CN114560084A - Self-unfolding deformation wing of bionic flapping wing flying robot - Google Patents
Self-unfolding deformation wing of bionic flapping wing flying robot Download PDFInfo
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- CN114560084A CN114560084A CN202210315285.2A CN202210315285A CN114560084A CN 114560084 A CN114560084 A CN 114560084A CN 202210315285 A CN202210315285 A CN 202210315285A CN 114560084 A CN114560084 A CN 114560084A
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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 invention discloses an autonomous folding and unfolding deformation wing of a bionic flapping wing flying robot, which comprises: a body; the two swing rods are respectively connected to the left side and the right side of the machine body, can swing up and down relative to the machine body, and respectively extend towards the left side and the right side of the machine body from the machine body; the two wings are respectively arranged on the two swing rods; the wing includes: the fixed component is connected with the swing rod; the inclined rod is rotatably connected with the fixing component, and feather pieces are rotatably connected to the inclined rod; the first rotating assembly is used for driving the inclined rod to rotate relative to the fixing assembly; the second rotating assembly is used for driving the feather piece to rotate relative to the inclined rod; the adaptability of the flapping wing air vehicle to different flight working conditions can be effectively improved by applying the deformation wing.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to an autonomous folding and unfolding deformation wing of a bionic flapping wing flying robot.
Background
With the development of science and technology, the flapping wing air vehicle has wide application scenes in both military fields and civil fields; in the military field, the flapping wing air vehicle can carry out camouflage detection, target tracking, near-distance electronic interference and the like in a special environment; in the civil field, the flapping wing air vehicle can carry out narrow space rescue, forest wild animal detection, aerial video shooting and the like; at present, a plurality of countries and scientific research units develop special researches to try to develop flapping wing aircrafts which can be used in special environments.
The existing flapping wing air vehicle generally uses a motor and other driving mechanisms to drive wings of fixed shapes to flap up and down so as to drive the whole air vehicle to fly; however, for maneuvering flight and fast cruising flight in complex environment, the wing-shaped requirements of the wings are inconsistent, so that the fixed-shape wings cannot fully take into account the two different flight conditions, and can only show better aerodynamic performance in a smaller operation adjusting range.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the autonomous folding and unfolding deformation wing of the bionic flapping wing flying robot, which can improve the adaptability of the flapping wing aircraft to different flying working conditions.
The invention relates to an autonomous folding and unfolding deformation wing of a bionic flapping wing flying robot, which comprises: a body; the two swing rods are respectively connected to the left side and the right side of the machine body and can swing up and down relative to the machine body, and the two swing rods respectively extend towards the left side and the right side of the machine body from the machine body; the two wings are respectively arranged on the two swing rods; the wing includes: the fixed component is connected with the swing rod; the inclined rod is rotatably connected with the fixing component, and feather pieces are rotatably connected to the inclined rod; the first rotating assembly is used for driving the inclined rod to rotate relative to the fixing assembly; and the second rotating assembly is used for driving the feather piece to rotate relative to the inclined rod.
According to some embodiments of the invention, the first rotating assembly comprises: the primary transmission connecting rod is rotatably connected with the oscillating rod; the two ends of the first-stage transmission rocker are respectively and rotatably connected with the first-stage transmission connecting rod and the inclined rod; and the power output assembly is arranged on the machine body and is used for driving the primary transmission connecting rod to rotate relative to the swing rod.
According to some embodiments of the invention, the power take-off assembly comprises: the driving slide block is arranged on the machine body; the translation assembly is arranged on the machine body and used for driving the driving slide block to move back and forth; and two ends of the output connecting rod are respectively and rotationally connected with the driving slide block and the primary transmission connecting rod.
According to some embodiments of the invention, the translation assembly comprises: the driving motor is arranged on the machine body; the driving screw rod is rotatably connected to the machine body, the driving screw rod extends in the front-back direction, the driving motor is used for driving the driving screw rod to rotate, and the driving screw rod is in threaded fit with the driving sliding block.
