CN203819493U - Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft - Google Patents
Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft Download PDFInfo
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- CN203819493U CN203819493U CN201420266922.2U CN201420266922U CN203819493U CN 203819493 U CN203819493 U CN 203819493U CN 201420266922 U CN201420266922 U CN 201420266922U CN 203819493 U CN203819493 U CN 203819493U
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Abstract
The utility model relates to a three-dimensional flapping-wing mechanism of a flapping-wing aircraft as well as a mini-type flapping-wing aircraft, and provides the three-dimensional flapping-wing mechanism of the flapping-wing air craft. The three-dimensional flapping-wing mechanism comprises a rack, rotary driving mechanisms, torsional flapping mechanisms and folding-stretching mechanisms, wherein the rotary driving mechanisms are arranged on the rack; the torsional flapping mechanisms are hinged to the rack; the folding-stretching mechanisms are hinged to the torsional flapping mechanisms; the rotary driving mechanisms are connected with the torsional flapping mechanisms; the torsional flapping mechanisms comprises driving cranks, torsional connecting parts and torsional rods; the torsional connecting parts and the torsional rods are hinged to the driving cranks; the folding-stretching mechanisms comprise folding-stretching rods and parallel four-connecting-rod mechanisms. The beneficial effects of the three-dimensional flapping-wing mechanism are that the torsional flapping mechanisms and the folding-stretching mechanisms are of the motion characteristics, such as flapping, folding-stretching and twisting; the time of upward flapping is not symmetrical with the time of the downward flapping, so that the flying state is closer to the actual flight flapping law of birds and of high simulation.
Description
Technical field
The utility model relates to flapping wing aircraft, relates in particular to a kind of three-dimensional flapping wing mechanism and micro flapping wing air vehicle of flapping wing aircraft.
Background technology
The huge applications potentiality in the fields such as along with scientific and technical development, MEMS(MEMS) reaching its maturity of technology, and military and civilian, the research of micro flapping wing air vehicle has obtained increasing concern and support.Micro flapping wing air vehicle is the new ideas aircraft of the imitative birds of a kind of paranorm or insect flying, it is characterized in that: 1. wing active movement; 2. flapping of wing produces lift and thrust simultaneously; 3. by the position change of wing and empennage, carry out maneuvering flight.Its span length is generally no more than 15cm, weight from tens to hectogram, 20 grams of left and right of capacity weight.Because it has that volume is little, lightweight, cost is low, stealth and the feature such as operability is good, can be used widely in national defence and the field such as civilian.
The one dimension flapping wing structure finding application the earliest, typically has the mechanisms such as single crank double rocker mechanism, double crank double rocker mechanism and spatial crank-rocker mechanism.These mechanisms can drive rocking bar periodic wobble by the rotation of crank, and the one dimension of realizing wing is fluttered.Because one dimension flapping mechanism aeroperformance is undesirable, people have designed the flapping wing structure of multiple two dimension or three-dimensional motion, typically have: what in patent 201220113581.6, relate to a kind ofly can realize the mechanism that wing is fluttered and reversed simultaneously, this mechanism is by a motor driving crank, by the secondary higher pair of the ball of spatial crank-rocker mechanism is decomposed into rotation lower pair, thereby realize fluttering and twisting motion of wing simultaneously.The reversed flapping wing structure relating in patent 201310180160.4, this mechanism increases a crank promotion wing to be reversed up and down by gear transmission at the rear portion of wing, thereby realize wing, flutters and reverses simultaneously and carry out.The flapping wing Zhe Zhan mechanism relating in the smartbird of patent 201320092642.X and the design of German FESTO company, in two designs, all related to by crank and driven with the rocking bar of quadrangular mechanism and realize the folding of wing and launch, thus realize wing flutter and the exhibition of rolling over is carried out simultaneously.
In above-mentioned flapping wing structure, can't realize the complete three-dimensional motion of wing simultaneously, aircraft aeroperformance is undesirable, and flight efficiency is not high, causes micro flapping wing air vehicle to be used widely.
Summary of the invention
In order to solve the problems of the prior art, the utility model provides a kind of three-dimensional flapping wing mechanism and micro flapping wing air vehicle of flapping wing aircraft.
