CN204037909U - Flapping-wing aircraft - Google Patents
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- CN204037909U CN204037909U CN201420377867.4U CN201420377867U CN204037909U CN 204037909 U CN204037909 U CN 204037909U CN 201420377867 U CN201420377867 U CN 201420377867U CN 204037909 U CN204037909 U CN 204037909U
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Abstract
The utility model discloses a kind of flapping-wing aircraft, comprise fuselage and movable wings, movable wings connects fuselage by the transmission device in order to drive movable wings vertically to do undulatory motion, the front portion of fuselage and the afterbody of fuselage are equipped be arranged symmetrically with along fuselage in the horizontal plane two in order to adjust the fan of ornithopter flight attitude, fan includes the fan adjusting ornithopter flight attitude, and the axle of fan is vertically arranged.Fan shaft is vertically arranged, produces the control effort of vertical direction, improves the control effort of vertical direction, flapping-wing aircraft is carried out to the auxiliary control of attitude, make up the problem that existing ornithopter flight attitude is unsane, improve the efficiency of flapping wing; Carry out the buffer action of vertical direction and the control to overall attitude when taking off and landing by fan, effectively avoid wing tip to beat the problem on ground, thus improve the service life of flapping-wing aircraft; Can also be realized the water surface of flapping-wing aircraft by fan imitate and slide and landing, applicability is wider.
Description
Technical field
The utility model relates to flapping-wing aircraft field, especially, relates to a kind of flapping-wing aircraft of being assisted gesture stability by fan.
Background technology
Flapping-wing aircraft imitates the flapping wing of birds to circle in the air the rotor aircraft of fluttering of action utility model.Adopt the flapping-wing aircraft of oscillating wing and adopt the flapping-wing aircraft of the translation wing all by Mechanical Driven, and mechanically operated adjustability can not show a candle to the musculature of birds, flight stability is very poor.Meanwhile, because the flying speed of flapping-wing aircraft is low, control the frequent stall of flapping-wing aircraft of attitude with conventional airplane empennage, flight attitude is unsane, and " large duck's foot " manned flapping-wing machine of such as University of Toronto flies away from ground, but out of control because of gesture stability scarce capacity.Therefore the various new method of people's utility model increases flight stability and the control ability of flapping-wing aircraft, such as, adopt horizontal tail and vertical fin to increase flight stability and control the way of flight.The implementation of prior art has: (a) horizontal tail+vertical fin; (b) V tail; (c) tail-rotor.But there is following shortcoming in prior art: (a) easily occurs stall and be difficult to recover; B () flight attitude is unsane, reduce the efficiency of flapping wing; C () takes off and inclination of landing causes wing tip to beat ground, major injury parts; D () does not have water surface landing ability.
Utility model content
The utility model object is to provide a kind of flapping-wing aircraft, easily occurs stall to solve existing flapping-wing aircraft and is difficult to recover; Flight attitude is unsane, reduces the efficiency of flapping wing; Take off and inclination of landing cause wing tip beat ground, major injury parts; Not there is the technical matters of water surface landing ability.
For achieving the above object, the technical solution adopted in the utility model is as follows:
A kind of flapping-wing aircraft, comprise fuselage and movable wings, movable wings connects fuselage by the transmission device in order to drive movable wings vertically to do undulatory motion, the front portion of fuselage and the afterbody of fuselage are equipped be arranged symmetrically with along fuselage in the horizontal plane two in order to adjust the fan of ornithopter flight attitude, fan includes the flabellum adjusting ornithopter flight attitude, and the axle of fan is vertically arranged.
Further, the fan being positioned at the front portion of fuselage is arranged on the front portion of fuselage by fan mount pad; The afterbody of fuselage is provided with empennage, and two fans being positioned at the afterbody of fuselage are arranged symmetrically on the empennage of fuselage both sides.
Further, four tool fans comprise two tool fans about the left and right two tool fan of the anterior head being arranged at fuselage and the horizontal tail of fuselage, by four axle X work patterns, away from the machine gravity of flapping-wing aircraft; Be in the fan in X-axis, the fan conter clockwise on an axle turns, and the fan cw on an axle turns.
