CN105129085A - Flapping-wing micro aerial vehicle with renewable energy - Google Patents
Flapping-wing micro aerial vehicle with renewable energy Download PDFInfo
- Publication number
- CN105129085A CN105129085A CN201510636770.XA CN201510636770A CN105129085A CN 105129085 A CN105129085 A CN 105129085A CN 201510636770 A CN201510636770 A CN 201510636770A CN 105129085 A CN105129085 A CN 105129085A
- Authority
- CN
- China
- Prior art keywords
- wing
- flapping
- bionical
- veins
- flexible
- 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.)
- Granted
Links
Landscapes
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
- Toys (AREA)
Abstract
The invention relates to a flapping-wing micro aerial vehicle with renewable energy, and belongs to micro bionic aerial vehicles. A flapping-wing bionic support frame is connected with a motor and transmission mechanism, the motor and transmission mechanism and a control circuit module with an internal micro lithium battery are both fixed on a vehicle rack body, and a solar power generation film empennage is fixedly connected with the vehicle rack body; piezoelectric film flapping wings and solar power generation wing films are connected with a flapping-wing flexible wing frame which is located in the middle, the piezoelectric film flapping wings are located at the bottommost layer, the flapping-wing flexible wing frame is connected with the flapping-wing bionic support frame, and a power generation part is connected with the control circuit module through a wire. The flapping-wing micro aerial vehicle has the advantages that the structure is novel, optical energy can be converted into electric energy on the basis of a photoelectric effect of the solar films, an electricity charging and generating device made of the two materials is simple and has the advantages of being high in conversion efficiency, small in mass, wide in application range and the like.
Description
Technical field
The invention belongs to a kind of minitype bionic aircraft, especially relate to a kind of bionic flying micro-robot based on self power generation continuation of the journey.
Background technology
Along with the development of wireless domain, micro-electromechanical technology improves, deepening continuously of minute vehicle research, flapping wing aircraft more and more comes into the visual field of people, particularly to have volume little due to it for micro flapping wing air vehicle, quality is light, advantage that is disguised and operability is more and more subject to people's attention, but the energy problem of minute vehicle limits the development of aircraft always, that minute vehicle is the most basic for energy and power engineering part, most important composition, it is the primary study direction of researchist always, in on going result, energy and power engineering unit often occupies most space and the quality of minute vehicle, it is made to be very restricted in load-carrying capacity and micro-miniaturisation.
At present, it is still further preferred that battery/motor combination, but there is the problem of power reserve deficiency in flight effect, and the most multipotency of bare machine keeps the flight time of 20 minutes, and load significantly can shorten the flight time.Other type of drive, as piezoelectricity, chemical muscle, artificial muscle, memorial alloy, micro internal combustion engine etc., flight effect is more undesirable, so battery/motor is minute vehicle, energy and power engineering best at present combines.But just simple powered battery can not solve energy continuation of the journey problem by actv., and therefore based on the characteristic of micro flapping wing air vehicle low-power consumption, in the hypomegetic aircraft field of research, self energizing or additional function system urgently people go to solve.
Summary of the invention
The invention provides the renewable flapping-wing modal of a kind of energy, to solve the problem of the power reserve deficiency that aircraft exists.
The technical scheme that the present invention takes is: comprise piezoelectric membrane flapping wing, the bionical bracing frame of flapping wing, the flexible wing framework of flapping wing, control circuit module, solar electrical energy generation film empennage, motor and transmission device with built-in miniature lithium cell, Rack Body, solar electrical energy generation wing film; Wherein, the bionical bracing frame of flapping wing is connected with motor and transmission device, motor and transmission device and be all fixed on Rack Body with the control circuit module of built-in miniature lithium cell, solar electrical energy generation film empennage is fixedly connected with Rack Body, piezoelectric membrane flapping wing and solar electrical energy generation wing film respectively wing framework flexible with flapping wing are connected, wherein the flexible wing framework of flapping wing is positioned at centre, and piezoelectric membrane flapping wing is positioned at orlop position, the flexible wing framework of flapping wing is connected with the bionical bracing frame of flapping wing, is connected by power generation part by wire with control circuit module.