The utility model provides a kind of three-dimensional flapping wing mechanism of flapping wing aircraft, comprise frame, rotary drive mechanism, reverse flapping mechanism He Zhezhan mechanism, wherein, described rotary drive mechanism is arranged in described frame, described torsion flapping mechanism and described frame are hinged, described Zhe Zhan mechanism and described torsion flapping mechanism are hinged, described rotary drive mechanism is connected with described torsion flapping mechanism, described torsion flapping mechanism comprises the driving crank hinged with rotary drive mechanism, torsion attaching parts and the torque rod hinged with described driving crank, described Zhe Zhan mechanism comprises folding exhibition bar and the parallel four-bar linkage being connected with described folding exhibition bar, described parallel four-bar linkage comprises the bar of fluttering, one end of described torque rod and described torsion attaching parts are hinged, the other end of described torque rod with described in the bar of fluttering hinged, described torque rod has two and be arranged in parallel.
As further improvement of the utility model, described rotary drive mechanism comprises the motor being fixed in described frame, the speed reduction gearing being connected with described motor and the driven wheel being connected with described speed reduction gearing, and described driven wheel and described driving crank are hinged.
As further improvement of the utility model, described parallel four-bar linkage also comprises connecting rod, rocking bar and folding exhibition pipe link, described connecting rod with described in the bar of fluttering parallel, described rocking bar parallels with described folding exhibition pipe link, the two ends of described folding exhibition pipe link respectively with the described bar of fluttering, rod hinge connection, one end of described rocking bar with described in the bar of fluttering hinged, the middle part of described rocking bar and described rod hinge connection.
As further improvement of the utility model, the other end of described rocking bar is hinged with driven crank, and described driven crank and described frame are hinged.
As further improvement of the utility model, described folding exhibition bar is connected with described folding exhibition pipe link.
As further improvement of the utility model, described in flutter bar and described frame hinged.
As further improvement of the utility model, described hinge-point of fluttering bar and described frame hinge is fluttered between bar and the hinge-point of two described torque rods described, described torque rod, reverse S. A. between attaching parts and described torque rod, the S. A. of fluttering between bar parallels, described torque rod, the S. A. reversing between attaching parts parallel with the S. A. between described torsion attaching parts, driving crank, described in the S. A. of fluttering between bar, frame parallel with the S. A. between described driving crank, rotary drive mechanism.
As further improvement of the utility model, on the surface of described torsion flapping mechanism, Zhe Zhan mechanism, be all pasted with elastic film.
As further improvement of the utility model, the S. A. between described driving crank, torsion attaching parts is perpendicular to the S. A. between described driving crank, rotary drive mechanism.
The utility model also provides a kind of micro flapping wing air vehicle, comprises the three-dimensional flapping wing mechanism of the flapping wing aircraft as described in above-mentioned middle any one.
The beneficial effects of the utility model are: pass through such scheme, make to reverse flapping mechanism He Zhezhan mechanism and there is the motion characteristics that wing was fluttered, rolled over exhibition, reverses, the time of wherein fluttering is up and down asymmetric, and state of flight is more close to the actual rule of fluttering of Bird Flight, has very high emulation degree.
Accompanying drawing explanation
Fig. 1 is the perspective view of the three-dimensional flapping wing mechanism of a kind of flapping wing aircraft of the utility model;
Fig. 2 is the front view of the three-dimensional flapping wing mechanism of a kind of flapping wing aircraft of the utility model;
Fig. 3 is the partial enlarged drawing A in Fig. 2;
Fig. 4 is the birds-eye view of the three-dimensional flapping wing mechanism of a kind of flapping wing aircraft of the utility model;
Fig. 5 is the partial enlarged drawing B in Fig. 4;
Fig. 6 is the structural representation of torsion flapping mechanism of the three-dimensional flapping wing mechanism of a kind of flapping wing aircraft of the utility model;
Fig. 7 is the partial enlarged drawing C in Fig. 6;
Fig. 8 is the structural representation of Zhe Zhan mechanism of the three-dimensional flapping wing mechanism of a kind of flapping wing aircraft of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing explanation and the specific embodiment, the utility model is further illustrated.
