CN102582832B - Flapping-wing aircraft - Google Patents
Flapping-wing aircraft Download PDFInfo
- Publication number
- CN102582832B CN102582832B CN201210057939.2A CN201210057939A CN102582832B CN 102582832 B CN102582832 B CN 102582832B CN 201210057939 A CN201210057939 A CN 201210057939A CN 102582832 B CN102582832 B CN 102582832B
- Authority
- CN
- China
- Prior art keywords
- way around
- half way
- around fin
- cam
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
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 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
Class flapping wing aircraft is can as bird, produce the aircraft of lift and manoevreability control by movable wing active movement, it has stronger manoevreability than fixed wing aircraft, taking off and landing does not need runway, can vertical takeoff and landing, low-speed operations or hovering, and adapt to and fly in complicated space.General screw wing helicopter and fixed-wing vertical take-off and landing aircraft (VTOL aircraft), although have class 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 lift direction simultaneously, and 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 again flapping of flapping wing, and aircraft control mechanism is more complicated.
Another kind of flapping wing aircraft (CN201367116Y), it flutters to produce lift up and down by flex-wing, and makes flex-wing swing to control the attitude of aircraft.Because the speed of fluttering of flex-wing is lower, the span length that need to increase flapping wing improves lift.The space needing when therefore, it flies is larger.
Summary of the invention
In order to overcome, existing Flight Vehicle Structure and control mechanism are complicated, manoevreability is bad, high cost is not enough, the invention provides a kind of movable wing and do to rotate and the approximate unidirectional class flapping wing aircraft of fluttering of generation continuously.Aircraft provided by the invention has transmission device and control mechanism is simple, the aerodynamic force direction of body both sides can be within the scope of 360 ° flexible, do not produce the features such as pitching fluctuation, can realize vertical lift, level is advanced and retreat, hovering, the 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, tuning cam 7, big gear wheel 8, driven gear 11, driving gear 12, controls motor 13, described anchor shaft 3 vertical summetry are in the longitudinal profile of body 1 and be connected with body 1, form the cantilever beam of carrying, two identical turret mounts 4 of structure are symmetricly set on body 1 both sides, and turret mount 4 use bearings, on described anchor shaft 3, can be rotated relative to body 1 around anchor shaft 3, four the first half way around fins 2 that structure is 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 described four structures are identical is in anchor shaft 3, described the 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 phase difference of the second half way around fin 5 and the 3rd half way around fin 9 is all 90 °, one end projecting shaft of each half way around fin is fixedly connected with a pin gear 6, described pin gear 6 and 7 engagements of tuning cam, described tuning cam 7 symmetric support are in the both sides of body 1, the dead in line of the rotation axis of tuning cam 7 and anchor shaft 3, described control motor 13 is fixed on body 1, big gear wheel 8 engagements on the gear of described control motor 13 and tuning cam 7.
Hollow shaft one end of turret mount 4 and driven gear 11 are fixing, and driving gear 12 meshes with the driven gear 11 of the left and right sides respectively, drives turret mount to rotate.Pin gear 6 is comprised of two outer rollers 17, two internal trolleys 18 and pin tooth dish 19.Outer roller 17 and internal trolley 18 are equally distributed on same circumference, and are positioned at the both sides of pin tooth dish 19.Pin gear 6 makes turret mount rotate one week with the face cam engagement of tuning cam 7, and half way around fin only rotates half cycle.Tuning cam 7 is comprised of overhead cam sheet 22, lower cam bit 23, big gear wheel 8 and cam holder 24.The working profile of overhead cam sheet 22, lower cam bit 23 is identical, and it is 180 ° that phase difference is installed, and is all fixedly connected with cam holder 24.Cam holder 24 is supported on body 1, and big gear wheel 8 and the gear engagement of being fixed on the control motor 13 on body 1 on cam holder are fixed in the dead in line of its rotation axis and anchor shaft 3.Sustainer, main engine is directly connected with driving gear 12, consists of the main drive gear of aircraft one-level gear transmission, drives the rotation of turret mount and half way around fin to produce aircraft required thrust.Control motor and by one-level gear transmission and the transmission of cam-pin gear, form the manoevreability control mechanism of aircraft, change half rotor with respect to the initial orientation of body, thereby change the direction of propulsive force.
