CN102582832A - Flapping-wing aircraft - Google Patents
Flapping-wing aircraft Download PDFInfo
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- CN102582832A CN102582832A CN2012100579392A CN201210057939A CN102582832A CN 102582832 A CN102582832 A CN 102582832A CN 2012100579392 A CN2012100579392 A CN 2012100579392A CN 201210057939 A CN201210057939 A CN 201210057939A CN 102582832 A CN102582832 A CN 102582832A
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Abstract
The invention provides a flapping-wing aircraft belonging to the technical field of aircrafts. The flapping-wing aircraft comprises an airframe, a stationary shaft, a reversing frame, a half-rotating swing blade, a pin gear, a steering cam, a gearwheel, a driven gear, a driving gear, a control motor and the like, wherein the stationary shaft and the airframe are fixed, and the reversing frame is fixedly linked with the driven gear; the driving gear and the driven gear are meshed to form a main transmission mechanism of the aircraft to drive the reversing frame and the half-rotating wing blade to rotate to generate propelling force required by the aircraft; and the control motor is driven by a first-stage gear, the cam and the pin gear to form a maneuverable control mechanism of the aircraft, and the initial position of the half-rotating wing blade is changed, so that the direction of the propelling force is changed. The flapping-wing aircraft provided by the invention is flexible in adjusting the direction of the propelling force, stronger in maneuverability and beneficial to the control for taking off, landing and flying in a complex flying space; and the main transmission mechanism and the maneuverable control mechanism are simple, high in reliability and low in manufacturing cost.
Description
Technical field
The invention belongs to the flapping wing aircraft technical field, be specifically related to a kind of movable wing and make approximate unidirectional class flapping wing aircraft of fluttering.
Background technology
The class flapping wing aircraft is can produce the aircraft of lift and manoevreability control as bird through the movable wing active movement; It has stronger manoevreability than fixed wing aircraft; Taking off and landing does not need runway, can VTOL, low-speed operations or hover, and adapt to and in complex spatial, fly.General screw wing helicopter and fixed-wing VTOL aircraft, though type of having flapping wing aircraft function, their physical construction and control mechanism are complicated, cost is high.Known flapping wing aircraft (CN201380963Y) has a pair of flapping wing generation lift of flapping up and down, and the convertible athletic posture of flapping wing is to change the lift direction simultaneously, and the flapping wing top is provided with a screw propeller to improve lift.Therefore, its control system should be controlled the rotation of screw propeller, controls flapping of flapping wing again, and the aircraft control mechanism is complicated.
Another kind of flapping wing aircraft (CN201367116Y), it produces lift through fluttering up and down of flex-wing, and makes flex-wing swing the attitude of controlling aircraft.Because the speed of fluttering of flex-wing is lower, the span length that needs to increase flapping wing improves lift.The space that needs when therefore, it flies is bigger.
Summary of the invention
In order to overcome complicated, bad, the high deficiency of cost of manoevreability of existing Flight Vehicle Structure and control mechanism, the invention provides a kind of movable wing and make continuous rotation and produce approximate unidirectional class flapping wing aircraft of fluttering.Aircraft provided by the invention has transmission device and control mechanism is simple; The aerodynamic force direction of body both sides can be in 360 ° of scopes flexible; Do not produce characteristics such as pitching fluctuation, can realize that vertical lift, level advance and retreat, hovering, function such as turn to flexibly.
A kind flapping wing aircraft provided by the present invention comprises body 1, the first half way around fin 2, the second half way around fin 5, the 3rd half way around fin 9, the 4th half way around fin 10, anchor shaft 3, turret mount 4, pin gear 6, transfers to cam 7, big gear wheel 8, driven gear 11, driving gear 12, control motor 13; Said anchor shaft 3 vertical summetry are connected in the longitudinal profile of body 1 and with body 1, form the cantilever beam that carries; Two identical turret mounts 4 of structure are symmetricly set on body 1 both sides, and turret mount 4 usefulness bearings can be rotated around anchor shaft 3 relative bodies 1 on said anchor shaft 3; The first half way around fin 2 that four structures are identical, the second half way around fin 5, the 3rd half way around fin 9 and the 4th half way around fin 10 are divided into two groups; Be supported on respectively on the pivoted arm of body both sides turret mount 4; Each half way around fin is the rectangular plate that is symmetrical in the axis of rotation; The axis of rotation line parallel of the half way around fin that said four structures are identical is in anchor shaft 3; The phase difference of the said first half way around fin 2 and the second half way around fin 5, the 3rd half way around fin 9 and the 4th half way around fin 10, the first half way around fin 2 and the 4th half way around fin 10, the second half way around fin 5 and the 3rd half way around fin 9 all is 90 °; One end projecting shaft of each half way around fin is captiveed joint with a pin gear 6, and said pin gear 6 meshes to cam 7 with accent; Said accent in the both sides of body 1, is transferred the dead in line to the rotation axis and the anchor shaft 3 of cam 7 to cam 7 symmetric support; Said control motor 13 is fixed on the body 1, the gear of said control motor 13 and big gear wheel 8 engagements of transferring on cam 7.