Further, only have the movable wings of a tool entirety to do translation in the vertical direction, and there is the underaction of angle of attack variation.
Further, movable wings is provided with the flaperon regulating lift size.
Further, the described empennage of the afterbody of fuselage is set to W T tail, and W T tail comprises horizontal tail, vertical fin, yaw rudder and elevating rudder.
Further, transmission device is the flapping wing mechanisms of at least two groups along the planet crank-type translation of fuselage axial arranging, the run-in synchronism of each group flapping wing mechanism; Axle drive shaft in the fuselage of bottom and connecting by flapping wing mechanism is up and down corresponding between the movable wings on top; Flapping wing mechanism comprises connecting rod and planetary wheel, and the first end of connecting rod is connected in movable wings, and the second end of connecting rod is connected on the planetary wheel in fuselage, and planetary wheel is engaged in the internally toothed annulus on fuselage, and planetary wheel is moved by the crank shaft that drives in fuselage.
Further, fuselage bottom is provided with the landing wheels that flapping-wing aircraft landing is landed, and landing wheels are arranged along first three point type of fuselage; Landing wheels comprise symmetry and are connected to the carbon fiber elastic support of fuselage both sides and rotating roller.
Further, be provided with solar panel in movable wings and/or on fuselage, be provided with the battery pack in order to electric power storage in fuselage, solar panel is connected with battery pack.
Further, be provided with in fuselage to control the flying control equipment of flapping-wing aircraft operation and the equipment compartment in order to advancing equipment; Fuselage is provided with the equipment hatchcover for installation and maintenance equipment; The afterbody of fuselage is provided with yaw rudder and elevating rudder.
The utility model has following beneficial effect:
The utility model flapping-wing aircraft, by in the front portion of fuselage, the afterbody of fuselage is arranged symmetrically with fan, thus improves the control effort of flapping-wing aircraft, flapping-wing aircraft carried out to the auxiliary control of attitude, make up the problem that existing ornithopter flight attitude is unsane, improve the efficiency of flapping wing; Carry out the buffer action of vertical direction and the control to overall attitude when taking off and landing by fan, effectively avoid wing tip to beat the problem on ground, thus improve the service life of flapping-wing aircraft; Provisional aerial statue can be carried out by fan to stablize, prevent the stall event that a variety of causes causes, for stall recovers to provide time enough; Can also be realized the water surface of flapping-wing aircraft by fan imitate and slide and landing, thus improve the Combination property of flapping-wing aircraft, applicability is wider.
Except object described above, feature and advantage, the utility model also has other object, feature and advantage.Below with reference to figure, the utility model is described in further detail.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is one of structural representation of the flapping-wing aircraft of the utility model preferred embodiment;
Fig. 2 is the structural representation two of the flapping-wing aircraft of the utility model preferred embodiment;
Fig. 3 is the structural representation three of the flapping-wing aircraft of the utility model preferred embodiment.
Marginal data:
1, fuselage; 2, movable wings; 3, transmission device; 4, fan; 401, flabellum; 5, fan mount pad; 6, empennage; 7, aileron; 8, flapping wing mechanism; 801, connecting rod; 802, planetary wheel; 9, landing wheels; 901, carbon fiber elastic support; 902, roller; 10, solar panel; 11, battery pack; 12, flying control equipment; 13, equipment compartment; 14, equipment hatchcover; 15, yaw rudder; 16, elevating rudder.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but the utility model can by the multitude of different ways that limits and cover implement.
Fig. 1 is one of structural representation of the flapping-wing aircraft of the utility model preferred embodiment; Fig. 2 is the structural representation two of the flapping-wing aircraft of the utility model preferred embodiment; Fig. 3 is the structural representation three of the flapping-wing aircraft of the utility model preferred embodiment.
