CN106379532A - Flapping-wing flapping angle changing mechanism - Google Patents
Flapping-wing flapping angle changing mechanism Download PDFInfo
- Publication number
- CN106379532A CN106379532A CN201610846532.6A CN201610846532A CN106379532A CN 106379532 A CN106379532 A CN 106379532A CN 201610846532 A CN201610846532 A CN 201610846532A CN 106379532 A CN106379532 A CN 106379532A
- Authority
- CN
- China
- Prior art keywords
- flapping
- flapping wing
- gear
- wing
- steering wheel
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention discloses a flapping-wing flapping angle changing mechanism, relating to the field of aircraft design. The flapping-wing flapping angle changing mechanism is composed of a flapping wing system and an angle changing system, wherein the flapping wing system is used for generating upward and downward flapping motions of the flapping wings, and the angle changing system is used for changing the flapping angles of the left and right flapping wings. The included angles between the flapping equilibrium positions of the left and right flapping wings and the horizontal surface are simultaneously changed to change the lifting force magnitude and direction of the left and right wing surfaces, thereby generating a lifting force difference and further generating a rolling motion of the mechanism. The flapping-wing flapping angle changing mechanism is applicable to both flexible flapping wings and rigid flapping wings, has the advantages of high reliability, high efficiency and long service life, and does not have sliding friction connection. The lightening hole is reasonably designed, so that the flapping-wing flapping angle changing mechanism has the characteristics of compact and simple structure and light structural weight, and is easy for processing.
Description
Technical field
The present invention relates to field of flight vehicle design is and in particular to a kind of flapping wing aircraft becomes angle changing mechanism of fluttering.
Background technology
Currently, UAS is just playing increasing effect in civilian and military domain.Common unmanned plane is pressed
Can be divided into according to flight theory classification：Fixed-wing unmanned plane, rotor wing unmanned aerial vehicle and flapping wing unmanned plane.Move with low reynolds number air
The development of mechanics study, the advantage in terms of flapping flight mode pneumatic efficiency and wind loading rating under microminiature yardstick receives grinds
Study carefully the concern of personnel, micro flapping wing air vehicle progressively grows up.But, the control mode of flapping wing is always a difficult point, by
Very gently very thin in wing, it is difficult to arrange the control surfaces such as aileron, therefore most flapping wing no rollings control.When flapping flight is slow-footed
When, elevator efficiency can reduce, and pitch control is difficult, limits it and further extensively applies.
Therefore, the control method of development flapping wing aircraft is very important.The flapping wing control of sideward roll mode that presently, there are,
As proposed employing in patent " a kind of roll guidance mechanism of mini-sized flap wings aircraft " (patent announcement CN100413757C)
The mode changing flapping wing root established angle makes left and right flapping wing lift different, produces rolling movement.But it is only applicable to flexible machine
The wing, and it is not suitable for the flapping wing aircraft of the big span.As patent " differential luffing driving mechanism for flapping wing " (patent announcement number
CN205098477U), fluttered amplitude by changing both sides flapping wings, it is poor to produce left and right lift, and then generation rolling movement.But its knot
Employ several sliding frictions in structure to be in transmission connection, construction weight is big, and transmission efficiency is low, and life of product is short.Accordingly, it would be desirable to design
The method that other flapping wing rollings control.
Content of the invention
For the needs to control of sideward roll for the flapping wing aircraft mentioned in prior art, the present invention proposes one kind by same
When change left and right flapping wing and flutter equilbrium position and the mode of the angle of horizontal plane, thus it is possible to vary the lift size of left and right aerofoil and side
To, it is poor to produce lift, and then makes body produce rolling movement, described equilbrium position refer to flutter peak with flutter minimum
The centre position of point.
Flapping wing proposed by the present invention becomes angle changing mechanism of fluttering and is made up of sized flap wings system and Angulation changes system.Sized flap wings system is used
Flutter motion in producing wing, by the rotation of motor is converted into fluttering up and down of flapping wing wing, generation lift and thrust；Angle
Degree change system is used for controlling the angle of fluttering of left and right flapping wing wing, makes flapping wing wing angle of fluttering in left and right produce change, produces
Lift is poor.
