CN104002968B - A kind of small taper rotary flapping wing aircraft - Google Patents
A kind of small taper rotary flapping wing aircraft Download PDFInfo
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- CN104002968B CN104002968B CN201410234072.2A CN201410234072A CN104002968B CN 104002968 B CN104002968 B CN 104002968B CN 201410234072 A CN201410234072 A CN 201410234072A CN 104002968 B CN104002968 B CN 104002968B
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Abstract
A kind of small taper rotary flapping wing aircraft, belongs to vehicle technology field.It is made up of fuselage, alighting gear, energy resource system, control system, left taper rotary flapping wing, right taper rotary flapping wing, foot piece, empennage and counterweight balance bar.Energy resource system comprises motor, lithium cell, train of reduction gears and a speed regulation device; Control system comprises radio telecommand projector, receptor and steering wheel; Left taper rotary flapping wing is made up of left main shaft, left-hand rotation arm, left wing's axis positioner, left wing's axle, left wing's sheet, left pilot bar and left guides; Right taper rotary flapping wing is made up of right main shaft, right-hand rotation arm, right flank axis positioner, right flank axle, right flank sheet, right pilot bar and right guides; The left and right sides that they are symmetrically arranged in fuselage respectively provides thrust under the driving of power.This Flight Vehicle Structure is simply light, and efficiency is higher, can vertical lift and hovering.Band photographs equipment can be used for taking photo by plane, geographical measurements, traffic duty, militaryly to investigate and the multiple-task such as rescue and relief work.
Description
Technical field
A kind of small taper rotary flapping wing aircraft, belongs to vehicle technology field, particularly relates to the aircraft that a kind of fin rotates.
Background technology
Traditional flapping wing aircraft drives flapping wing by crankshaft-connecting rod mechanism, and flapping wing is fluttered up and down and produces thrust, and its efficiency is lower, is inconvenient to adjust thrust direction, more difficult vertical lift, and require higher to the strength at repeated alternation of flapping wing material.
Summary of the invention
The object of the invention is the above-mentioned defect overcoming traditional flapping wing aircraft, invent the small taper rotary flapping wing aircraft that a kind of efficiency is higher.
The present invention adopts following technical scheme: a kind of small taper rotary flapping wing aircraft comprises fuselage, alighting gear, energy resource system, control system, left taper rotary flapping wing, right taper rotary flapping wing, foot piece, empennage and counterweight balance bar.Energy resource system comprises a motor, convenient lithium cell, train of reduction gears and speed regulation device of charging; Control system comprises radio telecommand projector, receptor and steering wheel; Fuselage is framed structure; Alighting gear is rear bikini; Foot piece horizontal arrangement, the front end of foot piece is connected with afterbody, and empennage is connected in the rear end of foot piece by a steering wheel of control system and foot piece, and empennage plays balance and the effect of pitching flying gesture stability; Left taper rotary flapping wing is identical with right taper rotary flapping wing structure, and the left and right sides that they are symmetrically arranged in fuselage respectively provides thrust under the driving of power.This aircraft can vertical lift and hovering.
Left taper rotary flapping wing is made up of left main shaft, left-hand rotation arm, left wing's axis positioner, left wing's axle, left wing's sheet, left pilot bar and left guides; Right taper rotary flapping wing is made up of right main shaft, right-hand rotation arm, right flank axis positioner, right flank axle, right flank sheet, right pilot bar and right guides; Left main shaft and right main shaft are fixed together coaxially, adopt single motor to be used as power, pass to left main shaft and right main shaft by train of reduction gears, drive left taper rotary flapping wing and right taper rotary flapping wing is synchronized moves in the same way simultaneously, and this structure is simple, lightweight.