The structure of the flexible wing framework of described flapping wing comprises: main wing frame, wing arteries and veins stabilizer rod, bionical wing arteries and veins, the flexible wing framework surface of flapping wing is oval, its on the whole surface be microprotrusion structure, lower surface is plane, main wing frame is connected with wing arteries and veins stabilizer rod and bionical wing arteries and veins, and wing arteries and veins stabilizer rod is connected with bionical wing network of vein shape.
Bionical wing arteries and veins in the flexible wing framework of described flapping wing, bionical wing arteries and veins is the wedge structure of imitative insect wing master pulse, and this planform is thinning gradually backward by wing root, and every bar wing arteries and veins is all pre-bent structure.
The material of the bionical bracing frame of described flapping wing adopts carbon fiber and the resin composite materials that can produce plastic deformation.
Described piezoelectric membrane flapping wing comprises: piezoelectric membrane, and two lightweight ultrathin electrodes one, two, two, electrodes connect wire, and piezoelectric membrane upper and lower surface is all covered with lightweight ultrathin electrodes one, electrode two, and wherein electrode connects wire respectively at flapping wing edge.
Advantage of the present invention is: novel structure, with the energy of flapping-wing modal for main object, for the problem of battery energy storage deficiency, from bionics angle, according to form and the flight characteristic of Insect wings, a kind of bionical vein is proposed, with piezoelectric membrane on vein, make to produce when flapping wing aircraft is fluttered the distortion of approximate rule like this, the one making it to produce larger electric energy generated relatively can self power generation flapping wing, to save the energy.
There are some researches prove, 3 D deformation when insect and birds mainly rely on wing to flutter produces the power that raises and realizes flight.The present invention utilizes this characteristic just, adopts electricity generation material to make flapping wing, utilizes the deformation characteristic of flapping wing in flight course to produce electric charge; Separately, one deck ultra-thin solar generating film is covered, when increasing aircraft additional mass and being very little, for flapping-wing modal supplements the dual energy at flapping wing upper surface; And from bionics, design bionic flapping-wing structure, reduces flight resistance, reduces energy consumption during flight.So the present invention and can reduce energy consumption two aspects to improve cruise time and the load-carrying capacity of aircraft from continuing in real time.By piezoelectric membrane wing, mechanical energy is converted to electric energy when fluttering by flapping wing aircraft wing, the alternating current that both wings produce is after rectification filtering module, now be converted to galvanic current, add and be aided with solar electrical energy generation film, be electric energy by light energy conversion, the electric energy that both transform superposes, and then charges to battery, the duration flight ability of aircraft is improved.Changes mechanical energy is electric energy by the direct piezoelectric effect that the present invention is based on piezoelectric membrane, is electric energy based on the photoelectric effect of solar energy film by light energy conversion, this bi-material to fill power generation assembly simple, there is conversion efficiency high, the features such as quality is light, applied widely.
Accompanying drawing explanation
Fig. 1 is the structural representation of invention, is not with solar electrical energy generation wing film in figure;
Fig. 2 is the structural representation of invention;
Fig. 3 is back view of the present invention;
Fig. 4 is the structural representation of the flexible wing framework of flapping wing of the present invention;
Fig. 4 a is the A-A cutaway view of Fig. 4;
Fig. 4 b is the B-B cutaway view of Fig. 4;
Fig. 4 c is the C-C cutaway view of Fig. 4;
Fig. 5 is flapping wing wing semi-sictional view enlarged drawing of the present invention;
Fig. 6 is control circuit module diagram of the present invention;
Fig. 7 is piezoelectricity wing system architecture schematic diagram of the present invention, is not with solar electrical energy generation wing film in figure.