Described sized flap wings system is by prebasal plate, metacoxal plate, fuselage connecting rod, motor, motor gear, idler gear, sliding tooth
Wheel, flapping wing pull bar, flapping wing swing arm, flapping wing spar and rotating basis composition.Wherein prebasal plate and metacoxal plate are platy structure, pass through
Fuselage connecting rod is parallel to be fixed together, and prebasal plate and metacoxal plate all have part installing hole；Motor is arranged on metacoxal plate
Corresponding installation site, motor gear is installed on motor output shaft；Idler gear is a double-layer gear, by two tooth radius
Gear of different sizes is parallel to be combined and coaxial rotating, and it is arranged on metacoxal plate and corresponds to installation site, and gear
The relatively large gear wheel of radius is meshed with motor gear；Driving gear has two corresponding installation sites being arranged on metacoxal plate
On, it is provided with drive rod, be meshed between two driving gears, and left side driving gear and idler gear middle gear half
The relatively small little gear in footpath is meshed；Flapping wing pull bar is connected on the drive rod of driving gear for rod-like structure side, opposite side
It is connected to the outside connection position of flapping wing swing arm, have two flapping wing pull bars；Flapping wing swing arm side is installed in Angulation changes system
Rotating basis top, middle part is connected with flapping wing pull bar, and opposite side is provided with flapping wing spar, has two flapping wing swing arms；Flapping wing
Spar is rod-like structure, represents the main spar of common flapping wing, has two flapping wing spars；Rotating basis is installed on the right of prebasal plate
Answer installation site, bottom is hinged with prebasal plate, middle part locating rod passes through reserved arc opening and steering wheel pull bar on prebasal plate
Sleeve connection, hinged inside the flapping wing swing arm phase in top and sized flap wings system, have two rotating basis.
Described Angulation changes system is made up of steering wheel, steering wheel rocking arm, steering wheel pull bar, auxiliary retaining washer and steady pin.Its
Middle steering wheel is installed on the corresponding installation site of prebasal plate, control signal can be converted into mechanical movement, drive steering wheel rocking arm；Rudder
Machine rocking arm side is installed on steering wheel output shaft, and opposite side is connected with steering wheel pull bar；Steering wheel pull bar is rod-like structure, side and rotation
The middle part locating rod turning pedestal is connected, and opposite side is connected with steering wheel rocking arm, has two steering wheel pull bars；Auxiliary retaining washer is ring
Shape structure, is arranged in locating rod in the middle part of rotating basis, and prebasal plate is clipped in the middle by auxiliary positioning packing ring and rotating basis, both sides
Rotating basis is both needed to install, and has two auxiliary positioning packing rings.
The course of work that the flapping wing of the present invention becomes angle changing mechanism of fluttering is as follows：During work, by Motor drive motor gear, electricity
Machine gear driven idler gear, idler gear drives driving gear, and driving gear drives flapping wing pull bar, and flapping wing pull bar drives flapping wing
Swing arm and flapping wing spar, the rotation of motor is converted into the motion of fluttering up and down of wing, the offer lift of fluttering of wing the most at last
With thrust.When need change flutter angle when, provide control signal, steering wheel rotates the swing driving steering wheel rocking arm, steering wheel rocking arm
Drive steering wheel pull bar, the rotation of pedestal is rotated for steering wheel pull bar so that the angle of fluttering of left and right wing occurs differential, generation liter
Power is poor, and then produces rolling movement.
It is an advantage of the current invention that：
(1) achieve the rolling control function of flapping wing；
(2) it is not only suitable for flexible wing and is applied to rigid wing again, applicability is good；
(3) fricton-tight frictional drive connects, efficiency high life-span length；
(4) compact overall structure, succinct, is conducive to mitigating weight, improves reliability it is easy to processing.
Brief description
Fig. 1 is that flapping wing of the present invention becomes angle changing mechanism composition figure of fluttering；
Fig. 2 is that flapping wing of the present invention becomes angle changing mechanism composition figure (rearview) of fluttering；
Fig. 3 is that flapping wing of the present invention becomes angle changing mechanism composition figure (bottom view) of fluttering；
Fig. 4 is sized flap wings system middle gear transmission schematic diagram of the present invention；
Fig. 5 A and Fig. 5 B is respectively the front view of metacoxal plate and prebasal plate in the present invention；
Fig. 6 is idler gear schematic diagram of the present invention；
Fig. 7 is auxiliary positioning packing ring schematic view of the mounting position of the present invention；
Fig. 8 is rotating basis structure chart of the present invention.