Hollow shaft one end of turret mount 4 and driven gear 11 is fixing, driving gear 12 respectively with driven gear 11 engagements of the left and right sides, the driving rotational frame rotates.Pin gear 6 is made up of two outer rollers 17, two internal trolleys 18 and pin fluted disc 19.Outer roller 17 is equally spaced on same circumference with internal trolley 18, and is positioned at the both sides of pin fluted disc 19.Pin gear 6 makes turret mount rotate a week with transferring the face cam engagement to cam 7, and the half way around fin only rotates half cycle.Accent is made up of overhead cam sheet 22, following cam bit 23, big gear wheel 8 and cam holder 24 to cam 7.The working profile of overhead cam sheet 22, following cam bit 23 is identical, and it is 180 ° that phase difference is installed, and all captives joint with cam holder 24.Cam holder 24 is supported on the body 1, and big gear wheel 8 and the gear mesh that is fixed in the control motor 13 on the body 1 on the cam holder are fixed in the dead in line of its rotation axis and anchor shaft 3.Sustainer, main engine directly is connected with driving gear 12, and through the main drive gear of one-level gear transmission formation aircraft, the rotation of driving rotational frame and half way around fin produces the aircraft required thrust.The control motor changes the initial orientation of the half way around wing with respect to body, thereby changes the direction of propulsive force through the manoevreability control mechanism of one-level gear transmission and cam-pin gear transmission formation aircraft.
Driving gear 12 is through driven gear 11 driving left and right turret mount constant speed backward rotation.Because the also mutual balance of the IP Initial Phase setting of half way around fin and the structural symmetry of moving member, the centnifugal force self-balancing of tumbler, the pneumatic moment of couple of body both sides.Therefore, it is parallel that the body 1 both sides half way around wing can produce direction, and size is identical, and point of action is symmetrical in the directional thrust of body, and its big I changes the main gear rotating speed and regulates.Because two half way around fin phase differences of body 1 homonymy are 90 °, the Overlay of the pneumatic thrust that therefore produces, force oscillation is little.The structure of aircraft is axisymmetric about vertical, and its center of gravity is positioned at the below of anchor shaft 3, and therefore, aircraft can be realized steady up-down under the effect of both sides lift.
Accent to cam 7 through changing the initial orientation of the first half way around fin 2, the second half way around fin 5, the 3rd half way around fin 9, the 4th half way around fin 10 simultaneously with pin gear 6 engagement, thereby change the pneumatic thrust direction.Regulate in the orientation, load and rotor inertia are little, regulate sensitive.In turret mount 4 high speed rotating, two control motors 13 make the accent of body both sides rotate same angle simultaneously to cam 7, and the thrust that can make both sides is with respect to the identical angle of body deflection forward or backward.If thrust simultaneously to post deflection, promotes body component forward with producing, body is advanced.Otherwise thrust deflection is forward simultaneously retreated body.If a side thrust is forward deflection the time, opposite side thrust is to post deflection, its vertical component and gravitational equilibrium, and horizontal component of force forms and turns to the moment of couple, makes body produce divertical motion.But this turns to moment of couple balance main transmission to quicken the inertia couple that produces with slowing down simultaneously, keeps the stable of heading.Can rotate by complete cycle owing to transfer, so the pneumatic thrust direction can change in 360 ° of scopes to cam.
The present invention has the following advantages;
1, thrust direction can be in 360 ° of scopes flexible, the aircraft maneuvering performance is stronger, helps up-down and horizontal flight control under complex environment.
2, no empennage transmission and regulating mechanism have alleviated the deadweight and the longitudinal length of aircraft, help improving the adaptive capacity of load-carrying capacity and complex environment.