Drawing reference numeral in Fig. 1 to Fig. 8 is: frame 100; Gear case 101; Rotary drive mechanism 1; Speed reduction gearing 11; Driven wheel 12; Reverse flapping mechanism 2; Driving crank 21; Reverse attaching parts 22; Torque rod 23; Zhe Zhan mechanism 3; The bar 31 of fluttering; Connecting rod 32; Rocking bar 33; Folding exhibition pipe link 34; Driven crank 35; Folding exhibition bar 36.
As shown in Figures 1 to 8, a kind of three-dimensional flapping wing mechanism of flapping wing aircraft, comprise frame 100, rotary drive mechanism 1, reverse flapping mechanism 2 He Zhezhan mechanisms 3, wherein, described rotary drive mechanism 1 is arranged in described frame 100, described torsion flapping mechanism 2 is hinged with described frame 1, described Zhe Zhan mechanism 3 and described torsion flapping mechanism 2 are hinged, described rotary drive mechanism 1 is connected with described torsion flapping mechanism 2, described torsion flapping mechanism 2 comprises the driving crank 21 hinged with rotary drive mechanism 1, torsion attaching parts 22 and the torque rod 23 hinged with described driving crank 21, described Zhe Zhan mechanism 3 comprises folding exhibition bar 36 and the parallel four-bar linkage being connected with described folding exhibition bar 36, described parallel four-bar linkage comprises the bar 31 of fluttering, one end of described torque rod 23 and described torsion attaching parts 22 are hinged, the other end of described torque rod 23 with described in the bar 31 of fluttering hinged, described torque rod 23 has two and be arranged in parallel, the described bar 31 of fluttering is for the drive spindle of described parallel four-bar linkage, described folding exhibition bar 36 is for realizing the folding exhibition motion of wing.
As shown in Figures 1 to 8, described folding exhibition bar 36 is driven by a rotary drive mechanism 1, the periodicity that can simultaneously realize wing is fluttered, folding and torsion, and wing is fluttered up and down and is had asymmetry, by the driving of one dimension, realize three-dimensional flapping wing motion, can greatly improve flutter efficiency and the aeroperformance of flapping wing aircraft.
As shown in Figures 1 to 8, described rotary drive mechanism 1 comprises the motor being fixed in described frame 100, the speed reduction gearing 11 being connected with described motor and the driven wheel 12 being connected with described speed reduction gearing 11, described driven wheel 12 is hinged with described driving crank 21, and described frame 100 is connected with gear case 101; Described speed reduction gearing 11 is gear reduction, and this gear reduction is arranged in described gear case 101.
As shown in Figures 1 to 8, described parallel four-bar linkage also comprises connecting rod 32, rocking bar 33 and folding exhibition pipe link 34, described connecting rod 32 with described in the bar 31 of fluttering parallel, described rocking bar 33 parallels with described folding exhibition pipe link 34, the two ends of described folding exhibition pipe link 34 are hinged with the described bar 31 of fluttering, connecting rod 32 respectively, one end of described rocking bar 33 with described in the bar 31 of fluttering hinged, the middle part of described rocking bar 33 and described connecting rod 32 are hinged.
As shown in Figures 1 to 8, the other end of described rocking bar 33 is hinged with driven crank 35, and described driven crank 35 is hinged with described frame 100, works to limit folding exhibition angle and position.
As shown in Figures 1 to 8, described folding exhibition bar 36 is connected with described folding exhibition pipe link 34.
As shown in Figures 1 to 8, the bar 31 of fluttering described in is hinged with described frame 100.
As shown in Figures 1 to 8, described hinge-point of fluttering bar 31 and described frame 100 hinges is fluttered between bar 31 and the hinge-point of two described torque rods 23 described, described torque rod 23, reverse S. A. and described torque rod 23 between attaching parts 22, the S. A. of fluttering between bar 31 parallels, described torque rod 23, reverse S. A. and described torsion attaching parts 22 between attaching parts 22, S. A. between driving crank 21 parallels, the described bar 31 of fluttering, S. A. between frame 100 and described driving crank 21, S. A. between driven wheel 12 parallels.