In figure：
1- prebasal plate；2- metacoxal plate；3- fuselage connecting rod；
4- motor；5- motor gear；6- idler gear；
7- driving gear；8- flapping wing pull bar；9- flapping wing swing arm；
10- flapping wing spar；11- rotating basis；12- steering wheel；
13- steering wheel rocking arm；14- steering wheel pull bar 15- assists retaining washer；
16- steady pin.
The tail number A of in figure numeral numbering represents the right side positioned at fuselage, and tail number B represents the left side positioned at fuselage.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The flapping wing that the present invention provides becomes angle changing mechanism of fluttering and includes sized flap wings system and Angulation changes system, described flapping wing system
System major function is to produce the motion of fluttering of flapping wing wing, and the rotation of motor 4 can be converted into flapping wing by the design of sized flap wings system
The fluttering up and down of spar 10, and then produce lift and thrust.Angulation changes system is used for controlling the angle of fluttering of left and right flapping wing wing
Degree, the design of structure make the rotation of steering wheel 12 convert the differential swing of flapping wing spar 10 so that left and right flapping wing wing is fluttered angle
Degree produces change, and generation lift is poor, and then produces rolling moment.Flapping wing is connected on described flapping wing spar 10.
Flapping wing of the present invention become angle changing mechanism of fluttering sized flap wings system as shown in figure 1, described sized flap wings system by prebasal plate 1, after
Substrate 2, fuselage connecting rod 3, motor 4, motor gear 5, idler gear 6, driving gear 7, flapping wing pull bar 8, flapping wing swing arm 9, flutter
Cautiously beam 10 and rotating basis 11 form.Wherein prebasal plate 1 and metacoxal plate 2 are platy structure, as fig. 5 a and fig. 5b, figure
5A show metacoxal plate 2, and Fig. 5 B show prebasal plate 1, and described prebasal plate 1 is to maintain flapping wing with the major function of metacoxal plate 2
Aircraft profile simultaneously provides installation site for other parts, and prebasal plate 1 is distributed with four corresponding fuselages above with metacoxal plate 2
Prebasal plate 1 is fixed together with metacoxal plate 2 by four fuselage connecting rods 3 by the installing hole of connecting rod 3 by bonding, keeps one
Fixed distance simultaneously keeps prebasal plate 1 parallel with metacoxal plate 2, and be designed with prebasal plate 1 and metacoxal plate 2 a large amount of lightening cores or
Person adopts skeleton structure, for mitigating construction weight.Motor 4 is arranged on the rear side of metacoxal plate 2, as shown in Fig. 2 passing through four spiral shells
Silk is fixed together with metacoxal plate 2, and output shaft stretches out in prebasal plate 1 and metacoxal plate 2 through metacoxal plate 2, its major function
It is to provide power for sized flap wings system.Motor gear 5 is arranged on the output shaft of motor 4, as shown in Figure 3 and Figure 4, motor gear 5
The flank profil gear wheel big with the tooth radius of idler gear 6 be meshed.Idler gear 6 is double-deck gear, as Fig. 6 institute
Show, it is stitched together by the relatively small little gear of the relatively large gear wheel of tooth radius and tooth radius, gear wheel
Plane of rotation is parallel with the Plane of rotation of little gear, and coaxial rotating.Idler gear 6 is arranged on the front side of metacoxal plate 2, its peace
As shown in Fig. 2 little gear is located at metacoxal plate 2 side, gear wheel is located remotely from metacoxal plate 2 side, idler gear to holding position
Main Function is transmission power, and gear wheel is meshed with motor gear 5, and little gear is meshed with driving gear 7B, each gear it