3, main gear and manoevreability control mechanism are simple, and reliability is high, low cost of manufacture.
Description of drawings
The integral structure scheme drawing of Fig. 1 type of being flapping wing aircraft.
Fig. 2 is the half way around wing, turret mount and pin gear assembling scheme drawing.
Fig. 3 transfers to cam and transmission device scheme drawing thereof.
Among the figure: 1, body; 2, the first half way around fin; 3, anchor shaft; 4, turret mount; 5, the second half way around fin; 6, pin gear; 7, transfer to cam; 8, big gear wheel; 9, the 3rd half way around fin; 10, the 4th half way around fin, 11, driven gear; 12, driving gear; 13, control motor; 14, left-hand rotation arm; 15, bearing; 16, bearing; 17, outer roller; 18, internal trolley; 19, pin gear dish; 20, hollow shaft; 21, right-hand rotation arm; 22, overhead cam sheet; 23, following cam bit; 24, cam holder.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The integral structure scheme drawing of accompanying drawing 1 type of being flapping wing aircraft.Type flapping wing aircraft of the present invention comprises body 1, the first half way around fin 2, anchor shaft 3, turret mount 4, the second half way around fin 5, pin gear 6, transfers to cam 7, big gear wheel 8, the 3rd half way around fin 9, the 4th half way around fin 10, driven gear 11, driving gear 12, control motor 13 etc.Body 1 adopts pin to connect the no relative motion of maintenance with anchor shaft 3; Anchor shaft 3 symmetry and perpendicular to the vertical plane of symmetry of body; Two turret mount 4 symmetries are installed in the both sides of body 1; Roller bearings through the hollow shaft two ends is on anchor shaft 3 respectively, and carries out axial location with nut and stop washer.Sustainer, main engine is fixed on the body 1,12 whiles of driving gear of its axle head and driven gear 11 engagements of two symmetric arrangement, constitutes main drive gear, two turret mount 4 constant speed backward rotation about making.The first half way around fin 2 that structure is identical, the second half way around fin 5, the 3rd half way around fin 9, the 4th half way around fin 10 are divided into two groups; Be arranged symmetrically in the both sides of body 1; The two ends of each half way around fin are supported on the pivoted arm of turret mount 4 with bearing 13 respectively, and turret mount (4) rotates relatively.Four pin gears 6 are fixedly connected the internal trolley 18 of pin gear 6 and overhead cam sheet 22 engagements of transferring to cam 7 with an end projecting shaft of the first half way around fin 2, the second half way around fin 5, the 3rd half way around fin 9, the 4th half way around fin 10 respectively; The outer roller 17 of pin gear 6 and following cam bit 23 engagements of transferring to cam 7.Accent is when cam is static, and its profilograph guarantees that turret mount rotates a week and the half way around fin only rotates half cycle.Transfer the both sides that are arranged symmetrically in body 1 to cam 7, be supported on the body through plain bearing respectively, and prevent to transfer end float misalignment for two groups to cam with shaft block ring.Control motor 13 is separately fixed at the both sides of body 1, their shaft end gear respectively be fixed on big gear wheel 8 engagements of accent on cam 7.When control motor 13 makes accent when cam 7 rotates with respect to body 1, can change the initial attitude of half way around fin.
Accompanying drawing 2 is assembling scheme drawings of half way around fin, turret mount and pin gear.The first half way around fin 2 and the second half way around fin 5 all are the cuboids that is symmetrical in rotation axis, and general axial length is greater than radical length, and the longitudinal cross-section can be the plane, also can adopt the ruled surface of S type, and thickness along with the radius of turn increase decrescence.Turret mount 4 is fixedly connected by left-hand rotation arm 14, hollow shaft 20 and right-hand rotation arm 21 and forms, and left-hand rotation arm 14 is positioned at same plane with right-hand rotation arm 21, symmetry and perpendicular to hollow shaft 20, and the bearing hole width between centers at left-hand rotation arm 14 and right-hand rotation arm 21 two ends equates.The axle journal at the first half way around fin 2 and the second half way around fin, 5 two ends is supported in the hole of left and right pivoted arm one end through bearing 15 respectively, allows the half way around fin to rotate with respect to turret mount.The first half way around fin 2 and the second half way around fin, 5 starting phase angles that install at the pivoted arm two ends are 90 °.Pin gear 6 is made up of outer roller 17, internal trolley 18 and pin fluted disc 19, and two outer rollers 17 are positioned at a side of pin gear dish, and are symmetrical in pin fluted disc rotation axis; Two internal trolleys 18 are positioned at the opposite side of pin fluted disc, and the four rolling axis is distributed on the same circumference.The short pin of roller and pin fluted disc adopts free-running fit, allows roller freely to rotate.The axle head that stretches out of pin fluted disc and half way around fin is fixedly connected, and the roller on the pin fluted disc contacts with the working profile of accent to cam, guarantees that turret mount rotates a week and half way around wing rotation half cycle.