Driving gear 12 drives left and right turret mount constant speed to rotate backward by driven gear 11.Due to the 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 is mutual balance also.Therefore, it is parallel that body 1 both sides half rotor can produce direction, and size is identical, and point of action is symmetrical in the directional thrust of body, and its large I changes 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 therefore producing, 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 lifting under the effect of both sides lift.
Tuning cam 7 is by mesh with pin gear 6 initial orientation that changes 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, thus change pneumatic thrust direction.Regulate in orientation, load and rotor inertia are little, regulate sensitive.In turret mount 4 high speed rotating, two control motors 13 make the tuning cam 7 of body both sides rotate same angle simultaneously, can make the thrust of both sides with respect to the identical angle of body deflection forward or backward.If thrust, simultaneously to post deflection, promotes body component forward by producing, body is advanced.Otherwise thrust deflection forward simultaneously, retreats body.If a side thrust is forward when deflection, 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.This turns to the moment of couple to accelerate the inertia couple producing with slowing down by balance main transmission simultaneously, keeps the stable of heading.Because tuning cam can rotate by complete cycle, so pneumatic thrust direction can change within the scope of 360 °.
The present invention has the following advantages;
1, thrust direction can be within the scope of 360 ° flexible, aircraft maneuvering performance is stronger, the lifting and the horizontal flight that are conducive under complex environment are controlled.
2, without empennage transmission and regulating mechanism, alleviated deadweight and the longitudinal length of aircraft, be conducive to improve 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.
Accompanying drawing explanation
Fig. 1 is the integral structure schematic diagram of class flapping wing aircraft.
Fig. 2 is half rotor, turret mount and pin gear assembling schematic diagram.
Fig. 3 is tuning cam and transmission device schematic diagram thereof.
In 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, tuning 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 tooth wheel disc; 20, hollow shaft; 21, right-hand rotation arm; 22, overhead cam sheet; 23, lower cam bit; 24, cam holder.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
Accompanying drawing 1 is the integral structure schematic diagram of class flapping wing aircraft.Class 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, tuning 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, controls motor 13 etc.Body 1 and anchor shaft 3 adopt pin to connect maintenance without relative motion, anchor shaft 3 is symmetrical and perpendicular to the longitudinal plane of symmetry of body, two turret mount 4 symmetries are arranged on the both sides of body 1, roller bearings by 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 body 1, and the driving gear 12 of its axle head meshes with two driven gears that are arranged symmetrically with 11 simultaneously, forms main drive gear, and two turret mount 4 constant speed in left and right are rotated backward.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 that structure is identical 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, can rotate relative to turret mount (4).Four pin gears 6 are fixedly connected with one 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 internal trolley 18 of pin gear 6 and 22 engagements of the overhead cam sheet of tuning cam 7; The outer roller 17 of pin gear 6 and 23 engagements of the lower cam bit of tuning cam 7.When tuning cam is static, its profilograph guarantees that turret mount rotates one week and half way around fin only rotates half cycle.Two groups of tuning cams 7 are arranged symmetrically in the both sides of body 1, be supported on body respectively, and with shaft block ring, prevent the end float misalignment of tuning cam by plain bearing.Control the both sides that motor 13 is separately fixed at body 1, their shaft end gear meshes with the big gear wheel 8 being fixed on tuning cam 7 respectively.When control motor 13 makes tuning cam 7 rotate with respect to body 1, can change the initial attitude of half way around fin.