Detailed description of the invention
Comprise piezoelectric membrane flapping wing 1, the bionical bracing frame 2 of flapping wing, the flexible wing framework 3 of flapping wing, control circuit module 4, solar electrical energy generation film empennage 5, motor and transmission device 6 with built-in miniature lithium cell, Rack Body 7, solar electrical energy generation wing film 8, wherein, the bionical bracing frame 2 of flapping wing is connected with motor and transmission device 6, motor and transmission device 6 and be all fixed on Rack Body 7 with the control circuit module 4 of built-in miniature lithium cell, by wire, miniature lithium battery is connected with control circuit module 4, solar electrical energy generation film empennage 5 is fixedly connected with Rack Body 7, piezoelectric membrane flapping wing 1 and solar electrical energy generation wing film 8 respectively wing framework 3 flexible with flapping wing are connected, wherein the flexible wing framework 3 of flapping wing is positioned at centre, and piezoelectric membrane flapping wing 1 is positioned at orlop position, the flexible wing framework 3 of flapping wing is connected with the bionical bracing frame 2 of flapping wing, by wire, power generation part is connected with control circuit module 4.
The structure of the flexible wing framework 3 of described flapping wing comprises: main wing frame 301, wing arteries and veins stabilizer rod 302, bionical wing arteries and veins 303, flexible wing framework 3 surface of flapping wing is oval, its on the whole surface be microprotrusion structure, lower surface is plane, main wing frame 301 is connected with wing arteries and veins stabilizer rod 302 and bionical wing arteries and veins 303, wing arteries and veins stabilizer rod 302 and the netted connection of bionical wing arteries and veins 303.
Bionical wing arteries and veins 303 in the flexible wing framework 3 of described flapping wing, bionical wing arteries and veins 303 is wedge structures of imitative insect wing master pulse, and this planform is thinning gradually backward by wing root, and every bar wing arteries and veins is all pre-bent structure.
The material of the bionical bracing frame 2 of described flapping wing adopts carbon fiber and the resin composite materials that can produce plastic deformation.
Described piezoelectric membrane flapping wing 1 comprises: piezoelectric membrane 101, two lightweight ultrathin electrodes 1, electrodes 2 103, two connect wire 104, and piezoelectric membrane 101 upper and lower surface is all covered with lightweight ultrathin electrodes 1, electrode 2 103, and wherein each electrode connects wire 104 respectively at flapping wing edge.
Below in conjunction with accompanying drawing, the invention will be further described, is to implement under premised on technical solution of the present invention, give a whole set of process that performs an action, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1 and Figure 2, the renewable flapping-wing modal of a kind of energy, comprising: the flexible wing framework 3 of the bionical bracing frame 2 of piezoelectric membrane flapping wing 1, flapping wing, flapping wing, control circuit module 4, Rack Body 7, motor and transmission device 6 with real time charging function, solar electrical energy generation film empennage 5, solar electrical energy generation wing covering 8.Wherein, the bionical bracing frame 2 of flapping wing is connected with transmission device 6, transmission device 6 and control circuit module 4 are all fixed on Rack Body 7, by wire, power generation part is connected with control circuit module 4, solar electrical energy generation film empennage 5 is fixedly connected with Rack Body 7, piezoelectric membrane flapping wing 1 and solar electrical energy generation wing covering 8 respectively wing framework 3 flexible with flapping wing are connected, wherein the flexible wing framework of flapping wing is positioned at centre, and piezoelectric membrane flapping wing 1 is positioned at orlop position, and the flexible wing framework 3 of flapping wing is connected with the bionical bracing frame 2 of flapping wing.
As shown in Figure 3, described transmission device 6, control circuit module 4 and empennage 5 are all fixed on Rack Body 7, fixing in place according to the distribution of center of gravity, to ensure smooth flight more.
As shown in Fig. 4, Fig. 4 a ~ 4c, the flexible wing framework 3 of described flapping wing, wing arteries and veins is imitative insect wing master pulse structure, the bionical wing arteries and veins 303 of every bar is all wedge structure, from leading edge backward thickness diminish gradually, produce best deformation effect time like this to ensure flapping wing for ornithopter, make Energy Maximization.