Shown in accompanying drawing 3, transfer to cam 7 to form by overhead cam sheet 22, following cam bit 23, cam holder 24 and big gear wheel 8 fixed installations, wherein the overhead cam sheet is identical with following cam bit structure, but their installation phase difference is 180 °.Leave endplay between overhead cam sheet and the following cam bit, general thickness greater than the pin fluted disc.One side of the cam holder 24 upper and lower cam bit that is fixedly connected, opposite side is fixed a big gear wheel 8; The interior axially bored line of cam holder overlaps with overhead cam sheet, following cam bit and big gear wheel axis fully, and cam holder 24 is supported on the body 1 by plain bearing.Control motor 13 output shafts that are fixed on the body 1 cog and big gear wheel 8 engagements, when control motor 13 drives accent to cam rotation, thereby the initial attitude that changes the half way around wing are changed thrust direction.
Claims (4)
1. a kind flapping wing aircraft is characterized in that this aircraft comprises body (1), the first half way around fin (2), the second half way around fin (5), the 3rd half way around fin (9), the 4th half way around fin (10), anchor shaft (3), turret mount (4), pin gear (6), transfers to cam (7), big gear wheel (8), driven gear (11), driving gear (12), control motor (13); Said anchor shaft (3) vertical summetry is connected in the longitudinal profile of body (1) and with body (1); Two identical turret mounts (4) of structure are symmetricly set on body (1) both sides, said turret mount (4) with bearings on said anchor shaft (3); Four half way around fins that structure is identical: the first half way around fin (2), the second half way around fin (5), the 3rd half way around fin (9), the 4th half way around fin (10) are divided into two groups; Be supported on respectively on the pivoted arm of body both sides turret mounts (4); The axis of rotation line parallel of the half way around fin that said four structures are identical is in anchor shaft (3); The said first half way around fin (2) all is 90 ° with the 4th half way around fin (10), the second half way around fin (5) with the phase difference of the 3rd half way around fin (9) with the 4th half way around fin (10), the first half way around fin (2) with the second half way around fin (5), the 3rd half way around fin (9); One end projecting shaft of each half way around fin is captiveed joint with a pin gear (6), and said pin gear (6) meshes to cam (7) with accent; Said accent in the both sides of body (1), is transferred the dead in line to the rotation axis and the anchor shaft (3) of cam (7) to cam (7) symmetric support; Said control motor (13) is fixed on the body (1), the gear of said control motor (13) and big gear wheel (8) engagement of transferring on cam (7).
2. a kind flapping wing aircraft according to claim 1; It is characterized in that described turret mount (4) is fixedly connected by left-hand rotation arm (14), hollow shaft (20) and right-hand rotation arm (21) forms; Said left-hand rotation arm (14) and right-hand rotation arm (21) are positioned at same plane; Left-hand rotation arm (14) and right-hand rotation arm (21) symmetry and perpendicular to hollow shaft (20), the bearing hole width between centers at left-hand rotation arm (14) and right-hand rotation arm (21) two ends is equal.
3. a kind flapping wing aircraft according to claim 1; It is characterized in that described accent is formed by overhead cam sheet (22), following cam bit (23), cam holder (24) and big gear wheel (8) fixed installation to cam (7); Said overhead cam sheet (22) and following cam bit (23) structure are identical, and it is 180 ° that phase difference is installed; One side of said cam holder (24) be fixedly connected overhead cam sheet (22) and following cam bit (23); The opposite side of cam holder (24) is fixed a big gear wheel (8), and the interior axially bored line of cam holder (24) overlaps with the axis of overhead cam sheet (22), following cam bit (23) and big gear wheel (8) fully.