According to some embodiments of the invention, the translation assembly further comprises: the sliding block connecting piece is rotationally connected with the driving sliding block, the sliding block connecting piece is coaxial with the driving screw rod, and the sliding block connecting piece is rotationally connected with the output connecting rod.
According to some embodiments of the invention, the translation assembly further comprises: and the sliding block guide rod is arranged on the machine body, extends along the front-back direction and is in sliding fit with the driving sliding block.
According to some embodiments of the invention, the second rotating assembly further comprises: the first connecting rod is rotatably connected with the inclined rod and fixedly connected with the feather piece; and two ends of the secondary transmission rocker are respectively arranged on the first connecting rod and the fixing component.
According to some embodiments of the invention, the second rotating assembly further comprises two second connecting rods, each of the two first connecting rods is fixedly connected with one feather piece, and the two first connecting rods, the second connecting rod and the diagonal rod form a planar four-bar mechanism.
According to some embodiments of the invention, the second link has a plurality of first links, a plurality of second links and the diagonal rods form a plurality of planar four-bar mechanisms connected in series in sequence.
According to some embodiments of the invention, the fixing assembly comprises: the main rod is connected with the swing rod, and the inclined rod is rotatably connected with the main rod; the airfoil is fixedly connected with the main rod.
By applying the autonomous folding and unfolding deformation wing of the bionic flapping wing flying robot, in the flying process of the flying robot, when an aircraft needs to perform maneuvering flying in a complex environment, the first rotating assembly can be controlled to rotate the inclined rod in the direction away from the fixed assembly, and meanwhile, the second rotating assembly is controlled to rotate the feather pieces in the direction of increasing the included angle between the feather pieces and the inclined rod, so that the wing can obtain larger aerodynamic moment in the flying process, and the steering flexibility of the flying robot is improved; when the aircraft needs to carry out high-speed cruise flight, the first rotating assembly can be controlled to drive the inclined rod to rotate towards the direction close to the fixed assembly, and the second rotating assembly is controlled to rotate the feather pieces towards the direction of reducing the included angle between the feather pieces and the inclined rod, so that the area of the whole wing is reduced, the flight resistance is effectively reduced, and the high-speed cruise performance is improved; no matter the aircraft flies in a complex environment flexibly or flies at high speed in a cruising way, the self-unfolding deformation wing of the bionic flapping wing flying robot can well adapt to the flying working condition, and the flying performance is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic unfolding view of an autonomous folding and unfolding deformation wing of a bionic flapping wing flying robot in an embodiment of the invention;
FIG. 2 is a schematic folding view of an autonomous folding and unfolding deformation wing of the bionic flapping wing flying robot in the embodiment of the invention;
FIG. 3 is a schematic view of the fixing assembly of FIG. 1;
FIG. 4 is an enlarged, fragmentary schematic view of the folding assembly and the two-stage drive assembly of FIG. 1;
FIG. 5 is a schematic diagram of a power output part of an autonomous folding and unfolding deformation wing of the bionic flapping wing flying robot in the embodiment of the invention;
FIG. 6 is a schematic view of the primary transmission assembly of FIG. 1;
the above figures contain the following reference numerals.
| Reference numerals | Name(s) | Reference numerals | Name (R) |
| 1 | |
3 | Power take-off |
| 101 | Front swing rod | 301 | |
| 102 | Ball head | 302 | |
| 103 | Main pole | 303 | Motor |
| 104 | Back rod | 304 | |
| 105 | Chord direction support rod | 305 | Sliding block bearing |
| 106 | Support connecting piece | 306 | Motor rotating bearing |
| 107 | Main transmission connecting piece | 307 | |
| 108 | Airfoil | 308 | |
| 2 | |
309 | Power |
| 201 | |
310 | |
| 202 | Diagonal |
311 | Rocker connecting bearing |
| 2031 | First connecting rod | 4 | One- |
| 2032 | Second connecting |
401 | One-stage |
| 204 | Feather |
402 | One- |
| 2051 | First |
5 | Two- |
| 2052 | Second |
501 | Two-stage transmission rocker |
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 6, the autonomous folding and unfolding deformation wing of the bionic flapping wing flying robot of the embodiment includes: a body; the two swing rods are respectively connected to the left side and the right side of the machine body and can swing up and down relative to the machine body, and the two swing rods respectively extend towards the left side and the right side of the machine body from the machine body; the two wings are respectively arranged on the two swing rods; the wing includes: the fixed component 1 is connected with the swing rod; the inclined rod 202 is rotatably connected with the fixing component 1, and the feather piece 204 is rotatably connected to the inclined rod 202; a first rotating assembly for driving the diagonal rod 202 to rotate relative to the fixed assembly 1; a second rotating component for driving the feather blade 204 to rotate relative to the diagonal rod 202.
