooth with the reduction gearing of the hollow-cup motor
Wheel 8 constitutes connecting rod with the center of the first gear 6, second gear 7 respectively, connects the first gear 6 and one pair of them institute
State the drive rod 5 of frame body and two rocking bars of composition of drive rod 5 of the connection second gear 7 and frame body described in another pair.Due to
The decelerating effect of the gear set, bionic flapping-wing can be stablized under higher vibration frequency flutters, and keeps higher driving
Power, the driving force of generation is enough to support aircraft own wt, and has certain load capacity.
Flapping wing driving structure unit 3 drives gear movement by hollow-cup motor, to drive link motion, then by connecting rod band
The rocking bar on dynamic both sides, constitutes single crank double rocker mechanism, realizes the beating campaign of bionic flapping-wing or more.The advantages of mechanism is to pass
Efficiency of movement is high, and this mechanism light weight, is easy to microminiaturization.
(3) airframe structure unit
The airframe structure unit includes aircraft fuselage plate 11 and empennage.
Shown in as shown in Figure 5 a to 5 c, the aircraft fuselage plate 11 has chosen more appropriate tail structure, surface there are
Place the hole location of power supply 19, flapping wing driving structure unit 3, flight controller unit.The front end of the aircraft fuselage plate 11
Battery place position 18 and can place aircraft lithium battery power supply 19, and using by the way of foam package to the progress protecting against shock of power supply 19
Protection；Driving mechanism hole location 20 positioned at front is for placing the flapping wing driving structure unit being connected with the tab construction unit
3 and the hollow-cup motor for driving the flapping wing driving structure unit 3；Flight controller hole location 21 is using surrounding aperture the bottom of at
The single-chip microcontroller and accelerometer of flight controller unit are placed above plate；Bottom plate threading hole hole 22 is for mitigating aircraft fuselage plate
11 mass, and facilitate the wiring of each section electrical connecting wires；Length direction of the support bar 23 along bottom plate threading hole hole 22 is arranged, can be prevented
Only bottom plate threading hole hole 22 deforms；There are empennages and digital rudder controller hole location 24 for the tail portion of aircraft fuselage plate 11, connect for fixed
Connect digital rudder controller 12 and empennage.
The aircraft fuselage plate 11 is re-packed using 0.5mm thickness carbon fibre material, light-weight, and intensity is high.
The empennage uses T-type tailplane, including two horizontal stabilizers 16 and a fixed fin 17.The water
Flat stabilization 16 improves stability of aircraft, preferably copes with ascending air and side windward.The horizontal stabilizer 16 is by institute
The control adjustment of digital rudder controller 12 for stating flight controller unit, to maintain longitudinal stability when flapping wing aircraft flight.Institute
A torque contrary with deflecting will be generated by stating when fixed fin 17 receives crossflow disturbance, described vertical stable
Face 17 also controls adjustment by the digital rudder controller 12 of the flight controller unit, realizes the deflection of flapping wing aircraft.
(4) flight controller unit
The flight controller unit includes the single-chip microcontroller of model STM32F405RGT6, the acceleration of model MPU6050
Degree meter, the digital rudder controller 12 for driving the hollow-cup motor of the gear set and for controlling the empennage, the drag cup
The reduction gearing of motor is meshed with the pinion gear 8 of the flapping wing driving structure unit 3, the digital rudder controller 12 and the empennage
Connection, the single-chip microcontroller controls the hollow-cup motor and the digital rudder controller 12 by the accelerometer, and then controls institute
The movement for stating tab construction unit and the empennage, according to the instruction adjust automatically aircraft of flight condition and 2.4G remote controler
Posture, to reach the controllable flight of flapping wing aircraft.