4. a kind flapping wing aircraft according to claim 1; It is characterized in that described pin gear (6) is by two outer rollers (17); Two internal trolleys (18) and pin fluted disc (19) are formed, and two outer rollers (17) are positioned at a side of pin fluted disc (19), and are symmetrical in pin fluted disc rotation axis; Two internal trolleys (18) are positioned at the opposite side of pin fluted disc, and the four rolling axis is distributed on the same circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210057939.2A CN102582832B (en) | 2012-03-07 | 2012-03-07 | Flapping-wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210057939.2A CN102582832B (en) | 2012-03-07 | 2012-03-07 | Flapping-wing aircraft |
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| Publication Number | Publication Date |
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| CN102582832A true CN102582832A (en) | 2012-07-18 |
| CN102582832B CN102582832B (en) | 2014-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210057939.2A Expired - Fee Related CN102582832B (en) | 2012-03-07 | 2012-03-07 | Flapping-wing aircraft |
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| CN102979876A (en) * | 2012-12-02 | 2013-03-20 | 安徽工业大学 | Cam control clutch power transmission distributor |
| CN103213680A (en) * | 2013-05-14 | 2013-07-24 | 关松生 | Continuous flapping-wing aircraft |
| CN104192307A (en) * | 2014-09-03 | 2014-12-10 | 安徽工业大学 | Bird-imitating flapping wing mechanism |
| CN104276284A (en) * | 2014-10-08 | 2015-01-14 | 中国航空工业集团公司西安飞机设计研究所 | Tandem type fan wing aircraft layout |
| CN104494813A (en) * | 2014-12-15 | 2015-04-08 | 佛山市神风航空科技有限公司 | Aircraft with flat rotating blade thrusting device |
| CN107444634A (en) * | 2017-06-13 | 2017-12-08 | 大连理工大学 | Double freedom flapping wing mechanism |
| CN107539474A (en) * | 2017-09-12 | 2018-01-05 | 安徽工业大学 | A kind of 4 half rotor class flapping wing aircrafts |
| CN107628245A (en) * | 2017-10-24 | 2018-01-26 | 陈晓春 | Sheave commutation type rotary flapping wing power plant system |
| CN107914872A (en) * | 2017-12-06 | 2018-04-17 | 佛山市神风航空科技有限公司 | A kind of mini-sized flap wings formula helicopter |
| CN110254705A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Blade with fixed-wing can turn Horizontal single-wheel formula and move rotor aircraft |
| CN110254712A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane |
| CN110282124A (en) * | 2019-07-19 | 2019-09-27 | 苏州高博软件技术职业学院 | It can turn horizontal four wheeled dynamic rotor aircraft in conjunction with the blade of fixed-wing |
| CN110282125A (en) * | 2019-07-19 | 2019-09-27 | 苏州高博软件技术职业学院 | It can turn vertical dicycly based on blade and move the aircraft that the wing pushes |
| CN110329506A (en) * | 2019-07-12 | 2019-10-15 | 李维农 | It flutters its wings up and down aircraft |
| CN110371285A (en) * | 2019-07-19 | 2019-10-25 | 苏州高博软件技术职业学院 | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift |
| CN110422329A (en) * | 2019-07-19 | 2019-11-08 | 苏州高博软件技术职业学院 | Cam controls the wheeled dynamic swing device and wheeled dynamic wing method that blade rotates |
| CN112407275A (en) * | 2020-11-26 | 2021-02-26 | 广东国士健科技发展有限公司 | Flapping rotor wing device capable of linearly ascending, semi-rotating and descending |
| CN112407276A (en) * | 2020-11-26 | 2021-02-26 | 广东国士健科技发展有限公司 | Flapping rotor wing device capable of realizing upward half-rotation and downward horizontal operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102979876B (en) * | 2012-12-02 | 2015-06-10 | 安徽工业大学 | Cam control clutch power transmission distributor |
| CN102979876A (en) * | 2012-12-02 | 2013-03-20 | 安徽工业大学 | Cam control clutch power transmission distributor |
| CN103213680A (en) * | 2013-05-14 | 2013-07-24 | 关松生 | Continuous flapping-wing aircraft |