As shown in Figure 1, the flapping-wing aircraft of the present embodiment, comprise fuselage 1 and one group of movable wings 2, movable wings 2 is passed through in order to drive movable wings 2 to connect fuselage 1 along Nogata to the transmission device 3 doing undulatory motion, the front portion of fuselage 1 and the afterbody of fuselage 1 are equipped be arranged symmetrically with along fuselage 1 in the horizontal plane two in order to adjust the fan 4 of ornithopter flight attitude, fan 4 includes at least one in order to adjust the flabellum 401 of ornithopter flight attitude, and the axle of fan 4 is vertically arranged.The utility model flapping-wing aircraft, by in the front portion of fuselage 1, the afterbody of fuselage 1 is arranged symmetrically with fan 4, thus improve flapping-wing aircraft at anterior, fuselage 1 position the control effort at vertical direction, flapping-wing aircraft is carried out to the auxiliary control of attitude, make up the problem that existing ornithopter flight attitude is unsane, improve the efficiency of flapping wing; Carry out the buffer action of vertical direction and the control to overall attitude when taking off and landing by fan 4, effectively avoid wing tip to beat the problem on ground, thus improve the service life of flapping-wing aircraft; Provisional stablizing can be carried out in the air by fan 4, prevent the stall event that a variety of causes causes, for stall recovers to provide time enough; Can also be realized the vertical takeoff and landing (VTOL) of flapping-wing aircraft by fan 4, thus improve the Combination property of flapping-wing aircraft, applicability is wider.Preferably, fan adopts the fan that brshless DC motor drives.Preferably, fan 4 also comprises brushless motor and electricity tune.Preferably, transmission device 3 is planet crank-type transmission device.
In the present embodiment, the fan 4 being positioned at the front portion of fuselage 1 is arranged on the front portion of fuselage 1 by fan mount pad 5.The afterbody of fuselage 1 is provided with empennage 6, and two fans 4 being positioned at the afterbody of fuselage 1 are arranged symmetrically on the empennage 6 of fuselage 1 both sides.Preferably, the afterbody of fuselage 1 is provided with W T tail, and W T tail comprises horizontal tail, vertical fin, elevating rudder and yaw rudder.Flapping-wing aircraft static state provides the Yaw stability of similar hull time overboard.Preferably, four tool fans 4 comprise two tool fans 4 about the left and right two tool fan 4 of the anterior head being arranged at fuselage 1 and the horizontal tail of fuselage 1, by four axle X work patterns, away from the machine gravity of flapping-wing aircraft.The moment of correcting attitude is provided.Left front and right back fan conter clockwise turns, and right front and left back fan cw turns.
In the present embodiment, four tool fans 4 comprise two tool fans 4 about the left and right two tool fan 4 of the anterior head being arranged at fuselage 1 and the horizontal tail of fuselage 1, by four axle X work patterns, away from the machine gravity of flapping-wing aircraft; Be in the fan 4 in X-axis, fan 4 conter clockwise on an axle turns, and fan 4 cw on an axle turns.The assembly average transfer left and right wing flap of flight control system according to the control rotating speed of four tool fans and the angle of elevating rudder, make sized flap wings system reach in a basic balance.
In the present embodiment, only have the movable wings 2 of a tool entirety to do translation in the vertical direction, and there is the underaction of angle of attack variation.Make lift variation violent, reciprocating travel work done is just many.
In the present embodiment, movable wings 2 is provided with the flaperon 7 regulating lift size.
In the present embodiment, the described empennage 6 of the afterbody of fuselage 1 is set to W T tail, and W T tail comprises horizontal tail, vertical fin, yaw rudder 15 and elevating rudder 16.Static state provides the Yaw stability of similar hull time overboard.W T tail is combined to form W shape by the horizontal tail of vertical fin and vertical fin both sides.Yaw rudder 15 is arranged on vertical fin.Elevating rudder 16 is arranged in horizontal tail.
In the present embodiment, movable wings 2 and/or empennage 6 are provided with the aileron 7 led in order to air-flow.The outside face of movable wings 2 and/or empennage 6 is set to arc line shaped.