As shown in Figure 5, described flapping wing wing, the aircraft wings shape of global shape and fixed-wing is close, by the emulation of aerodynamic principle analysis and fluid, can show that this structure can produce larger lift, improves the flight efficiency of aircraft; Can see in the drawings, the generation of global shape mainly has piezoelectric membrane below the flexible wing framework 3 of flapping wing, and the above is solar electrical energy generation plastic film covering, constitutes overall piezoelectricity wing like this.
As shown in Figure 6, described control circuit module 4, first powered by miniature lithium battery 404, after energising, remote control communicates with wireless receiving module 401, then the work of motor drive module 403 drive motor is controlled, after machine operation, flapping wing wing now rectifying and wave-filtering charging module 402 of fluttering carries out real time charging to miniature lithium battery, completes whole control flow.Wherein the effect of rectifying and wave-filtering charging module is, because flapping wing piezoelectric membrane wing is when fluttering, even if there is the effect of the flexible wing framework of the wing, in theory because the complexity of environment can not send the alternating current of complete rule, therefore can obtain galvanic current by processes such as a series of rectifying and wave-filterings, then give to increase flying power by charging module.
As shown in Figure 7, described piezoelectricity wing system, first motor exports enough large torque by train of reduction gears, and then drivening rod makes the bionical bracing frame of flapping wing 2 carry out reciprocal swing, by the flexible wing framework 3 of flapping wing, such piezoelectric membrane wing 1 also can produce regular swing, then piezoelectric membrane can produce alternating current, by rectifying and wave-filtering charging module 402, its alternating current is processed in real time, solar electrical energy generation film is had on flexible wing framework 3 upper strata of flapping wing, be electric energy by light energy conversion, the electric energy that both transform superposes, then charge to battery, so just can complete the requirement of the invention task of the present embodiment, increase flying power.
The present invention is according to direct piezoelectric effect, and some material is when producing distortion, and the electric charge that meeting polarization is contrary on corresponding two surfaces, this kind of material is called piezoelectric.Utilize this material to make the wing of flapping wing aircraft, during aircraft flight, flapping motion produces distortion can produce electric charge generating, and this structure neither increases vehicle mass, can be again aircraft energy supply, improves the uninterrupted flying power of aircraft.Because flapping wing aircraft has the larger span, one deck ultra-thin solar generating film can be covered at flapping wing upper surface, flapping wing aircraft can be made to generate electricity under dynamic and static state double condition, be flapping wing aircraft energy supply further, make it possess the flight performance that repeatedly circulates, this invention has very large reference to systematic difference such as research MEMS.Wherein, solar electrical energy generation film empennage also has the effect regulating vehicle mass balance, can adopt the solar energy film different from flapping wing surface thickness, have larger electric energy generated.
Described piezoelectric membrane flapping wing 1: flapping wing aircraft is the course of new aircraft of imitating birds or insect, utilize the generation flying power of fluttering of wing, wing can produce the distortion such as bending, torsion when flying, utilize piezoelectric membrane to make the wing of flapping wing aircraft, the distortion of wing just can be utilized in flight course to generate electricity.According to bionics and aerodynamic principle, flapping wing is overall is wedge shape from leading edge backward, can reduce air resistance when fluttering up and down, and the distortion generation that the best can occur raises power.According to the result of flexible body fluid structurecoupling interface simulation analysis, wedge structure is under fluid matasomatism, and the strain that wedge root place occurs is maximum, and so for the piezoelectric membrane wing of wedge shape, wing root place piezoelectric thickness is large, strain is large, so Energy Maximization.In addition, due to wing, edge is thinner, the distortion produced when flying can be asynchronous with wedge root place, thus the charge polarity causing surface to produce is contrary, the part generate electricity amount at wing root place can be offset, because this part generate electricity amount is relatively little, when arranging electrode, ensure this part hollow out, namely do not gather the generating of this part piezoelectricity.Finally, the solar electrical energy generation film of current recent studies on has reached micron order thickness, covers one deck solar electrical energy generation film at flapping wing upper surface, after solar electrical energy generation energy storage, aircraft can be made repeatedly to be interrupted continuation of the journey, improve its ranging coverage.