| CN103213680B (en) * | 2013-05-14 | 2015-02-18 | 关松生 | Continuous flapping-wing aircraft |
| CN104192307A (en) * | 2014-09-03 | 2014-12-10 | 安徽工业大学 | Bird-imitating flapping wing mechanism |
| CN104192307B (en) * | 2014-09-03 | 2016-02-24 | 安徽工业大学 | A kind of imitative bird flapping wing mechanism |
| CN104276284B (en) * | 2014-10-08 | 2016-04-20 | 中国航空工业集团公司西安飞机设计研究所 | A kind of series type fan rotor aircraft layout |
| CN104276284A (en) * | 2014-10-08 | 2015-01-14 | 中国航空工业集团公司西安飞机设计研究所 | Tandem type fan wing aircraft layout |
| CN104494813A (en) * | 2014-12-15 | 2015-04-08 | 佛山市神风航空科技有限公司 | Aircraft with flat rotating blade thrusting device |
| CN107444634A (en) * | 2017-06-13 | 2017-12-08 | 大连理工大学 | Double freedom flapping wing mechanism |
| CN107444634B (en) * | 2017-06-13 | 2019-11-26 | 大连理工大学 | Double freedom flapping wing mechanism |
| CN107539474A (en) * | 2017-09-12 | 2018-01-05 | 安徽工业大学 | A kind of 4 half rotor class flapping wing aircrafts |
| CN107628245A (en) * | 2017-10-24 | 2018-01-26 | 陈晓春 | Sheave commutation type rotary flapping wing power plant system |
| CN107914872A (en) * | 2017-12-06 | 2018-04-17 | 佛山市神风航空科技有限公司 | A kind of mini-sized flap wings formula helicopter |
| CN110329506B (en) * | 2019-07-12 | 2021-01-01 | 李维农 | Flapping aircraft |
| CN110329506A (en) * | 2019-07-12 | 2019-10-15 | 李维农 | It flutters its wings up and down aircraft |
| CN110282125A (en) * | 2019-07-19 | 2019-09-27 | 苏州高博软件技术职业学院 | It can turn vertical dicycly based on blade and move the aircraft that the wing pushes |
| CN110282124A (en) * | 2019-07-19 | 2019-09-27 | 苏州高博软件技术职业学院 | It can turn horizontal four wheeled dynamic rotor aircraft in conjunction with the blade of fixed-wing |
| CN110371285A (en) * | 2019-07-19 | 2019-10-25 | 苏州高博软件技术职业学院 | Blade can turn the four wheeled dynamic wing unmanned plane of horizontal lift |
| CN110422329A (en) * | 2019-07-19 | 2019-11-08 | 苏州高博软件技术职业学院 | Cam controls the wheeled dynamic swing device and wheeled dynamic wing method that blade rotates |
| CN110254712A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Two horizontal two vertical blades can turn four wheeled dynamic wing unmanned plane |
| CN110422329B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Wheel type movable wing device and method for controlling rotation of blades through cam |
| CN110254705A (en) * | 2019-07-19 | 2019-09-20 | 苏州高博软件技术职业学院 | Blade with fixed-wing can turn Horizontal single-wheel formula and move rotor aircraft |
| CN112407275A (en) * | 2020-11-26 | 2021-02-26 | 广东国士健科技发展有限公司 | Flapping rotor wing device capable of linearly ascending, semi-rotating and descending |
| CN112407276A (en) * | 2020-11-26 | 2021-02-26 | 广东国士健科技发展有限公司 | Flapping rotor wing device capable of realizing upward half-rotation and downward horizontal operation |
| CN112407268A (en) * | 2020-11-26 | 2021-02-26 | 广东国士健科技发展有限公司 | Tilting type free half-rotation flapping rotor aircraft |
| CN112429218A (en) * | 2020-11-26 | 2021-03-02 | 广东国士健科技发展有限公司 | Swing sliding type flapping rotor wing device |
| CN112441229A (en) * | 2020-11-26 | 2021-03-05 | 广东国士健科技发展有限公司 | Flapping rotor wing device with upward shaft wing capable of vertically running and downward horizontally running |
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| CN112550697A (en) * | 2020-11-26 | 2021-03-26 | 广东国士健科技发展有限公司 | Flapping rotor wing device capable of realizing coplanar operation of upward vertical operation and downward axial wings |
| CN112550696A (en) * | 2020-11-26 | 2021-03-26 | 广东国士健科技发展有限公司 | Flapping rotor wing device capable of vertically running in uplink and horizontally running in downlink |
| WO2023197836A1 (en) * | 2022-04-13 | 2023-10-19 | 邓辉平 | Transverse-flapping-type flapping wing |
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