Between meshing relation as shown in Figure 4.Driving gear 7 is a gear wheel carrying drive rod, is arranged on the front side of metacoxal plate 2,
It is provided with two altogether, become, with respect to flapping wing, the longitudinally asymmetric face of angle changing mechanism of fluttering and be left and right symmetrically arranged, its installation site such as Fig. 2 institute
Show, wherein left side driving gear 7B is meshed with the little gear of idler gear 6, and left side driving gear 7B and right side sliding tooth
Wheel 7A is meshed, and left side driving gear 7B is connected with left side flapping wing pull bar 8B, right side driving gear 7A and right side flapping wing pull bar
8A is connected.Flapping wing pull bar 8 (including right side flapping wing pull bar 8A and left side flapping wing pull bar 8B) is rod-like structure, drives for connecting
Gear 7 and flapping wing swing arm 9 (including right side flapping wing swing arm 9A and left side flapping wing swing arm 9B), one end of described flapping wing pull bar 8 and drive
Drive rod on moving gear 7 is connected, and the other end is connected with flapping wing swing arm 9 outside installing hole, has two, with respect to mechanism longitudinally
The plane of symmetry is left and right symmetrically arranged, and left side flapping wing pull bar 8B is connected with left side driving gear 7B and left side flapping wing swing arm 9B, and right side is flutterred
Wing pull bar 8A is connected with right side driving gear 7A and right side flapping wing swing arm 9A.The major function of flapping wing swing arm 9 is to produce to flutter simultaneously
Connect flapping wing spar 10, the top installation position phase of the inner side installing hole of flapping wing swing arm 9 and rotating basis 11 in Angulation changes system
Connect, outside installing hole is connected with the side of flapping wing pull bar 8, flapping wing spar 10 passes through side installing hole and inserts flapping wing swing arm 9
Interior, have two flapping wing swing arms 9, be left and right symmetrically arranged.Flapping wing spar 10 is elongated rod shape structure, and expression is in flapping wing wing
Main spar, the side installing hole that its one end passes through flapping wing swing arm 9 inserts in flapping wing swing arm 9, and by bonding by flapping wing spar 10
It is fixed together with flapping wing swing arm 9, have two flapping wing spars 10, be left and right symmetrically arranged.Rotating basis 11 as shown in figure 8, its
Installation site is in the rear side of prebasal plate 1, as shown in figure 1, rotating basis 11 bottom installing hole corresponding with prebasal plate 1 is hinged, in
Portion's locating rod passes through the arc positioning groove on prebasal plate 1, middle part locating rod perpendicular to rotating basis 11 and prebasal plate 1 front side with
Steering wheel pull bar 14 sleeve connection in Angulation changes system, is hinged inside its top and flapping wing swing arm 9, is provided with two altogether,
It is symmetrically arranged with respect to the longitudinally asymmetric face of mechanism, its major function is under the drive of steering wheel 12, hinged around its underpart
Installation position produces rotary motion, changes the angle of flutter equilbrium position and horizontal plane.So far, by driving gear 7, flapping wing pull bar 8,
The rotation of motor 4 can be converted into the upper of flapping wing wing by the crank and rocker mechanism that flapping wing swing arm 9, rotating basis 11 collectively constitute
Under flutter.
Flapping wing becomes the perpendicular that the longitudinally asymmetric face of angle changing mechanism of fluttering refers to that the output shaft of motor under static condition is located.
Specifically described herein symmetrical each mean symmetrical with respect to described longitudinally asymmetric face.