By applying the self-unfolding deformation wing of the bionic flapping wing flying robot, in the flying process of the flying robot, when the flying robot needs to perform maneuvering flying in a complex environment, as shown in fig. 1, the first rotating assembly is controlled to rotate the inclined rod 202 towards the direction away from the fixed assembly 1, and the second rotating assembly is controlled to rotate the feather piece 204 towards the direction with the included angle between the feather piece and the inclined rod 202 increased, so that the wing can obtain larger aerodynamic moment in the flying process, and the steering flexibility of the flying robot is increased; when the aircraft needs to perform high-speed cruising flight, as shown in fig. 2, the first rotating assembly is controlled to drive the inclined rod 202 to rotate towards the direction close to the fixed assembly 1, and the second rotating assembly is controlled to rotate the feather pieces 204 towards the direction with the included angle between the feather pieces and the inclined rod 202 reduced, so that the area of the whole wing is reduced, the flight resistance is effectively reduced, and the high-speed cruising performance is improved; no matter the aircraft flies in a complex environment flexibly or flies at high speed in a cruising way, the self-unfolding deformation wing of the bionic flapping wing flying robot can well adapt to the flying working condition, and the flying performance is improved.
The traditional variable-sweep-wing aircraft can only change the sweep angle and cannot change the wingspan area, and the variable-wing aircraft in the embodiment can realize dynamic folding and unfolding of wings during air flight. The flight performance of the aircraft is improved. Meanwhile, after the flight task is finished, the wingspan and the area can be reduced, the storage space of the aircraft is reduced, and the aircraft is easy to carry.
The first rotating assembly can drive the diagonal rod 202 to rotate relative to the fixed assembly 1 in various ways, for example, the steering engine drives the diagonal rod 202 to rotate, and the diagonal rod 202 can also be driven to rotate relative to the fixed assembly 1 in ways of rope traction and the like; similarly, the second rotating assembly can drive the feather blade 204 to rotate relative to the diagonal member 202 in various ways.
As shown in fig. 4 to 6, the first rotating assembly includes: the primary transmission connecting rod 401 is rotatably connected with the oscillating rod; a first-stage transmission rocker 402, two ends of which are respectively connected with the first-stage transmission connecting rod 401 and the inclined rod 202 in a rotating way; the power output assembly 3 is arranged on the machine body, and the power output assembly 3 is used for driving the primary transmission connecting rod 401 to rotate relative to the swing rod; specifically, the first rotating assembly comprises a primary transmission assembly 4, and the primary transmission assembly 4 comprises a primary transmission connecting rod 401 and a transmission rocker; wherein the power output component 3 drives and the transmission connecting rod rotates, and the transmission connecting rod drives the first-stage transmission rocker 402 to move, and then the first-stage transmission rocker 402 drives the inclined rod 202 to rotate relative to the fixing component 1.
As shown in fig. 4, the power output assembly 3 includes: a driving slider 304 provided on the body; the translation assembly is arranged on the machine body and used for driving the driving slide block 304 to move back and forth; two ends of the output connecting rod are respectively connected with the driving slide block 304 and the primary transmission connecting rod 401 in a rotating way; when the translation assembly drives the sliding block to move backwards, driving force is transmitted to the inclined rod 202 through the output connecting rod, the transmission connecting rod and the rotating rocker, and the inclined rod 202 is driven to rotate towards the direction far away from the fixed assembly 1, so that wings are unfolded; when the driving slider 304 slides forward under the driving of the translation assembly, the sway bar 202 rotates towards the direction close to the fixed assembly 1, and the wing is in a folded state.