Described bionic flapping-wing bracing frame 2 and wing framework 3: according to aerodynamic principle, flapping wing bracing frame 2 leading edge ovalize, effectively can reduce air resistance when aircraft moves ahead, the leading edge of a wing of such as fixed wing aircraft; And according to bionics principle, birds wing, the membranaceous protoloma of insect are all ellipsoidal structures.Above flapping wing flexible support frame 3 piezoelectric membrane wing, an outstanding part, forms striated bulge-structure, this structure ovalize along its length, and along with the wedge structure of wing thinning gradually.The fringe-like structures of this wedge shape can reduce air resistance when wing is flutterred, and reduces energy consumption.
Described bionic flapping-wing bracing frame 2 and wing framework 3: the composite material adopting carbon fiber and resins synthesis, quality is light, has certain elasticity.All frame supported parts are all that straight-bar is fixed in flapping wing after prebuckling, also play the effect of stretching flapping wing except the microstructure that resistance falls in formation, are conducive to flapping flight distortion, to produce the power of raising and generating.
Claims (5)
1. the renewable flapping-wing modal of the energy, the bionical bracing frame of flapping wing is connected with motor and transmission device, motor and transmission device and be all fixed on Rack Body with the control circuit module of built-in miniature lithium cell, it is characterized in that: solar electrical energy generation film empennage is fixedly connected with Rack Body, piezoelectric membrane flapping wing and solar electrical energy generation wing film respectively wing framework flexible with flapping wing are connected, wherein the flexible wing framework of flapping wing is positioned at centre, and piezoelectric membrane flapping wing is positioned at orlop position, the flexible wing framework of flapping wing is connected with the bionical bracing frame of flapping wing, by wire, power generation part is connected with control circuit module.
2. the renewable flapping-wing modal of a kind of energy according to claim 1, it is characterized in that: flapping wing flexible wing framework surface is for oval, its on the whole surface be microprotrusion structure, lower surface is plane, main wing frame is connected with wing arteries and veins stabilizer rod and bionical wing arteries and veins, and wing arteries and veins stabilizer rod is connected with bionical wing network of vein shape.
3. the renewable flapping-wing modal of a kind of energy according to claim 2, is characterized in that: bionical wing arteries and veins is the wedge structure of imitative insect wing master pulse, and this planform is thinning gradually backward by wing root, and every bar wing arteries and veins is all pre-bent structure.
4. the renewable flapping-wing modal of a kind of energy according to claim 1, is characterized in that: the material of the bionical bracing frame of described flapping wing adopts carbon fiber and the resin composite materials that can produce plastic deformation.
5. the renewable flapping-wing modal of a kind of energy according to claim 1, it is characterized in that, described piezoelectric membrane flapping wing structure is: piezoelectric membrane upper and lower surface is all covered with lightweight ultrathin electrodes one and electrode two, and wherein each electrode connects wire respectively at flapping wing edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636770.XA CN105129085B (en) | 2015-10-01 | 2015-10-01 | A kind of renewable flapping-wing modal of the energy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636770.XA CN105129085B (en) | 2015-10-01 | 2015-10-01 | A kind of renewable flapping-wing modal of the energy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105129085A true CN105129085A (en) | 2015-12-09 |
| CN105129085B CN105129085B (en) | 2016-08-24 |
Family