Flapping wing of the present invention becomes the Angulation changes system of angle changing mechanism of fluttering as shown in figure 1, described Angulation changes system is by rudder
Machine 12, steering wheel rocking arm 13, steering wheel pull bar 14, auxiliary retaining washer 15 and steady pin 16 form.The major function of wherein steering wheel 12
It is that the control signal of flight control system or remote control system is changed into mechanical movement, and drive steering wheel rocking arm 13 and steering wheel pull bar 14,
So that rotating basis 11 is produced and produce rotary motion around the hinged installation position in its underpart, its installation site is in prebasal plate 1
On corresponding installing hole.Steering wheel pull bar 14 is side band sleeved long plate shape structure, and its major function is to connect rotating basis 11
With steering wheel rocking arm 13, sleeve is perpendicular to steering wheel pull bar 14.With in sleeved side and rotating basis 11 in steering wheel pull bar 14
Portion's locating rod sleeve connection, opposite side is connected with steering wheel rocking arm 13, installs two altogether, is left and right symmetrically arranged.Steering wheel rocking arm 13 is
The sleeved long plate structure of side band, sleeve is perpendicular to long plate structure, the wherein output shaft with sleeved side and steering wheel 12
Sleeve connection, opposite side and left side steering wheel pull bar 14B and right side steering wheel pull bar 14A are articulated with a bit.Auxiliary retaining washer 15 be
Loop configuration, its mounting means as shown in fig. 7, being installed in the middle part locating rod of rotating basis 11, prebasal plate 1 outer
Side, then in the outside of auxiliary retaining washer 15, installs one piece of steady pin 16, and steady pin 16 is conventional split pin, rotating basis
Hole for installing steady pin 16 is had on 11 middle part locating rod, left and right installation method is consistent, is symmetrically installed.The fixing pad of auxiliary
The Main Function of circle 15 is the platform under cooperation rotating basis 11 middle part locating rod, prebasal plate 1 is clipped in the middle, to ensure to rotate
Stability in rotation process for the pedestal 11.
The course of work that flapping wing of the present invention becomes angle changing mechanism of fluttering is as follows：During normal condition, steering wheel 12 is in an intermediate position,
Now flapping wing aircraft is symmetrical, and motor 4 rotates, and drive motor gear 5 rotates, and motor gear 5 drives idler gear 6
Rotate, idler gear 6 drives left side driving gear 7B to rotate, left side driving gear 7B drives right side driving gear 7A to rotate, left
Side driving gear 7B drives left flapping wing pull bar 8B and right flapping wing pull bar 8A motion respectively with the drive rod in driving gear 7A of right side,
Left flapping wing pull bar 8B and right flapping wing pull bar 8A drives left flapping wing swing arm 9B and right flapping wing swing arm 9A motion, left flapping wing swing arm 9B respectively
Drive left flapping wing spar 10B and right flapping wing spar 10A motion with right flapping wing swing arm 9A respectively.So far, permissible by sized flap wings system
The rotation of motor 4 is converted into fluttering up and down of flapping wing, and symmetrically flutters in left and right, do not produce rolling moment.Work as needs
During rolling movement, steering wheel 12 receives signal, rotates a corresponding angle, it will drive steering wheel rocking arm 13 to rotate an angle,
Steering wheel rocking arm 13 drives left rudder machine pull bar 14B and right standard rudder machine pull bar 14A motion, left rudder machine pull bar 14B and right standard rudder machine pull bar simultaneously
14A drives anticlockwise pedestal 11B and right rotation pedestal 11A motion respectively so that the motion of fluttering of the left and right sides produces differential change
Change, generation lift is poor, and then produce rolling movement.
Embodiment
This example provides a kind of flapping wing and becomes angle changing mechanism of fluttering, the high 125mm of front-back baseboard, wide 100mm, and fuselage connects shank diameter
5mm, motor is bright space 2204 brushless electric machine, and all modules are 1, and the wherein motor gear number of teeth is 10, big on idler gear
The number of teeth of little gear is respectively 42 and 15, and the driving gear number of teeth is 55, the long 55mm of flapping wing pull bar, the long 65mm of flapping wing swing arm, flapping wing
The long 300mm of spar, the long 55mm of rotating basis, interfix bar is located at the position on rotating basis away from bottom installation position 40mm, rudder
The long 30mm of machine pull bar, the long 25mm of steering wheel rocking arm, steering wheel model EMAX-ES08MA, auxiliary positioning inside diameter of gasket is 4mm, external diameter
For 9mm, a diameter of 1mm of steady pin.
Through simplation verification, this device sized flap wings system can realize motion of normally fluttering, and Angulation changes system can be realized
Rotating basis 11 respectively has 25 ° of rotary motion about vertical position.
Above example is merely to illustrate design philosophy and the feature of the present invention, its object is to make technology in the art
Personnel will appreciate that present disclosure and implement according to this, protection scope of the present invention is not limited to above-described embodiment.So, all according to
The equivalent variations done according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.