Accompanying drawing 2 is assembling schematic diagrams 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 are all the cuboids that is symmetrical in rotation axis, and general axial length is greater than radical length, and longitudinal cross-section can be plane, also can adopt the ruled surface of S type, and thickness along with radius of turn increase decrescence.Turret mount 4 is fixedly connected and is formed by left-hand rotation arm 14, hollow shaft 20 and right-hand rotation arm 21, and left-hand rotation arm 14 and right-hand rotation arm 21 are positioned at same plane, symmetrical 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 by bearing 15 respectively, allows 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 pivoted arm two ends are 90 °.Pin gear 6 is comprised of outer roller 17, internal trolley 18 and pin tooth dish 19, and two outer rollers 17 are positioned at a side of pin tooth wheel disc, and is symmetrical in pin tooth dish rotation axis; Two internal trolleys 18 are positioned at the opposite side of pin tooth dish, and four rolling axis is distributed on same circumference.The short pin of roller and pin tooth dish adopts free-running fit, allows roller freely to rotate.The axle head that stretches out of pin tooth dish and half way around fin is fixedly connected, and the roller on pin tooth dish contacts with the working profile of tuning cam, guarantees that turret mount rotates one week and half rotor rotation half cycle.
As shown in Figure 3, tuning cam 7 is formed by overhead cam sheet 22, lower cam bit 23, cam holder 24 and big gear wheel 8 fixed installations, and wherein overhead cam sheet is identical with lower cam bit structure, but their installation phase difference is 180 °.Between overhead cam sheet and lower cam bit, leave endplay, be generally greater than the thickness of pin tooth dish.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 completely with overhead cam sheet, lower cam bit and big gear wheel axis, and cam holder 24 is supported on body 1 by plain bearing.Control motor 13 output shafts that are fixed on body 1 cog and big gear wheel 8 engagements, when controlling motor 13 driving tuning cams rotation, thereby the initial attitude that changes half rotor are changed to thrust direction.
Claims (2)
1.
one 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), tuning cam (7), big gear wheel (8), driven gear (11), driving gear (12), controls motor (13), described anchor shaft (3) vertical summetry is in the longitudinal profile of body (1) and be connected with body (1), two identical turret mounts (4) of structure are symmetricly set on body (1) both sides, and described turret mount (4) uses bearings on described 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) is 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 described four structures are identical is in anchor shaft (3), described the 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) is all 90 ° with the phase difference of the 3rd half way around fin (9), one end projecting shaft of each half way around fin is fixedly connected with a pin gear (6), described pin gear (6) and tuning cam (7) engagement, described tuning cam (7) symmetric support is in the both sides of body (1), the dead in line of the rotation axis of tuning cam (7) and anchor shaft (3), it is upper that described control motor (13) is fixed on body (1), big gear wheel (8) engagement on the gear of described control motor (13) and tuning cam (7), described tuning cam (7) is formed by overhead cam sheet (22), lower cam bit (23), cam holder (24) and big gear wheel (8) fixed installation, and described overhead cam sheet (22) is identical with lower cam bit (23) structure, and it is 180 ° that phase difference is installed, one side of described cam holder (24) be fixedly connected overhead cam sheet (22) and lower 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 completely with the axis of overhead cam sheet (22), lower cam bit (23) and big gear wheel (8), described pin gear (6) is by two outer rollers (17), two internal trolleys (18) and pin tooth dish (19) form, two outer rollers (17) are positioned at a side of pin tooth dish (19), and be symmetrical in pin tooth dish rotation axis, two internal trolleys (18) are positioned at the opposite side of pin tooth dish, and four rolling axis is distributed on same circumference.
2.