As shown in Figures 1 to 8, on the surface of described torsion flapping mechanism 2, Zhe Zhan mechanism 3, be all pasted with elastic film as wing, be specially, at the upper surface of described torque rod 23, flutter bar 31 and folding exhibition bar 36, paste elastic film as wing.
As shown in Figures 1 to 8, the S. A. between described driving crank 21, torsion attaching parts 22 is perpendicular to the S. A. between described driving crank 21, driven wheel 12.
As shown in Figures 1 to 8, described torsion attaching parts 22 is preferably jag support or is roughly Y shape shape.
As shown in Figures 1 to 8, a kind of micro flapping wing air vehicle, comprises the three-dimensional flapping wing mechanism of the flapping wing aircraft as described in above-mentioned middle any one.
The principle of work of reversing flapping mechanism 2 is: driving crank 21 transmits motion to and reverses attaching parts 22, not only make torque rod 23 rotate around the bar 31 of fluttering, because reversing attaching parts 22 is hinged with driven wheel 12, also make torque rod 23 produce diff-H, thereby the bar 31 that makes to flutter produces the periodic wobble around frame 100 in the rotation process of driving crank 21, form the motion of fluttering of the bar 31 of fluttering, due to mechanism characteristics, when the bar 31 of fluttering swings to highs and lows, the relevant position of driving crank 21 is all between the axis of driven wheel 12, when the bar 31 of fluttering forwards nadir to from vertex, 21 of driving cranks have turned over less than half or have turned over more than half part, the imparity that Here it is flutters.
The principle of work of Zhe Zhan mechanism 3 is: the bar 31 of fluttering is driven and swung by driving crank 21, by the restriction of driven crank 35, make parallel four-bar linkage generation effect, rocking bar 33 is done plane motion, by connecting rod 32 and folding exhibition pipe link 34, transmit motion to folding exhibition bar 36, make folding exhibition pipe link 34 form the folding exhibition motion of flapping wing.
The three-dimensional flapping wing mechanism of a kind of flapping wing aircraft that the utility model provides and the principle of work of micro flapping wing air vehicle are: motor output rotatablely moves, through speed reduction gearing 11, slow down and drive driven wheel 12 rotations, by driven wheel 12, drive driving crank 21 rotations, by driving crank 21, drive and reverse attaching parts 22 up-and-down movements, by reversing attaching parts 22, by torque rod 23, drive the bar 31 of fluttering to swing, by fluttering, bar 31 drives folding exhibition bar 36 to roll over exhibition motion by parallel four-bar linkage, two torque rods 23 form twisted planar, for realizing the torsion of wing, flutter bar 31 and two torque rods 23 are hinged, by twisted planar in the rotation perpendicular to fluttering in plane, can realize the swing of the bar 31 of fluttering, twisted planar has time asymmetry when fluttering plane rocking, the also free asymmetry of the swing of bar 31 therefore flutter.
Three-dimensional flapping wing mechanism and the micro flapping wing air vehicle of a kind of flapping wing aircraft that the utility model provides, make to reverse flapping mechanism He Zhezhan mechanism and there is the motion characteristics that wing was fluttered, rolled over exhibition, reverses, the time of wherein fluttering is up and down asymmetric, state of flight is more close to the actual rule of fluttering of Bird Flight, has very high emulation degree; Left and right wing is fluttered and is had good symmetry, has increased the flight stability of aircraft; Have the wing motion of Complex Flexible, be conducive to realize complicated aerial mission.
Three-dimensional flapping wing mechanism and the micro flapping wing air vehicle of the novel a kind of flapping wing aircraft providing of this application, by flapping wing structure is carried out to novelty design, can realize the fluttering of wing, torsion and jackknife action simultaneously, realize the complete three-dimensional motion of wing, and the time of flutterring under wing of can realizing be longer than the time of flutterring, the flight that more meets birds is actual, bionical degree is high, can improve the flight efficiency of aircraft, for the further research of flapping wing aircraft provides technical support.
Above content is in conjunction with concrete preferred implementation further detailed description of the utility model, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, can also make some simple deduction or replace, all should be considered as belonging to protection domain of the present utility model.