Claims (3)
1. a kind of flapping wing become flutter angle changing mechanism it is characterised in that：Described flapping wing becomes angle changing mechanism of fluttering and includes sized flap wings system
With Angulation changes system, described sized flap wings system is used for producing flapping wing and flutters motion, by the rotation of motor is converted into wing
Flutter up and down, produce lift and thrust；Angulation changes system is used for controlling the angle of fluttering of left and right wing, so that left and right wing is fluttered
Angle produces change, and generation lift is poor, and then plays the effect of rolling control；
Described sized flap wings system by prebasal plate, metacoxal plate, fuselage connecting rod, motor, motor gear, idler gear, driving gear, flutter
Wing pull bar, flapping wing swing arm, flapping wing spar and rotating basis composition；Prebasal plate and metacoxal plate are platy structure, are connected by fuselage
Bar is parallel to be fixed together, and prebasal plate and metacoxal plate all have part installing hole；Motor is installed on the back substrate；Motor tooth
Wheel is installed on motor output shaft and coaxial rotating；Idler gear is that a double-layer gear is installed on the back substrate, by two
Tooth radius gear of different sizes is parallel to be combined and coaxial rotating, the big gear wheel of idler gear middle gear radius
It is meshed with motor gear；Driving gear has two and installs on the back substrate, and driving gear is provided with drive rod, two drivings
It is meshed between gear, and the driving gear little gear little with idler gear middle gear radius in left side is meshed；Flapping wing pull bar
It is connected on the drive rod of driving gear for rod-like structure side, opposite side is connected to the outside connection position of flapping wing swing arm, have
Two flapping wing pull bars；Flapping wing swing arm side is installed on the rotating basis top in Angulation changes system, middle part and flapping wing pull bar phase
Even, opposite side is provided with flapping wing spar, has two flapping wing swing arms；Flapping wing spar is rod-like structure, has two flapping wing spars；
Rotating basis bottom and prebasal plate are hinged, and middle part locating rod passes through the reserved arc opening on prebasal plate, and top is put with flapping wing
Arm is connected, and has two rotating basis；
Described Angulation changes system is made up of steering wheel, steering wheel rocking arm, steering wheel pull bar, auxiliary retaining washer and steady pin；Steering wheel is pacified
It is loaded on prebasal plate；Steering wheel rocking arm side is installed on steering wheel output shaft, and opposite side is connected with steering wheel pull bar；Steering wheel pull bar is bar
Shape structure, side is connected with the middle part locating rod of rotating basis, and opposite side is connected with steering wheel rocking arm, has two steering wheel pull bars；
Auxiliary retaining washer is circulus, is arranged in locating rod in the middle part of rotating basis, auxiliary positioning packing ring will be front with rotating basis
Substrate is clipped in the middle, and both sides rotating basis is both needed to install, and has two auxiliary positioning packing rings.
2. a kind of flapping wing according to claim 1 become flutter angle changing mechanism it is characterised in that：Prebasal plate is equal with metacoxal plate
It is designed with lightening core.
3. a kind of flapping wing according to claim 1 become flutter angle changing mechanism it is characterised in that：Little in described idler gear
Gear is located at metacoxal plate side, and gear wheel is located remotely from metacoxal plate side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610846532.6A CN106379532B (en) | 2016-09-23 | 2016-09-23 | A kind of change of flapping wing is fluttered angle changing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610846532.6A CN106379532B (en) | 2016-09-23 | 2016-09-23 | A kind of change of flapping wing is fluttered angle changing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106379532A true CN106379532A (en) | 2017-02-08 |
| CN106379532B CN106379532B (en) | 2019-01-29 |
Family