In the present embodiment, transmission device 3 is two groups of flapping wing mechanisms 8 along fuselage 1 axial arranging, the running of each group flapping wing mechanism 8 step.Preferably, two groups of flapping wing mechanisms 8 have stable phase difference.Axle drive shaft in the fuselage 1 of bottom and connecting by flapping wing mechanism about 8 is corresponding between the movable wings 2 on top.Flapping wing mechanism 8 comprises connecting rod 801 and planetary wheel 802, and the first end of connecting rod 801 is connected in movable wings 2, and the second end of connecting rod 801 is connected on the planetary wheel 802 in fuselage 1, and planetary wheel 802 is engaged on the axle drive shaft in fuselage 1.Preferably, connecting rod 801 is two poles, and by two they sup-port, balance is better, thus improves the resistance to overturning of flapping-wing aircraft.
In the present embodiment, be provided with landing wheels 9 bottom fuselage 1, landing wheels 9 are along the arrangement of fuselage 1.Preferably, landing wheels 9 are arranged along first three point type of fuselage 1, form bikini alighting gear.Bikini alighting gear is divided into first three point type and tail wheel type landing gear.Symmetrical being placed in after the center of gravity of airplane of two fulcrums (main wheel) of tricycle landing gear, but three fulcrums (front-wheel) are positioned at forebody, and afterbody is also equipped with protecting seat usually, prevents from occurring when aircraft is liftoff wiping tail.The aircraft of tricycle landing gear, the good stability of ground motion, because the center of gravity of airplane is positioned at before main wheel, thus contribute to stoping aircraft to spin on the spot when sliding, also handle than being easier to during landing, aircraft is when ground motion, fuselage and ground are close to parallel, the visual field of aviator is also better, and axes of aircraft can also be made substantially parallel to the ground, the combustion gas of avoiding driving engine to spray damages runway, and shortcoming is exactly that the nose-gear load of bearing is comparatively large, and front-wheel easily produces shimmy in sliding race.
In the present embodiment, be provided with solar panel 10 in movable wings 2 and/or on fuselage 1, be provided with the battery pack 11 in order to electric power storage in fuselage 1, solar panel 10 is connected with battery pack 11.Preferably, solar panel 10 adopts polycrystalline silicon film solar cell, not only polycrystalline silicon film solar cell is attached to movable wings 2 surface and/or fuselage 1 surface, makes covering but also can generate electricity.Preferably, battery pack 11 is lithium cell group.Preferably, solar panel 10 is connected with the charger be connected in battery pack 11.
In the present embodiment, be provided with in fuselage 1 to control the flying control equipment 12 of flapping-wing aircraft operation and the equipment compartment 13 in order to advancing equipment; Fuselage 1 is provided with the equipment hatchcover 14 for installation and maintenance equipment; The afterbody of fuselage 1 is provided with yaw rudder 15 and elevating rudder 16.Yaw rudder 15 and elevating rudder 16 are housed, and monnolithic case is streamline, makes flapping-wing aircraft have the total arrangement of high lift-drag ratio.
During enforcement, flapping-wing aircraft has the aerodone total arrangement of high lift-drag ratio, and aileron 7 and elevating rudder 16, yaw rudder 15 are housed.Respectively fill the fan of two tool brshless DC motors drivings at head and tail, form electronic four axle fan attitude supplementary controlled systems.Gesture stability is synchronous with flapping wing coordination.Mainly taking off, land, low-speed operations time play control action.Not only polycrystalline silicon film solar cell is attached to wing, fuselage 1 surface, makes covering but also can generate electricity.Flapping-wing aircraft entirety adopts electrical energy drive, according to the accurate speed governing of control overflow.Flapping-wing aircraft integral energy management system inquires about electricity, the real-time power of solar battery group, the sunshine-duration formulation flight planning of airborne lithium cell group according to air objective.Flapping-wing aircraft entirety adopts closed design, can waterproof, has that the water surface takes off, landing ability.
The utility model flapping-wing aircraft adopts translation flapping-wing aircraft and four-axle aircraft to carry out compound, and based on translation flapping-wing aircraft, four-axle aircraft is auxiliary.Strictly to control weight, resistance, the power of four-axle aircraft part during design, higher control ability will be produced with lower cost.The action of translation flapping wing coordinates with flight attitude harmony, and flapping wing action is done work, and aircraft potential energy promotes, and supplements the consumption of aircraft kinetic energy in each cycle.There are ramp-up period and underriding cycle in each cycle, and this i.e. undulating flight, and flapping-wing aircraft utilizes undulating flight.