The concrete structure of left taper rotary flapping wing is: left main shaft one end is connected with fuselage by bearing, one end of left-hand rotation arm is vertical with the other end of left main shaft to be connected, the other end of left-hand rotation arm and one end of left wing's axle are connected, the angle of left wing's axle and left-hand rotation arm is acute angle, between 45 ° ~ 60 °, left wing's axle, left-hand rotation arm and left main shaft are in same plane; The other end of left wing's axle is connected in sheet leading edge place of left wing by bearing and left wing's sheet, and left wing's axle is parallel with left wing sheet leading edge, and left wing's sheet can around left wing's axle flexible rotating; The end face of close left-hand rotation arm of left wing's sheet and the leading vertical of the root end face of left wing's sheet and left wing's sheet.Left wing's axis positioner is between left wing's sheet and left-hand rotation arm, and left wing's axle passes left wing's axis positioner and entangled by left wing's axis positioner, and left wing's axle around left wing's axis positioner center switch, but can not be able to move axially.Left wing's axis positioner adopts rotary joint bearing.Left pilot bar is pitched by left round bar, left U-shaped and left bearing pin forms; The closed end that one end of left round bar and left U-shaped are pitched is connected, left round bar and left U-shaped are pitched and are drawn a straight line, the left bearing pin vertical with left round bar that the open end that left pilot bar is pitched by its left U-shaped is installed and left wing's sheet root also axle place of close left wing being connected in left wing's sheet alive, the plane of left bearing pin vertically passing left wing sheet leading edge and trailing edge, the clearance of left U-shaped fork thickness direction guarantees that the left wing's sheet clipped can do the swing in left wing's plate plane direction neatly in left U-shaped fork.Left guides is fixedly bumped in left universal bearing by left linear bearing and forms; Left guides is connected with fuselage by the shell of its left universal bearing.The other end of left round bar passes the left linear bearing of left guides, and left round bar can do reciprocating linear motion neatly in left linear bearing, and left round bar can around the flexible switch in the center of left guides.The left U-shaped fork forming left pilot bar has enough length, to guarantee that the whole rotation process of left wing's sheet can not be stuck; Left round bar has enough length to guarantee that left round bar does not deviate from left guides in the whole rotation process of left wing's sheet; Left guides is installed near left wing's axis positioner as far as possible, but should guarantee can not touch left guides at left wing's sheet whole rotation process left-wing sheet and left U-shaped fork; Left main shaft and left wing's axis positioner are respectively in the both sides of left-hand rotation arm plane of rotation, and left wing's axis positioner is on the extended line of left main shaft, and left guides and left wing's axis positioner are in the same side of left-hand rotation arm plane of rotation; Left guides is greater than the distance of left wing's axis positioner to left-hand rotation arm plane of rotation to the distance of left-hand rotation arm plane of rotation.
The principle of work of left taper rotary flapping wing is: the power of motor passes to left main shaft after slowing down, left main axis drives left-hand rotation arm to rotate, left-hand rotation arm straps is moved left wing's axle and is rotated, rotate at the traction bottom left fin of left wing's axle, due to the restriction of left pilot bar and left guides, in the plane that left guides was in left wing's sheet leading edge and trailing edge all the time or near, when left wing sheet rotates, its angle of attack revolves to turn around at a cycle of operations and interior regular change can occur, meet flapping wing, be conducive to producing thrust.Because left guides is installed close to left wing axis positioner, in one-period, the effect of flutterring generation under left wing's sheet much larger than on flutter, the efficiency producing lift is higher.Change rotating speed and can change the size of thrust, the direction of thrust is relative azimuth by changing left guides and left main shaft and highly realizes.Because the angle of left wing's axle and left-hand rotation arm is acute angle, and be subject to the restriction of left wing's axis positioner, in the left and right sides of left wing's axis positioner, the rotational trajectory of left wing's axle is taper, only needs shorter left-hand rotation arm, and the scope of fluttering of left wing's sheet is larger, efficiency is high, and this is simple and compact for structure, lightweight construction; Make tapered circumference due to left wing's sheet to rotate, rotating speed can be higher, can produce larger thrust, and less demanding to the strength at repeated alternation of material.