As shown in fig. 4, the translation assembly includes: a driving motor 301 provided on the body; the driving screw rod is rotationally connected to the machine body and extends in the front-back direction, the driving motor 301 is used for driving the driving screw rod to rotate, and the driving screw rod is in threaded fit with the driving sliding block 304; the driving motor 301 drives the driving slider 304 to move forward and backward by driving the lead screw to rotate, so as to control the unfolding and folding of the wing.
Specifically, the translation assembly further comprises: the slide block connecting piece 307 is rotationally connected with the driving slide block 304, the slide block connecting piece 307 is coaxial with the driving screw rod, and the slide block connecting piece 307 is rotationally connected with the output connecting rod; in the process of swinging the swing rod up and down, the swing rod drives the primary transmission connecting rod 401 and the slider connecting piece 307 to rotate up and down, the slider connecting piece 307 slides back and forth under the driving of the driving slider 304, and the wing can be normally controlled to be unfolded and folded while swinging up and down, so that the control of unfolding and folding of the wing cannot be influenced by the flapping of the wing.
Wherein, translation subassembly still includes: a slider guide rod 308 disposed on the body, the slider guide rod 308 extending in the front-rear direction, the slider guide rod 308 being in sliding fit with the driving slider 304; specifically, the power output assembly 3 mainly comprises a driving motor 301, a motor fixing plate 302, a motor shaft fixing plate 303, a driving slider 304, a slider bearing 305, a motor rotating bearing 306, a slider connecting piece 307, a slider guide rod 308, a power output connecting rod 309, a power output rocker 310 and a rocker connecting bearing 311; the driving motor 301 is fixed on the motor fixing plate 302, the motor fixing plate 302 and the motor shaft fixing plate 303 are both fixed on the machine body, the driving motor 301 is a speed reducing motor and comprises a speed reducing mechanism, a slider bearing 305 is fixed on a driving slider 304, a slider connecting piece 307 is connected with the driving slider 304 through the slider bearing 305, a motor rotating bearing 306 is fixed on the motor shaft fixing plate 303, friction between the motor shaft and the motor shaft fixing plate 303 in the rotating process of the motor shaft can be effectively reduced, one end of the slider connecting piece 307 is hinged with a power output connecting rod 309, one end of a power output rocker 310 is hinged with the power output connecting rod 309, and the other end of the power output rocker 310 is hinged with a primary transmission connecting rod 401; the power output rocker 310 is rotatably connected with the swing rod through a rocker connecting bearing 311.
As shown in fig. 3 to 6, the second rotating assembly further includes: the first connecting rod 2031 is rotatably connected with the inclined rod 202, and the first connecting rod 2031 is fixedly connected with the feather piece 204; two ends of the secondary transmission rocker 501 are respectively arranged on the first connecting rod 2031 and the fixing component 1; the feather piece 204 is fixedly connected with the first connecting rod 2031 through the second feather connecting rod 2052, the first connecting rod 2031 and the second feather connecting rod 2052 form a certain angle, and when the inclined rod 202 rotates towards the direction far away from the fixed component 1, the second-stage transmission component 5 including the second-stage transmission rocker 501 can drive the first connecting rod 2031 to rotate, so that the first connecting rod 2031 drives the feather piece 204 to rotate, and the wing is unfolded; on the other hand, when the down tube 202 rotates towards the direction close to the fixing component 1, the second-stage transmission rocker 501 can drive the first link 2031 to rotate, so that the first link 2031 drives the second feather link 2052 to rotate towards the direction close to the down tube 202, and only the down tube 202 is driven to rotate, so that the wings can be automatically unfolded or folded.