ID=54714775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510636770.XA Active CN105129085B (en) | 2015-10-01 | 2015-10-01 | A kind of renewable flapping-wing modal of the energy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105129085B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691615A (en) * | 2016-03-22 | 2016-06-22 | 吉林大学 | Miniature flapping wing air vehicle with wings capable of performing active deformation and with multiple freedom degrees |
| CN105905297A (en) * | 2016-04-15 | 2016-08-31 | 中国地质大学（武汉） | Bionic self-adaptive flapping-wing aircraft |
| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN107226105A (en) * | 2017-05-02 | 2017-10-03 | 同济大学 | Train wing plate deceleration device based on Worm Wheel System |
| CN107618663A (en) * | 2017-10-13 | 2018-01-23 | 吉林大学 | A kind of collapsible adjustable rotor aircraft |
| TWI617738B (en) * | 2016-10-12 | 2018-03-11 | 鴻海精密工業股份有限公司 | Biomimetic insect |
| CN108238248A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of flexible wing and flapping wing robot |
| CN109850144A (en) * | 2019-04-16 | 2019-06-07 | 吉林大学 | A kind of solar energy flapping wing bionic Aircraft |
| CN109927899A (en) * | 2018-03-30 | 2019-06-25 | 成都月洋科技有限公司 | One kind having the self-powered aircraft of collection of energy |
| CN110182362A (en) * | 2019-06-06 | 2019-08-30 | 江苏航空职业技术学院 | A kind of flap structure of solar panel flapping wing aircraft |
| CN110304222A (en) * | 2019-06-26 | 2019-10-08 | 河海大学常州校区 | A kind of bionical devil ray of self generation type based on IPMC driving |
| CN113978719A (en) * | 2021-11-12 | 2022-01-28 | 东南大学 | Wing actuator based on shape memory alloy and processing method thereof |
| CN114620228A (en) * | 2022-03-24 | 2022-06-14 | 北京理工大学 | Device for collecting deformation energy of wing surface of hymenoptera insect |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080099587A (en) * | 2007-05-10 | 2008-11-13 | 우종복 | Symmetry control apparatus and flapping aircraft using the same |
| CN101934861A (en) * | 2010-09-22 | 2011-01-05 | 上海交通大学 | Piezoelectric biomimetic micro flapping flight device |
| CN102358422A (en) * | 2011-09-07 | 2012-02-22 | 南昌航空大学 | Variable ornithopter |
| KR20130056690A (en) * | 2011-11-22 | 2013-05-30 | 국방과학연구소 | Flexible thin plate solar cell integrated wing system for ornithopter |
| CN103950538A (en) * | 2014-05-06 | 2014-07-30 | 中国计量学院 | Goose group flapping wing imitation flight system |
| CN204979234U (en) * | 2015-10-01 | 2016-01-20 | 吉林大学 | Energy miniature aircraft of flapping wing of can regenerating |
-
2015
- 2015-10-01 CN CN201510636770.XA patent/CN105129085B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080099587A (en) * | 2007-05-10 | 2008-11-13 | 우종복 | Symmetry control apparatus and flapping aircraft using the same |
| CN101934861A (en) * | 2010-09-22 | 2011-01-05 | 上海交通大学 | Piezoelectric biomimetic micro flapping flight device |
| CN102358422A (en) * | 2011-09-07 | 2012-02-22 | 南昌航空大学 | Variable ornithopter |
| KR20130056690A (en) * | 2011-11-22 | 2013-05-30 | 국방과학연구소 | Flexible thin plate solar cell integrated wing system for ornithopter |
| CN103950538A (en) * | 2014-05-06 | 2014-07-30 | 中国计量学院 | Goose group flapping wing imitation flight system |
| CN204979234U (en) * | 2015-10-01 | 2016-01-20 | 吉林大学 | Energy miniature aircraft of flapping wing of can regenerating |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691615A (en) * | 2016-03-22 | 2016-06-22 | 吉林大学 | Miniature flapping wing air vehicle with wings capable of performing active deformation and with multiple freedom degrees |
| CN105905297A (en) * | 2016-04-15 | 2016-08-31 | 中国地质大学（武汉） | Bionic self-adaptive flapping-wing aircraft |
| CN105905297B (en) * | 2016-04-15 | 2018-07-17 | 中国地质大学（武汉） | Bionical adaptive flapping wing aircraft |
| TWI617738B (en) * | 2016-10-12 | 2018-03-11 | 鴻海精密工業股份有限公司 | Biomimetic insect |
| CN107226105A (en) * | 2017-05-02 | 2017-10-03 | 同济大学 | Train wing plate deceleration device based on Worm Wheel System |