The concrete structure of right taper rotary flapping wing and principle of work are identical with left taper rotary flapping wing.Right main shaft and left main shaft are fixed together coaxially, and are connected with the flower wheel of train of reduction gears, and the driving wheel of train of reduction gears is connected with motor.
Accompanying drawing explanation
Fig. 1 is the schematic top plan view of a kind of small taper rotary flapping wing of the present invention aircraft.
In figure, 1-fuselage, 2-alighting gear, 3-energy resource system, 4-control system, the left taper rotary flapping wing of 5-, the left main shaft of 51-, 52-left-hand rotation arm, 53-left wing axis positioner, 54-left wing axle, 55-left wing sheet, the left pilot bar of 56-, the left round bar of 561-, the left U-shaped fork of 562-, the left bearing pin of 563-, the left guides of 57-, the left linear bearing of 571-, the left universal bearing of 572-, the right taper rotary flapping wing of 6-, 7-foot piece, 8-empennage, 9-counterweight balance bar; The elliptic arc of left main shaft 51 place band arrow represents the rotation direction of left main shaft 51 under the driving of power.
Detailed description of the invention
Now 1 citing is illustrated the present invention by reference to the accompanying drawings: a kind of small taper rotary flapping wing aircraft comprises fuselage 1, alighting gear 2, energy resource system 3, control system 4, left taper rotary flapping wing 5, right taper rotary flapping wing 6, foot piece 7, empennage 8 and counterweight balance bar 9.Energy resource system 3 comprises a motor, convenient lithium cell, train of reduction gears and speed regulation device of charging; Control system 4 comprises radio telecommand projector, receptor and steering wheel; Fuselage 1 is framed structure; Alighting gear 2 is rear bikini; Foot piece 7 horizontal arrangement, the front end of foot piece 7 is connected with fuselage 1 afterbody, and empennage 8 is connected in the rear end of foot piece 7 by a steering wheel of control system 4 and foot piece 7, and empennage 8 plays balance and the effect of pitching flying gesture stability, and counterweight balance bar 9 plays counterweight and balance; Left taper rotary flapping wing 5 is identical with right taper rotary flapping wing 6 structure, and the left and right sides that they are symmetrically arranged in fuselage 1 respectively provides thrust under the driving of power.This aircraft can vertical lift and hovering.
Left taper rotary flapping wing 5 is made up of left main shaft 51, left-hand rotation arm 52, left wing's axis positioner 53, left wing's axle 54, left wing's sheet 55, left pilot bar 56 and left guides 57; Right taper rotary flapping wing 6 is made up of right main shaft, right-hand rotation arm, right flank axis positioner, right flank axle, right flank sheet, right pilot bar and right guides; Left main shaft 51 and right main shaft are fixed together coaxially, employing single motor is used as power, and passes to left main shaft 51 and right main shaft by train of reduction gears, drives left taper rotary flapping wing 5 and right taper rotary flapping wing 6 is synchronized moves in the same way simultaneously, this structure is simple, lightweight.