As shown in fig. 4, the second links 2032 have a plurality of first links 2031, a plurality of second links 2032, and the diagonal rod 202 form a plurality of planar four-bar linkages connected in series in sequence; the folding assembly 2 is used as a foldable part of the whole wing and comprises a rotating crank 201, an inclined rod 202, a first connecting rod 2031, a second connecting rod 2032, a feather sheet 204, a first feather connecting rod 2051 and a second feather connecting rod 2052, wherein the rotating crank 201 is fixedly connected with the inclined rod 202, and a primary transmission rocker 402 drives the rotating crank 201 to rotate so as to drive the inclined rod 202 to rotate; the feather piece 204 closest to the fixing component 1 is fixedly connected with the inclined rod 202 through a first feather connecting rod 2051, a plurality of first connecting rods 2031, a plurality of second connecting rods 2032 and the inclined rod 202 form a plurality of plane four-bar mechanisms which are sequentially connected in series, wherein each first connecting rod 2031 is connected with one feather piece 204 through one second feather connecting rod 2052; when the inclined rod 202 rotates away from the fixing component 1, the secondary transmission rocker 501 drives all the first connecting rods 2031 connected by the second connecting rods 2032 to rotate together, and drives the feather pieces 204 to unfold together; meanwhile, when the inclined rod 202 rotates toward the direction close to the fixing component 1, the secondary transmission rocker 501 drives all the first links 2031 to rotate together, and drives the plurality of feather pieces 204 to contract together.
As shown in fig. 3, the fixing assembly 1 includes: the main rod 103 is connected with the swing rod, and the inclined rod 202 is rotatably connected with the main rod 103; the airfoil 108 is fixedly connected with the main rod 103; specifically, the fixing component 1 mainly comprises a front swing link 101, a ball head 102, a main rod 103, a back rod 104, a chordwise support rod 105, a support connecting piece 106, a main transmission connecting piece 107, an airfoil 108 and the like; the front swing rod 101 is connected with the swing rod, the ball head 102 is rotatably connected with the rear edge of the machine body, one end of the main rod 103 is connected with the front swing rod 101, the other end of the main rod is connected with the main transmission connecting piece 107, and the power system of the machine body drives the swing rod to swing up and down to drive the wing surface 108 to swing up and down; one end of the back rod 104 is connected with the ball head 102, and the other end is connected with the supporting connecting piece 106, so that the back rod can play a role of supporting a similar framework of the wing surface 108; one end of the chord-direction support rod 105 is connected with the main transmission connecting piece 107, the middle part of the chord-direction support rod passes through the support connecting piece 106, the effect of supporting the similar skeleton of the airfoil 108 is also achieved, the stability of the airfoil 108 in the flapping process is guaranteed, and the lift force, the thrust force and the like required in the takeoff and advancing processes are provided for the aircraft.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides a bionical flapping wing flying robot's autonomic folding and unfolding warp wing which characterized in that includes:
a body;
the two swing rods are respectively connected to the left side and the right side of the machine body, can swing up and down relative to the machine body, and respectively extend towards the left side and the right side of the machine body from the machine body;
the two wings are respectively arranged on the two swing rods;
the wing includes:
the fixing component (1) is connected with the swing rod;
the inclined rod (202) is rotatably connected with the fixing component (1), and the feather piece (204) is rotatably connected to the inclined rod (202);
the first rotating assembly is used for driving the inclined rod (202) to rotate relative to the fixed assembly (1);
a second rotating component for driving the feather blade (204) to rotate relative to the inclined rod (202).
2. The autonomous deploying morphing wing of a biomimetic ornithopter flying robot of claim 1, wherein the first rotating assembly comprises:
the primary transmission connecting rod (401) is rotatably connected with the oscillating rod;
the two ends of the first-stage transmission rocker (402) are respectively and rotatably connected with the first-stage transmission connecting rod (401) and the inclined rod (202);
the power output assembly (3) is arranged on the machine body, and the power output assembly (3) is used for driving the primary transmission connecting rod (401) to rotate relative to the swing rod.
3. The autonomous folding and unfolding morphing wing of a bionic ornithopter flying robot according to claim 2, characterized in that the power output assembly (3) comprises:
a driving slider (304) provided on the body;
the translation assembly is arranged on the machine body and is used for driving the driving slide block (304) to move back and forth;
and two ends of the output connecting rod are respectively and rotatably connected with the driving sliding block (304) and the primary transmission connecting rod (401).