The mechanism drive scheme that the present invention uses can satisfy the upper frequency of aircraft needs, and structure is simple, warp
Lighter in weight after design is aided with the addition of aerofoil optimization and flight controller, so that flapping-wing aircraft preferably realizes controllable flight.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of flapping wing aircraft characterized by comprising
Tab construction unit, under the tab construction unit includes a pair of upper bionic flapping-wing (1) and is a pair of bionic flapping-wing (2)；
Flapping wing driving structure unit (3), the flapping wing driving structure unit (3) include wing frame (4), drive rod (5) and gear set；
The gear set includes that the identical first gear of diameter (6) and second gear (7) and diameter are less than the first gear (6)
With the pinion gear (8) of the second gear (7), the first gear (6) and the second gear (7) are arranged symmetrically in described small
The two sides of gear (8) are simultaneously meshed with the pinion gear (8)；The wing frame (4) includes two pairs of frame bodies, and each pair of frame body is equal
It is made of the upper connecting rod (9) and lower connecting rod (10) of interconnection and arrangement at an angle, the upper connection of each pair of frame body
Bar (9) is connected with one of bionic flapping-wing of the upper bionic flapping-wing (1), the lower connecting rod (10) of each pair of frame body with
One of bionic flapping-wing of the lower bionic flapping-wing (2) is connected, and the lower connecting rod (10) of two pairs of frame bodies passes through respectively
The drive rod (5) is connected with the first gear (6) and the second gear (7)；
Airframe structure unit, the airframe structure unit include aircraft fuselage plate (11) and empennage, and the empennage is fixed on institute
The tail portion for stating aircraft fuselage plate (11) is driven by the flapping wing that the wing frame (4) is connected with the tab construction unit
Structural unit (3) is fixed on the front of the aircraft fuselage plate (11)；
Flight controller unit, the flight controller unit include single-chip microcontroller, accelerometer, for driving the gear set
Hollow-cup motor and digital rudder controller (12) for controlling the empennage, the reduction gearing of the hollow-cup motor and the flapping wing
The pinion gear (8) of driving structure unit (3) is meshed, and the digital rudder controller (12) connect with the empennage, and the single-chip microcontroller is logical
Cross the accelerometer and control the hollow-cup motor and the digital rudder controller (12), so control the tab construction unit and
The movement of the empennage.
2. a kind of flapping wing aircraft according to claim 1, which is characterized in that the upper bionic flapping-wing (1) and it is described under
The bionical shape of bionic flapping-wing (2) is dragonfly wing shape, the wing of the upper bionic flapping-wing (1) and the lower bionic flapping-wing (2)
Type aspect ratio is 9, and the upper bionic flapping-wing (1) and the lower bionic flapping-wing (2) include finned surface (13) and flapping wing connecting rod
(14), one end of the flapping wing connecting rod (14) be fixedly connected with the finned surface (13), the other end and the flapping wing driving structure
The wing frame (4) of unit (3) connects, and the cell (15) of several hollow outs, the cell are provided in the finned surface (13)
(15) hollow out shape is triangle, quadrangle or pentagonal one of which.
3. a kind of flapping wing aircraft according to claim 2, which is characterized in that correspond to the dragonfly on the finned surface (13)
The position of dragonfly wing pterostigma opens up rigidity greater than quadrangle and the pentagonal triangular shaped cell (15), in the wing
The dragonfly wing is corresponded on face (13) opens up institute of the rigidity less than the pentagon shaped of triangle and quadrangle from the position of arteries and veins
Cell (15) are stated, remaining position on the finned surface (13) opens up rigidity and is less than triangle, is greater than pentagonal quadrangle shape
The cell (15) of shape.
4. a kind of flapping wing aircraft according to claim 2, which is characterized in that be provided with the wing of hollow out cell (15)
Face (13) is made up using carbon fibre material of 3D printing, and the surface of the finned surface (13) is covered with BOPP film.
5. a kind of flapping wing aircraft according to claim 1, which is characterized in that the upper connecting rod (9) of the wing frame (4) and
Included angle between lower connecting rod (10) is between 0 ° to 180 °.
6. a kind of flapping wing aircraft according to claim 1, which is characterized in that the aircraft fuselage plate (11) uses
0.5mm thickness carbon fibre material is made.
7. a kind of flapping wing aircraft according to claim 1, which is characterized in that the empennage uses T-type tailplane, packet
Include two horizontal stabilizers (16) and a fixed fin (17), two horizontal stabilizers (16) and one it is described vertical
Stabilization (17) is connect with a digital rudder controller (12) respectively, is adjusted, is realized by the control of the digital rudder controller (12)
Longitudinal stability and deflection when flapping wing aircraft flight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775872.8A CN110435888B (en) | 2019-08-21 | 2019-08-21 | Flapping wing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775872.8A CN110435888B (en) | 2019-08-21 | 2019-08-21 | Flapping wing aircraft |
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| CN110435888A true CN110435888A (en) | 2019-11-12 |
| CN110435888B CN110435888B (en) | 2022-03-15 |
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| CN201910775872.8A Active CN110435888B (en) | 2019-08-21 | 2019-08-21 | Flapping wing aircraft |
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| CN112124582A (en) * | 2020-09-18 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Four-flapping-wing aircraft and control method thereof |
| CN112455671A (en) * | 2020-11-26 | 2021-03-09 | 广东国士健科技发展有限公司 | Flat-flapping type rotor craft |
| CN114906323A (en) * | 2022-06-07 | 2022-08-16 | 沈阳航空航天大学 | Multi-attitude flapping wing aircraft based on additional mass effect mechanism |
| CN116674747A (en) * | 2023-08-03 | 2023-09-01 | 西南石油大学 | Flexible flapping wing and ducted propeller hybrid-driven simulated baton floating aircraft |
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