Complete machine energy management strategies.Ornithopter flight is flight that is most economical, environmental protection, is converted into electric energy by inexhaustible solar power, is rationally put aside by solar panel 10 and battery pack 11 and utilizes.
The planet crank-type translation flapping wing mechanism that have employed shm has greatly reduced high frequency stress little.Preferably, flapping-wing aircraft basal body structure, adopt carbon fiber kevlar composite to make skeleton, organic compound film makes the flapping wing of covering.
Realize the long-range flight of large scale flapping-wing aircraft.Realize the landing of the flapping-wing aircraft water surface.Realize solar power ornithopter flight.
The utility model flapping-wing aircraft by four-axle aircraft conclusion of taking a flight test is: the anti-ability of overturning of flying platform is strong, and load-carrying capacity is strong, and energy efficiency is better than helicopter.
The utility model flapping-wing aircraft by planet crank mechanism experiment conclusion is: planet crank mechanism duty size is little, lightweight, efficiency is high, it is little to vibrate.
Simple flapping-wing aircraft does not imitate the function slided with landing with all having the water surface; Simple four-axle aircraft does not have not imitate the function slided with landing with having the water surface when buoyancy aid yet, is difficult to install solar cell and realizes energy-autarchic.Translation flapping-wing aircraft and fan assist the combination of attitude control system to create unprecedented performance.Aquatic bird, because there being flippers, controlling attitude when the sliding race of water surface flippers and can soar at the water surface.Bionical mechanical flippers is difficult to manufacture and design, but the fan of imitating with producing air cushion can make translation flapping-wing aircraft soar at the water surface.The Flight Test Research of flapping-wing aircraft turns to the water surface to substantially increase safety from land.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a flapping-wing aircraft, comprises fuselage (1) and movable wings (2),
Described movable wings (2) is passed through to connect described fuselage (1) in order to the transmission device (3) driving described movable wings (2) vertically to do undulatory motion,
It is characterized in that,
The front portion of described fuselage (1) and the afterbody of described fuselage (1) are equipped be arranged symmetrically with along described fuselage (1) in the horizontal plane two in order to adjust the fan (4) of ornithopter flight attitude,
Described fan (4) includes the flabellum (401) adjusting ornithopter flight attitude,
The axle of described fan (4) is vertically arranged.
2. flapping-wing aircraft according to claim 1, is characterized in that,
The described fan (4) being positioned at the front portion of described fuselage (1) is arranged on the front portion of described fuselage (1) by fan mount pad (5);
The afterbody of described fuselage (1) is provided with empennage (6),
Two the described fans (4) being positioned at the afterbody of described fuselage (1) are arranged symmetrically on the described empennage (6) of fuselage (1) both sides.
3. flapping-wing aircraft according to claim 2, is characterized in that,
Fan (4) described in four tools comprises two tool fans (4) about the left and right two tool fan (4) of the anterior head being arranged at fuselage (1) and the horizontal tail of fuselage (1), by four axle X work patterns, away from the machine gravity of flapping-wing aircraft;
Be in the described fan (4) in X-axis, described fan (4) conter clockwise on an axle turns, and described fan (4) cw on an axle turns.
4. flapping-wing aircraft according to claim 2, is characterized in that,
Only have the movable wings (2) of a tool entirety to do translation in the vertical direction, and there is the underaction of angle of attack variation.
5. flapping-wing aircraft according to claim 2, is characterized in that,
Described movable wings (2) is provided with the flaperon (7) regulating lift size.
6. flapping-wing aircraft according to claim 2, is characterized in that,
The described empennage (6) of the afterbody of described fuselage (1) is set to W T tail,
Described W T tail comprises horizontal tail, vertical fin, yaw rudder (15) and elevating rudder (16).