The concrete structure of left taper rotary flapping wing 5 is: left main shaft 51 one end is connected with fuselage 1 by bearing, one end of left-hand rotation arm 52 is vertical with the other end of left main shaft 51 to be connected, the other end of left-hand rotation arm 52 and one end of left wing's axle 54 are connected, the angle α of left wing's axle 54 and left-hand rotation arm 52 is between 45 ° ~ 60 °, and left wing's axle 54, left-hand rotation arm 52 and left main shaft 51 are in same plane; The other end of left wing's axle 54 is connected in left wing's sheet 55 leading edge place by bearing and left wing's sheet 55, and left wing's axle 54 is parallel with left wing sheet 55 leading edge, and left wing's sheet 55 can around left wing's axle 54 flexible rotating, but left wing's sheet 55 can not make axial linear movement on left wing's axle 54; The end face of close left-hand rotation arm 52 of left wing's sheet 55 and the leading vertical of the root end face of left wing's sheet 55 and left wing's sheet 55.Left wing's axis positioner 53 is between left wing's sheet 55 and left-hand rotation arm 52, left wing's axle 54 passes left wing's axis positioner 53 and is entangled by left wing's axis positioner 53, left wing's axle 54 can around left wing's axis positioner 53 center switch, and the maximum taper of switch is greater than 120 °, but can not move axially.Left wing's axis positioner 53 adopts rotary joint bearing.Left pilot bar 56 is made up of left round bar 561, left U-shaped fork 562 and left bearing pin 563; The closed end that one end of left round bar 561 and left U-shaped pitch 562 is connected, left round bar 561 is pitched 562 with left U-shaped and is drawn a straight line, the left bearing pin 563 vertical with left round bar 561 root also close left wing axle 54 place that be connected in left wing sheet 55 alive with left wing's sheet 55 that the open end that left pilot bar 56 pitches 562 by its left U-shaped is installed, the plane of left bearing pin 563 vertically passing left wing's sheet 55 leading edge and trailing edge, the clearance that left U-shaped pitches 562 thickness directions guarantees that the left wing's sheet 55 clipped can do the swing of left wing's sheet 55 in-plane neatly in left U-shaped fork 562.Left guides 57 is fixedly bumped in left universal bearing 572 by left linear bearing 571 and forms; Left guides 57 is connected with fuselage 1 by the shell of its left universal bearing 572.The other end of left round bar 561 passes the left linear bearing 571 of left guides 57, and left round bar 561 can do reciprocating linear motion neatly in left linear bearing 571, and left round bar 561 can around the flexible switch in center of left guides 57.The left U-shaped fork 562 forming left pilot bar 56 has enough length, to guarantee that the whole rotation process of left wing's sheet 55 can not be stuck; Left round bar 561 has enough length to guarantee that left round bar 561 does not deviate from left guides 57 in the whole rotation process of left wing's sheet 55; Left guides 57 is installed near left wing's axis positioner 53 as far as possible, but should guarantee can not touch left guides 57 at left wing's sheet 55 whole rotation process left-wing sheet 55 and left U-shaped fork 562; Left main shaft 51 and left wing's axis positioner 53 are respectively in the both sides of left-hand rotation arm 52 plane of rotation, and left wing's axis positioner 53 is on the extended line of left main shaft 51, and left guides 57 and left wing's axis positioner 53 are in the same side of left-hand rotation arm 52 plane of rotation; Left guides 57 to the distance of left-hand rotation arm 52 plane of rotation between left wing's axis positioner 53 1.3 times ~ 2 times of distance to left-hand rotation arm 52 plane of rotation.
Left main shaft 51 and right main shaft are fixed together coaxially.Constant speed rotating in same direction, left wing's sheet 55 and right flank sheet arrive body foremost simultaneously, and now left wing's sheet 55 and right flank sheet all move downward and namely flutter down.
For reducing the resistance of air, improving 1ift-drag ratio, improving efficiency of fluttering, the aerofoil profile of left wing's sheet 55 and right flank sheet all adopts flat pattern or epirelief concave shape under epirelief.