Claims (10)
1. the three-dimensional flapping wing mechanism of a flapping wing aircraft, it is characterized in that: comprise frame, rotary drive mechanism, reverse flapping mechanism He Zhezhan mechanism, wherein, described rotary drive mechanism is arranged in described frame, described torsion flapping mechanism and described frame are hinged, described Zhe Zhan mechanism and described torsion flapping mechanism are hinged, described rotary drive mechanism is connected with described torsion flapping mechanism, described torsion flapping mechanism comprises the driving crank hinged with rotary drive mechanism, torsion attaching parts and the torque rod hinged with described driving crank, described Zhe Zhan mechanism comprises folding exhibition bar and the parallel four-bar linkage being connected with described folding exhibition bar, described parallel four-bar linkage comprises the bar of fluttering, one end of described torque rod and described torsion attaching parts are hinged, the other end of described torque rod with described in the bar of fluttering hinged, described torque rod has two and be arranged in parallel.
2. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 1, it is characterized in that: described rotary drive mechanism comprises the motor being fixed in described frame, the speed reduction gearing being connected with described motor and the driven wheel being connected with described speed reduction gearing, and described driven wheel and described driving crank are hinged.
3. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 1, it is characterized in that: described parallel four-bar linkage also comprises connecting rod, rocking bar and folding exhibition pipe link, described connecting rod with described in the bar of fluttering parallel, described rocking bar parallels with described folding exhibition pipe link, the two ends of described folding exhibition pipe link respectively with the described bar of fluttering, rod hinge connection, one end of described rocking bar with described in the bar of fluttering hinged, the middle part of described rocking bar and described rod hinge connection.
4. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 3, is characterized in that: the other end of described rocking bar is hinged with driven crank, and described driven crank and described frame are hinged.
5. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 3, is characterized in that: described folding exhibition bar is connected with described folding exhibition pipe link.
6. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 1, is characterized in that: described in flutter bar and described frame hinged.
7. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 6, it is characterized in that: described in the flutter hinge-point of bar and described frame hinge described, flutter between bar and the hinge-point of two described torque rods, described torque rod, reverse S. A. and described torque rod between attaching parts, the S. A. of fluttering between bar parallels, described torque rod, reverse S. A. and described torsion attaching parts between attaching parts, S. A. between driving crank parallels, the described bar of fluttering, S. A. between frame and described driving crank, S. A. between rotary drive mechanism parallels.
8. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 1, is characterized in that: on the surface of described torsion flapping mechanism, Zhe Zhan mechanism, be all pasted with elastic film.
9. the three-dimensional flapping wing mechanism of flapping wing aircraft according to claim 1, is characterized in that: the S. A. between described driving crank, torsion attaching parts is perpendicular to the S. A. between described driving crank, rotary drive mechanism.
10. a micro flapping wing air vehicle, is characterized in that: the three-dimensional flapping wing mechanism that comprises the flapping wing aircraft described in any one in claim 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420266922.2U CN203819493U (en) | 2014-05-23 | 2014-05-23 | Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420266922.2U CN203819493U (en) | 2014-05-23 | 2014-05-23 | Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft |
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| CN203819493U true CN203819493U (en) | 2014-09-10 |