a kind flapping wing aircraft according to claim 1, it is characterized in that described turret mount (4) is fixedly connected and is formed by left-hand rotation arm (14), hollow shaft (20) and right-hand rotation arm (21), described 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) are symmetrical 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 is equal.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102582832A CN102582832A (en) | 2012-07-18 |
| CN102582832B true CN102582832B (en) | 2014-11-26 |
Family
ID=46472227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210057939.2A Expired - Fee Related CN102582832B (en) | 2012-03-07 | 2012-03-07 | Flapping-wing aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102582832B (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979876B (en) * | 2012-12-02 | 2015-06-10 | 安徽工业大学 | Cam control clutch power transmission distributor |
| CN103213680B (en) * | 2013-05-14 | 2015-02-18 | 关松生 | Continuous flapping-wing aircraft |
| 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 |
| CN104494813B (en) * | 2014-12-15 | 2016-06-01 | 佛山市神风航空科技有限公司 | A kind of aircraft adopting dull and stereotyped revolving vane promotion device |
| 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 |
| CN110254705B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Single-wheel type moving-wing aircraft with rotatable and horizontal blades and fixed wings |
| 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 |
| CN110282124B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Blade-rotatable horizontal four-wheel type moving-wing aircraft combined with fixed wings |
| CN110371285B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Blade-rotatable horizontal lift four-wheel type rotor unmanned aerial vehicle |
| CN110282125B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Aircraft based on blade-rotatable vertical double-wheel type moving wing pushing |
| CN110254712B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Two-horizontal two-vertical blade-rotatable four-wheel type rotor unmanned aerial vehicle |
| CN112441228A (en) * | 2020-11-26 | 2021-03-05 | 广东国士健科技发展有限公司 | Energy-saving type half-rotation free flapping rotor aircraft |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN114771828A (en) * | 2022-04-13 | 2022-07-22 | 邓辉平 | Transverse flapping type flapping wing |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101121438A (en) * | 2007-09-25 | 2008-02-13 | 安徽工业大学 | Double-vane propeller |
| CN101270720A (en) * | 2008-05-16 | 2008-09-24 | 安徽工业大学 | Double-vane upright shaft wind motor |
| CN101607590A (en) * | 2008-06-19 | 2009-12-23 | 许世永 | Improved radio frequency remote control balloon |
| JP2010018059A (en) * | 2008-07-08 | 2010-01-28 | Chiba Inst Of Technology | Ornithopter |
-
2012
- 2012-03-07 CN CN201210057939.2A patent/CN102582832B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101121438A (en) * | 2007-09-25 | 2008-02-13 | 安徽工业大学 | Double-vane propeller |
| CN101270720A (en) * | 2008-05-16 | 2008-09-24 | 安徽工业大学 | Double-vane upright shaft wind motor |
| CN101607590A (en) * | 2008-06-19 | 2009-12-23 | 许世永 | Improved radio frequency remote control balloon |
| JP2010018059A (en) * | 2008-07-08 | 2010-01-28 | Chiba Inst Of Technology | Ornithopter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102582832A (en) | 2012-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102582832B (en) | Flapping-wing aircraft | |
| CN112009683B (en) | Miniature double-flapping-wing aircraft | |
| CN106585984B (en) | Rolling type ornithopter | |
| KR101125870B1 (en) | The tiltrotor aircraft | |
| CN102229359B (en) | Cylindrical cam flapping wing driving mechanism | |
| CN102390530B (en) | Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof | |
| CN204323687U (en) | A kind of four wing flapping-wing modal | |
| WO2015117509A1 (en) | Variable-pitch flight unit | |
| CN102874409A (en) | Flapping wing and turning device of micro aerial vehicle | |
| WO2018098993A1 (en) | Dual-axis vector servo steering device for propeller and vertical take-off and landing of unmanned aerial vehicle with fixed wings | |
| CN202138538U (en) | Driving mechanism of cylindrical cam flapping wing | |
| CN102700707A (en) | Novel aircraft | |
| CN103231805A (en) | Duct type folding wing machine | |
| CN102963526A (en) | Cycloidal propeller aerial vehicle | |
| CN109383759B (en) | Aircraft capable of adjusting flight attitude based on control surface | |
| CN106143906A (en) | A kind of coaxial Cycloidal propeller aerial vehicle | |
| CN104476994A (en) | Novel coaxial dual-rotor ducted wheel | |
| CN204134213U (en) | Aeromodelling airplane VTOL power rack | |
| CN107600426B (en) | Single-power-driven variable-pitch multi-rotor unmanned aerial vehicle | |
| CN108033004B (en) | Tilting system of tilting wing machine | |
| CN205768419U (en) | It is applicable to aeroamphibious aircraft | |
| CN106143896B (en) | Go straight up to winged solar energy unmanned plane soon | |
| CN102336270A (en) | Paratactic double-rotor small aircraft | |
| CN213649894U (en) | Thrust vector tail sitting type vertical take-off and landing unmanned aerial vehicle | |
| CN105691614B (en) | A kind of double drive class flapping wing aircrafts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141126 Termination date: 20150307 |
|
| EXPY | Termination of patent right or utility model |