The principle of work of left taper rotary flapping wing is: the power of motor passes to left main shaft 51 after slowing down, left main shaft 51 rotates and drives left-hand rotation arm 52 to rotate, left-hand rotation arm 52 drives left wing's axle 54 to rotate, rotate at the traction bottom left fin 55 of left wing's axle 54, due to the restriction of left pilot bar 56 and left guides 57, in the plane that left guides 57 was in left wing's sheet 55 leading edge and trailing edge all the time or near, when left wing's sheet 55 rotates, its angle of attack revolves to turn around at a cycle of operations and interior regular change can occur, meet flapping wing, be conducive to producing thrust.When left wing's sheet 55 rotates a circle, the concrete change procedure of its angle of attack is: suppose that left guides 57 is in same level with left main shaft 51, now left guides 57 is zero with the relative height of left main shaft 51, suppose that the reference position that left wing's sheet 55 rotates is the position of left wing's sheet 55 near left guides 57, now the angle of attack of left wing's sheet 55 is negative 90 °, along with the rotation of left wing's axle 54 is drawn, left wing's sheet 55 upward movement, the absolute value of the angle of attack is reduced to rapidly 0 °, now left pilot bar 56 is tangent with the rotating cone of left wing axle 54 above the horizontal surface crossing left main shaft 51, then left wing's axle 54 continues to rotate, the angle of attack of left wing's sheet 55 more slowly becomes 90 ° from 0 °, now left pilot bar 56 level, left wing's sheet 55 is away from left guides 57, along with the continuation of left wing's axle 54 is drawn, left wing's sheet 55 moves downward, the angle of attack more slowly becomes 0 ° from 90 °, now left pilot bar 56 is tangent at the rotating cone of the below of horizontal surface and left wing's axle 54 of crossing left main shaft 51, along with the continuation of left wing's axle 54 rotates, the angle of attack of left wing's sheet 55 becomes rapidly negative 90 ° by 0 °, now get back to reference position, complete a swing circle.Because left guides 57 is installed close to left wing's axle 54 steady arm, in one-period, left wing's sheet effect of flutterring generation for 55 times much larger than on flutter, the efficiency producing lift is higher.Change rotating speed and can change the size of thrust, the direction of thrust is relative azimuth by changing left guides 57 and left main shaft 51 and highly realizes.Because left wing's axle 54 and the angle of left-hand rotation arm 52 are acute angle, and be subject to the restriction of left wing's axis positioner 53, in the left and right sides of left wing's axis positioner 53, the rotational trajectory of left wing's axle 54 is taper, only need shorter left-hand rotation arm 52, the scope of fluttering of left wing's sheet 55 is comparatively large, and efficiency is high, this is simple and compact for structure, lightweight construction; Make tapered circumference due to left wing's sheet 55 to rotate, rotating speed can be higher, can produce larger thrust, and less demanding to the strength at repeated alternation of material.
The concrete structure of right taper rotary flapping wing 6 and principle of work are identical with left taper rotary flapping wing 5.Right main shaft and left main shaft 51 are fixed together coaxially, and are connected with the flower wheel of train of reduction gears, and the driving wheel of train of reduction gears is connected with motor.Turn right from the left side of this aircraft, left wing's sheet 55 is identical with the rotation direction of right flank sheet, is all make left-hand revolution.
The flight attitude should inventing a kind of small taper rotary flapping wing aircraft is below described further this invention.
Take off: actuating motor, drive left taper rotary flapping wing 5 and right taper rotary flapping wing 6 to flutter simultaneously, utilize control system 4 to adjust the height of left guides 57 and right guides simultaneously, what left taper rotary flapping wing 5 and right taper rotary flapping wing 6 were produced makes a concerted effort upwards, when motor speed reaches certain value, lift is greater than body weight, and this small taper rotary flapping wing aircraft vertical goes up to the air.
Before fly: after taking off, by left guides 57 and right guides simultaneously forward upward move, thrust direction, by forward upward, improves motor speed simultaneously and makes the component in the direction vertically upward of thrust equal body weight, and this aircraft is flat forward to fly.
After fly: aloft during aircraft, left guides 57 and right guides are moved downwards simultaneously, make thrust direction rearwardly and upwardly, adjust motor speed simultaneously and make the component in the direction vertically upward of thrust equal body weight, realize flat backward flying.
Turning flight: when front flying, separately right guides being moved this aircraft of little Xu will turn left toward front upper place; Separately left guides 57 is moved this aircraft of little Xu toward front upper place will bend to right.
Hovering: when aloft flying, left guides 57 and right guides are adjusted to suitable same height and position, adjust the rotating speed of motor, what left taper rotary flapping wing 5 and right taper rotary flapping wing 6 were produced makes a concerted effort vertically upward and equals body weight, and after eliminating flight inertia, this aircraft will be in hovering position.
Landing: after this aircraft is adjusted to hovering position, slowly reduce the rotating speed of motor, this aircraft is by slowly vertical landing.