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| CN201420266922.2U Expired - Fee Related CN203819493U (en) | 2014-05-23 | 2014-05-23 | Three-dimensional flapping-wing mechanism of flapping-wing aircraft as well as mini-type flapping-wing aircraft |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859856A (en) * | 2015-06-09 | 2015-08-26 | 李维农 | Scheme for improving flapping intensity of flapping-wing aircrafts |
| CN105151300A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Flapping wing mechanism capable of realizing spread flutter and flapping wing machine |
| CN107161338A (en) * | 2017-06-25 | 2017-09-15 | 张明晴 | A kind of single-blade or multiple wing rotary flapping wing device |
| CN107200129A (en) * | 2017-06-22 | 2017-09-26 | 武汉科技大学 | A kind of coupling driving bionic flapping-wing flying vehicle |
| CN107364573A (en) * | 2017-07-17 | 2017-11-21 | 哈尔滨工业大学深圳研究生院 | Flex-wing bionic flapping-wing flying vehicle |
| CN108082473A (en) * | 2017-12-14 | 2018-05-29 | 山东大学 | The flapping wing structure and aircraft of a kind of achievable cooperative motion |
| CN108298076A (en) * | 2018-03-29 | 2018-07-20 | 青岛中科慧聚文化创意有限公司 | A kind of propulsive mechanism of the mimicry contrary flexure pleat wing |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
| CN110466755A (en) * | 2019-09-20 | 2019-11-19 | 西北工业大学 | It is applicable in the chord length self-adapting stretching formula flapping wing and flapping-wing aircraft of active twist flapping mechanism |
| CN110615099A (en) * | 2019-09-20 | 2019-12-27 | 长安大学 | Flapping wing mechanism with two variable flapping torsion amplitude degrees and aircraft thereof |
| CN111874228A (en) * | 2020-07-14 | 2020-11-03 | 广西大学 | Flapping wing aircraft |
| CN112644708A (en) * | 2021-01-13 | 2021-04-13 | 北京航空航天大学 | Driving mechanism of micro flapping wing air vehicle |
| CN113501129A (en) * | 2021-07-20 | 2021-10-15 | 哈尔滨工业大学 | Water surface flapping wing flying robot |
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2014
- 2014-05-23 CN CN201420266922.2U patent/CN203819493U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859856A (en) * | 2015-06-09 | 2015-08-26 | 李维农 | Scheme for improving flapping intensity of flapping-wing aircrafts |
| CN105151300A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Flapping wing mechanism capable of realizing spread flutter and flapping wing machine |
| CN105151300B (en) * | 2015-09-28 | 2017-06-20 | 哈尔滨工业大学深圳研究生院 | Flapping wing mechanism and flapping-wing aircraft that a kind of achievable spread is fluttered |
| CN107200129A (en) * | 2017-06-22 | 2017-09-26 | 武汉科技大学 | A kind of coupling driving bionic flapping-wing flying vehicle |
| CN107200129B (en) * | 2017-06-22 | 2023-03-31 | 武汉科技大学 | Coupling driving bionic flapping wing aircraft |
| CN107161338A (en) * | 2017-06-25 | 2017-09-15 | 张明晴 | A kind of single-blade or multiple wing rotary flapping wing device |
| CN107161338B (en) * | 2017-06-25 | 2023-08-25 | 张明晴 | Single-wing or multi-wing rotary flapping wing device |
| CN107364573A (en) * | 2017-07-17 | 2017-11-21 | 哈尔滨工业大学深圳研究生院 | Flex-wing bionic flapping-wing flying vehicle |
| CN108082473A (en) * | 2017-12-14 | 2018-05-29 | 山东大学 | The flapping wing structure and aircraft of a kind of achievable cooperative motion |
| CN108298076B (en) * | 2018-03-29 | 2021-08-24 | 青岛中科慧聚文化创意有限公司 | Propulsion mechanism of mimicry reverse-varix pleated wing |
| CN108298076A (en) * | 2018-03-29 | 2018-07-20 | 青岛中科慧聚文化创意有限公司 | A kind of propulsive mechanism of the mimicry contrary flexure pleat wing |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
| CN110615099A (en) * | 2019-09-20 | 2019-12-27 | 长安大学 | Flapping wing mechanism with two variable flapping torsion amplitude degrees and aircraft thereof |
| CN110466755A (en) * | 2019-09-20 | 2019-11-19 | 西北工业大学 | It is applicable in the chord length self-adapting stretching formula flapping wing and flapping-wing aircraft of active twist flapping mechanism |
| CN110615099B (en) * | 2019-09-20 | 2024-05-03 | 长安大学 | Flapping torsion amplitude-variable two-degree-of-freedom flapping wing mechanism and aircraft thereof |
| CN111874228A (en) * | 2020-07-14 | 2020-11-03 | 广西大学 | Flapping wing aircraft |
| CN112644708A (en) * | 2021-01-13 | 2021-04-13 | 北京航空航天大学 | Driving mechanism of micro flapping wing air vehicle |
| CN113501129A (en) * | 2021-07-20 | 2021-10-15 | 哈尔滨工业大学 | Water surface flapping wing flying robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
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