7. flapping-wing aircraft according to any one of claim 1 to 6, is characterized in that,
Described transmission device (3) is the flapping wing mechanisms (8) of at least two groups along the planet crank-type translation of described fuselage (1) axial arranging, described flapping wing mechanism (8) run-in synchronism of each group;
Axle drive shaft in the described fuselage (1) of bottom and connecting by described flapping wing mechanism (8) is up and down corresponding between the described movable wings (2) on top;
Described flapping wing mechanism (8) comprises connecting rod (801) and planetary wheel (802),
The first end of described connecting rod (801) is connected in described movable wings (2),
Second end of described connecting rod (801) is connected on the described planetary wheel (802) in described fuselage (1),
Described planetary wheel (802) is engaged in the internally toothed annulus on described fuselage (1), and described planetary wheel (802) is moved by the crank shaft that drives in fuselage (1).
8. flapping-wing aircraft according to any one of claim 1 to 6, is characterized in that,
Described fuselage (1) bottom is provided with the landing wheels (9) that flapping-wing aircraft landing is landed,
Described landing wheels (9) are arranged along first three point type of described fuselage (1);
Described landing wheels (9) comprise carbon fiber elastic support (901) and the rotating roller (902) that symmetry is connected to described fuselage (1) both sides.
9. flapping-wing aircraft according to any one of claim 1 to 6, is characterized in that,
Described movable wings (2) above and/or on described fuselage (1) is provided with solar panel (10),
The battery pack (11) in order to electric power storage is provided with in described fuselage (1),
Described solar panel (10) is connected with described battery pack (11).
10. flapping-wing aircraft according to any one of claim 1 to 5, is characterized in that,
Be provided with in described fuselage (1) to control the flying control equipment (12) of flapping-wing aircraft operation and the equipment compartment (13) in order to advancing equipment;
Described fuselage (1) is provided with the equipment hatchcover (14) for installation and maintenance equipment;
The afterbody of described fuselage (1) is provided with yaw rudder (15) and elevating rudder (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420377867.4U CN204037909U (en) | 2014-07-09 | 2014-07-09 | Flapping-wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420377867.4U CN204037909U (en) | 2014-07-09 | 2014-07-09 | Flapping-wing aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204037909U true CN204037909U (en) | 2014-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420377867.4U Expired - Lifetime CN204037909U (en) | 2014-07-09 | 2014-07-09 | Flapping-wing aircraft |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104810892A (en) * | 2015-05-06 | 2015-07-29 | 山东大学 | Hybrid power source system for bird-like flapping-wing air vehicle and method for hybrid power source system |
| CN108557074A (en) * | 2018-01-25 | 2018-09-21 | 西北工业大学 | Using the flapping wing aircraft and method of operating of three rotor mixed layouts |
| CN110127048A (en) * | 2019-04-29 | 2019-08-16 | 南京微谷子智能科技有限公司 | It is a kind of to rely on the flapping-wing aircraft and its working method for changing that center of gravity is turned to |
| CN111532426A (en) * | 2020-04-22 | 2020-08-14 | 中国空气动力研究与发展中心 | Aircraft with V-shaped empennage and multiple rotors in vertical take-off and landing layout |
| CN111891349A (en) * | 2020-08-03 | 2020-11-06 | 西北工业大学太仓长三角研究院 | Four-rotor-flapping-wing hybrid layout aircraft |
-
2014
- 2014-07-09 CN CN201420377867.4U patent/CN204037909U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104810892A (en) * | 2015-05-06 | 2015-07-29 | 山东大学 | Hybrid power source system for bird-like flapping-wing air vehicle and method for hybrid power source system |
| CN108557074A (en) * | 2018-01-25 | 2018-09-21 | 西北工业大学 | Using the flapping wing aircraft and method of operating of three rotor mixed layouts |
| CN110127048A (en) * | 2019-04-29 | 2019-08-16 | 南京微谷子智能科技有限公司 | It is a kind of to rely on the flapping-wing aircraft and its working method for changing that center of gravity is turned to |
| CN111532426A (en) * | 2020-04-22 | 2020-08-14 | 中国空气动力研究与发展中心 | Aircraft with V-shaped empennage and multiple rotors in vertical take-off and landing layout |
| CN111891349A (en) * | 2020-08-03 | 2020-11-06 | 西北工业大学太仓长三角研究院 | Four-rotor-flapping-wing hybrid layout aircraft |
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