More than illustrate it is make under the operating mode not having interference in air flow, if there is the existence of interference in air flow, then should carry out repairing partially according to the direction of air-flow and flow velocity.
A kind of small taper rotary flapping wing of the present invention aircraft band photographs equipment can be used for taking photo by plane, geographical measurements, traffic duty, militaryly to investigate and the multiple-task such as rescue and relief work.
Claims (3)
1. a small taper rotary flapping wing aircraft, comprise fuselage (1), alighting gear (2), energy resource system (3), control system (4), left taper rotary flapping wing (5), right taper rotary flapping wing (6), foot piece (7), empennage (8) and counterweight balance bar (9), it is characterized in that: energy resource system (3) comprises a motor, convenient lithium cell, train of reduction gears and speed regulation device of charging, control system (4) comprises radio telecommand projector, receptor and steering wheel, fuselage (1) is framed structure, alighting gear (2) is rear bikini, foot piece (7) horizontal arrangement, the front end of foot piece (7) is connected with fuselage (1) afterbody, and empennage (8) is connected in the rear end of foot piece (7) by a steering wheel of control system (4) and foot piece (7), left taper rotary flapping wing (5) is all identical with principle of work with right taper rotary flapping wing (6) structure, and they are symmetrically arranged in the left and right sides of fuselage (1) respectively, left taper rotary flapping wing (5) is made up of left main shaft (51), left-hand rotation arm (52), left wing's axis positioner (53), left wing's axle (54), left wing's sheet (55), left pilot bar (56) and left guides (57), right taper rotary flapping wing (6) is made up of right main shaft, right-hand rotation arm, right flank axis positioner, right flank axle, right flank sheet, right pilot bar and right guides, left main shaft (51) and right main shaft are fixed together coaxially, adopt single motor to be used as power, pass to left main shaft (51) and right main shaft by train of reduction gears, left main shaft (51) one end is connected with fuselage (1) by bearing, one end of left-hand rotation arm (52) is vertical with the other end of left main shaft (51) to be connected, the other end of left-hand rotation arm (52) and one end of left wing's axle (54) are connected, the angle (α) of left wing's axle (54) and left-hand rotation arm (52) is between 45 ° ~ 60 °, and left wing's axle (54), left-hand rotation arm (52) and left main shaft (51) are in same plane, the other end of left wing's axle (54) is connected in left wing's sheet (55) leading edge place by bearing and left wing's sheet (55), left wing's axle (54) is parallel with left wing sheet (55) leading edge, left wing's sheet (55) can around left wing's axle (54) flexible rotating, but left wing's sheet (55) can not make axial linear movement on left wing's axle (54), the end face of close left-hand rotation arm (52) of left wing's sheet (55) and the leading vertical of the root end face of left wing's sheet (55) and left wing's sheet (55), left wing's axis positioner (53) is between left wing's sheet (55) and left-hand rotation arm (52), left wing's axle (54) is through left wing's axis positioner (53) and entangled by left wing's axis positioner (53), left wing's axle (54) around left wing's axis positioner (53) center switch, but can not be able to move axially, left pilot bar (56) pitches (562) by left round bar (561), left U-shaped and left bearing pin (563) forms, the closed end that one end of left round bar (561) and left U-shaped pitch (562) is connected, left round bar (561) and left U-shaped are pitched (562) and are drawn a straight line, the left bearing pin (563) vertical with left round bar (561) root also close left wing axle (54) place that be connected in left wing sheet (55) alive with left wing's sheet (55) that the open end that left pilot bar (56) pitches (562) by its left U-shaped is installed, the plane of left bearing pin (563) vertically passing left wing sheet (55) leading edge and trailing edge, the clearance of left U-shaped fork (562) thickness direction guarantees that the left wing's sheet (55) clipped can do the swing of left