4. The autonomous deploying morphing wing of a biomimetic ornithopter flying robot of claim 3, wherein the translation assembly comprises:
a drive motor (301) provided on the body;
the driving screw rod is rotatably connected to the machine body, the driving screw rod extends in the front-back direction, the driving motor (301) is used for driving the driving screw rod to rotate, and the driving screw rod is in threaded fit with the driving sliding block (304).
5. The autonomous deploying morphing wing of a biomimetic ornithopter flying robot of claim 4, wherein the translation assembly further comprises:
the sliding block connecting piece (307) is rotationally connected with the driving sliding block (304), the sliding block connecting piece (307) is coaxial with the driving screw rod, and the sliding block connecting piece (307) is rotationally connected with the output connecting rod.
6. The autonomous deploying morphing wing of a biomimetic ornithopter flying robot of claim 4, wherein the translation assembly further comprises:
the sliding block guide rod (308) is arranged on the machine body, the sliding block guide rod (308) extends along the front-back direction, and the sliding block guide rod (308) is in sliding fit with the driving sliding block (304).
7. The autonomous deploying morphing wing of a biomimetic ornithopter flying robot of claim 1, wherein the second rotating assembly further comprises:
the first connecting rod (2031) is rotationally connected with the inclined rod (202), and the first connecting rod (2031) is fixedly connected with the feather piece (204);
and two ends of the secondary transmission rocker (501) are respectively arranged on the first connecting rod (2031) and the fixed component (1).
8. The autonomous folding and unfolding morphing wing of a bionic ornithopter-based flying robot according to claim 7, wherein the second rotating assembly further comprises a second connecting rod (2032), two first connecting rods (2031) are provided, each first connecting rod (2031) is fixedly connected with a feather piece (204), two first connecting rods (2031), and the second connecting rod (2032) and the diagonal rod (202) form a planar four-bar mechanism.
9. The autonomous folding and unfolding morphing wing of a bionic ornithopter-based flying robot according to claim 8, characterized in that the second connecting rod (2032) comprises a plurality of first connecting rods (2031), a plurality of second connecting rods (2032) and the diagonal rod (202) form a plurality of planar four-bar mechanisms connected in series in sequence.
10. The autonomous folding-unfolding morphing wing of a bionic ornithopter flying robot according to claim 9, characterized in that the fixation assembly (1) comprises:
the main rod (103) is connected with the swing rod, and the inclined rod (202) is rotatably connected with the main rod (103);
and the wing surface (108) is fixedly connected with the main rod (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210315285.2A CN114560084B (en) | 2022-03-28 | 2022-03-28 | Autonomous folding and unfolding deformation wing of bionic ornithopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210315285.2A CN114560084B (en) | 2022-03-28 | 2022-03-28 | Autonomous folding and unfolding deformation wing of bionic ornithopter |
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| CN114560084A true CN114560084A (en) | 2022-05-31 |
| CN114560084B CN114560084B (en) | 2023-06-30 |
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| CN116767522A (en) * | 2023-07-11 | 2023-09-19 | 中国空气动力研究与发展中心高速空气动力研究所 | Bird-imitating flapping wing mechanism, control method and bird-imitating aircraft |
| CN118124802A (en) * | 2024-05-07 | 2024-06-04 | 北京理工大学 | Bird-imitating ornithopter and ornithopter mechanism thereof and use method |
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| CN113619780A (en) * | 2021-08-18 | 2021-11-09 | 武汉科技大学 | Flapping rotor aircraft capable of taking off automatically |
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| WO2018110308A1 (en) * | 2016-12-15 | 2018-06-21 | 株式会社村田製作所 | Flapping device |
| CN108945431A (en) * | 2018-07-23 | 2018-12-07 | 西北工业大学 | The imitative birds of flapping-wing aircraft and the folding wing of bat |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114560084B (en) | 2023-06-30 |
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