| CN107226105B (en) * | 2017-05-02 | 2019-06-11 | 同济大学 | Train wing plate deceleration device based on Worm Wheel System |
| CN107021223A (en) * | 2017-05-17 | 2017-08-08 | 潘胜利 | A kind of imitative birds multiple degrees of freedom flapping wing aircraft |
| CN107150804A (en) * | 2017-06-21 | 2017-09-12 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN107150804B (en) * | 2017-06-21 | 2023-04-07 | 吉林大学 | Flapping wing aircraft with three-degree-of-freedom wings |
| CN107618663A (en) * | 2017-10-13 | 2018-01-23 | 吉林大学 | A kind of collapsible adjustable rotor aircraft |
| CN108238248B (en) * | 2017-12-30 | 2021-03-19 | 哈尔滨工业大学深圳研究生院 | Flexible wing and flapping wing robot |
| CN108238248A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of flexible wing and flapping wing robot |
| CN109927899A (en) * | 2018-03-30 | 2019-06-25 | 成都月洋科技有限公司 | One kind having the self-powered aircraft of collection of energy |
| CN109850144A (en) * | 2019-04-16 | 2019-06-07 | 吉林大学 | A kind of solar energy flapping wing bionic Aircraft |
| CN109850144B (en) * | 2019-04-16 | 2023-08-22 | 吉林大学 | Solar flapping wing bionic aircraft |
| CN110182362A (en) * | 2019-06-06 | 2019-08-30 | 江苏航空职业技术学院 | A kind of flap structure of solar panel flapping wing aircraft |
| CN110304222A (en) * | 2019-06-26 | 2019-10-08 | 河海大学常州校区 | A kind of bionical devil ray of self generation type based on IPMC driving |
| CN113978719A (en) * | 2021-11-12 | 2022-01-28 | 东南大学 | Wing actuator based on shape memory alloy and processing method thereof |
| CN114620228A (en) * | 2022-03-24 | 2022-06-14 | 北京理工大学 | Device for collecting deformation energy of wing surface of hymenoptera insect |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105129085B (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105129085A (en) | Flapping-wing micro aerial vehicle with renewable energy | |
| CN204979234U (en) | Energy miniature aircraft of flapping wing of can regenerating | |
| CN107416202B (en) | Miniature flapping wing aircraft | |
| CN106347660B (en) | Nanometer self generation type bionic flapping-wing flying vehicle | |
| CN105366050B (en) | A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle | |
| CN101934861B (en) | Piezoelectric biomimetic micro flapping flight device | |
| CN103950538B (en) | Imitative wild goose group flapping flight system | |
| CN108408010A (en) | A kind of underwater glider wing and its control and working method | |
| CN110304222A (en) | A kind of bionical devil ray of self generation type based on IPMC driving | |
| CN101508343A (en) | Bionic micro aircraft with figure-of-eight flapping-wing trail | |
| CN111409803A (en) | Bionic wave fin based on IPMC drive | |
| CN211996141U (en) | Bionic flapping wing aircraft with self-adaptive attack angle | |
| CN107042888A (en) | The tandem double-vane unmanned plane of photovoltaic cell is combined with wing | |
| CN109911197B (en) | Four-degree-of-freedom ornithopter device | |
| CN209814271U (en) | Four-degree-of-freedom flapping wing aircraft device | |
| KR20130056690A (en) | Flexible thin plate solar cell integrated wing system for ornithopter | |
| Wei et al. | Energy harvesting fueling the revival of self-powered unmanned aerial vehicles | |
| CN107600371A (en) | One kind is based on gear-driven underwater glider solar energy wing plate development mechanism | |
| CN110182362A (en) | A kind of flap structure of solar panel flapping wing aircraft | |
| CN103569360A (en) | Translational flapping wing mechanism, ornithopter with translational flapping wing mechanism, and glider | |
| CN101607600A (en) | Solar-wind hybrid power airplane | |
| CN109850144B (en) | Solar flapping wing bionic aircraft | |
| CN105059543B (en) | Asymmetric rigidity flexible flat plate wing mechanism of flapping wing flying robot | |
| CN104229139B (en) | The bionical dragonfly flapping wing robot that ionic polymer metal complex drives | |
| CN105346721A (en) | Bionic miniature flapping wing air vehicle |
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 |