wing's sheet (55) in-plane neatly in left U-shaped fork (562), left guides (57) is fixedly bumped in left universal bearing (572) by left linear bearing (571) and forms, left guides (57) is connected with fuselage (1) by the shell of its left universal bearing (572), the other end of left round bar (561) passes the left linear bearing (571) of left guides (57), left round bar (561) can do reciprocating linear motion neatly in left linear bearing (571), and left round bar (561) can around the flexible switch in center of left guides (57), left U-shaped fork (562) forming left pilot bar (56) has enough length, to guarantee that left wing's sheet (55) whole rotation process can not be stuck, left round bar (561) has enough length to guarantee that left round bar (561) does not deviate from left guides (57) in left wing's sheet (55) whole rotation process, left guides (57) is installed near left wing's axis positioner (53) as far as possible, but should guarantee can not touch left guides (57) at left wing's sheet (55) whole rotation process left-wing sheet (55) and left U-shaped fork (562), left main shaft (51) and left wing's axis positioner (53) are respectively in the both sides of left-hand rotation arm (52) plane of rotation, left wing's axis positioner (53) is on the extended line of left main shaft (51), and left guides (57) and left wing's axis positioner (53) are in the same side of left-hand rotation arm (52) plane of rotation, left guides (57) to the distance of left-hand rotation arm (52) plane of rotation between left wing's axis positioner (53) 1.3 times ~ 2 times of distance to left-hand rotation arm (52) plane of rotation.
2. a kind of small taper rotary flapping wing aircraft according to claim 1, is characterized in that: the aerofoil profile of left wing's sheet (55) and right flank sheet all adopts flat pattern or epirelief concave shape under epirelief.
3. a kind of small taper rotary flapping wing aircraft according to claim 1, is characterized in that: left wing's axis positioner (53) adopts rotary joint bearing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410234072.2A CN104002968B (en) | 2014-05-30 | 2014-05-30 | A kind of small taper rotary flapping wing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410234072.2A CN104002968B (en) | 2014-05-30 | 2014-05-30 | A kind of small taper rotary flapping wing aircraft |
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| CN104002968A CN104002968A (en) | 2014-08-27 |
| CN104002968B true CN104002968B (en) | 2016-02-17 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104494825B (en) * | 2014-12-15 | 2016-08-31 | 佛山市神风航空科技有限公司 | A kind of flat-type flapping wing aircraft of band motor |
| CN105329443B (en) * | 2015-11-20 | 2017-05-31 | 武汉科技大学 | One kind flutter twisted coupling motion flapping wing aircraft |
| CN107458572A (en) * | 2017-07-17 | 2017-12-12 | 徐铭阳 | A kind of floating type bionic flapping-wing flying vehicle |
| CN108298075B (en) * | 2018-02-02 | 2021-01-05 | 南昌航空大学 | Flapping wing aircraft capable of hovering and control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2266238C2 (en) * | 2002-11-27 | 2005-12-20 | Васильев Анатолий Степанович | Flapping-wing vehicle |
| CN102862678A (en) * | 2012-09-02 | 2013-01-09 | 王志成 | Moving guide frame type reciprocating airfoil lift force generating device |
| CN102862679A (en) * | 2012-09-02 | 2013-01-09 | 王志成 | Movable guide rod type reciprocating wing lifting force generation device |
| CN203845006U (en) * | 2014-05-30 | 2014-09-24 | 佛山市神风航空科技有限公司 | Small tapered rotary ornithopter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7651051B2 (en) * | 2005-11-08 | 2010-01-26 | University Of Delaware | Mechanism for biaxial rotation of a wing and vehicle containing such mechanism |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2266238C2 (en) * | 2002-11-27 | 2005-12-20 | Васильев Анатолий Степанович | Flapping-wing vehicle |
| CN102862678A (en) * | 2012-09-02 | 2013-01-09 | 王志成 | Moving guide frame type reciprocating airfoil lift force generating device |
| CN102862679A (en) * | 2012-09-02 | 2013-01-09 | 王志成 | Movable guide rod type reciprocating wing lifting force generation device |
| CN203845006U (en) * | 2014-05-30 | 2014-09-24 | 佛山市神风航空科技有限公司 | Small tapered rotary ornithopter |
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