ID=57935800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610846532.6A Active CN106379532B (en) | 2016-09-23 | 2016-09-23 | A kind of change of flapping wing is fluttered angle changing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106379532B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864750A (en) * | 2017-02-27 | 2017-06-20 | 北京航空航天大学 | A kind of linkage of the controllable upset mean place of microminiature |
| CN107161338A (en) * | 2017-06-25 | 2017-09-15 | 张明晴 | A kind of single-blade or multiple wing rotary flapping wing device |
| CN107963210A (en) * | 2017-12-06 | 2018-04-27 | 佛山市神风航空科技有限公司 | A kind of fixed wing aircraft of VTOL |
| CN107963211A (en) * | 2017-12-06 | 2018-04-27 | 佛山市神风航空科技有限公司 | A kind of fixed wing aircraft with flapping wing |
| CN108528711A (en) * | 2018-04-11 | 2018-09-14 | 浙江大学 | The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure |
| CN108820205A (en) * | 2018-06-28 | 2018-11-16 | 魏辰昊 | A kind of more flight attitude flapping-wing modals |
| CN108945433A (en) * | 2018-07-23 | 2018-12-07 | 西北工业大学 | Three-dimensional based on cross pivot hinge and circular cone rocker arm is fluttered driving mechanism for flapping wing |
| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN112278271A (en) * | 2020-11-24 | 2021-01-29 | 北京航空航天大学 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101041382A (en) * | 2006-03-20 | 2007-09-26 | 西北工业大学 | Rolling control mechanism for minitype ornithopter |
| CN102862677A (en) * | 2012-09-18 | 2013-01-09 | 东南大学 | Double-wing type miniature bionic ornithopter |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| CN204323687U (en) * | 2014-12-11 | 2015-05-13 | 香港理工大学 | A kind of four wing flapping-wing modal |
| CN105197240A (en) * | 2015-11-05 | 2015-12-30 | 西北工业大学 | Differential variable-amplitude flapping wing driving mechanism and driving method |
-
2016
- 2016-09-23 CN CN201610846532.6A patent/CN106379532B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101041382A (en) * | 2006-03-20 | 2007-09-26 | 西北工业大学 | Rolling control mechanism for minitype ornithopter |
| CN102862677A (en) * | 2012-09-18 | 2013-01-09 | 东南大学 | Double-wing type miniature bionic ornithopter |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN103241379A (en) * | 2013-05-16 | 2013-08-14 | 中国科学院长春光学精密机械与物理研究所 | Flapping wing device for achieving active torsion for flapping wings and wing planes of aerofoil |
| CN204323687U (en) * | 2014-12-11 | 2015-05-13 | 香港理工大学 | A kind of four wing flapping-wing modal |
| CN105197240A (en) * | 2015-11-05 | 2015-12-30 | 西北工业大学 | Differential variable-amplitude flapping wing driving mechanism and driving method |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864750A (en) * | 2017-02-27 | 2017-06-20 | 北京航空航天大学 | A kind of linkage of the controllable upset mean place of microminiature |
| CN106864750B (en) * | 2017-02-27 | 2019-04-26 | 北京航空航天大学 | A kind of microminiature controllably overturns the link mechanism of mean place |
| CN107161338B (en) * | 2017-06-25 | 2023-08-25 | 张明晴 | Single-wing or multi-wing rotary flapping wing device |
| CN107161338A (en) * | 2017-06-25 | 2017-09-15 | 张明晴 | A kind of single-blade or multiple wing rotary flapping wing device |
| CN107963210A (en) * | 2017-12-06 | 2018-04-27 | 佛山市神风航空科技有限公司 | A kind of fixed wing aircraft of VTOL |
| CN107963211A (en) * | 2017-12-06 | 2018-04-27 | 佛山市神风航空科技有限公司 | A kind of fixed wing aircraft with flapping wing |
| CN108528711A (en) * | 2018-04-11 | 2018-09-14 | 浙江大学 | The flapping wings of a kind of variable amplitude and pitch angle are fluttered structure |
| CN108820205A (en) * | 2018-06-28 | 2018-11-16 | 魏辰昊 | A kind of more flight attitude flapping-wing modals |
| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN108945433A (en) * | 2018-07-23 | 2018-12-07 | 西北工业大学 | Three-dimensional based on cross pivot hinge and circular cone rocker arm is fluttered driving mechanism for flapping wing |
| CN112278271A (en) * | 2020-11-24 | 2021-01-29 | 北京航空航天大学 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
| CN113386958A (en) * | 2021-06-15 | 2021-09-14 | 东北大学 | Phase-variable double-flapping-wing mechanism and micro aircraft |
| CN113386958B (en) * | 2021-06-15 | 2024-01-09 | 东北大学 | Phase-changing double-flapping-wing mechanism and micro air vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106379532B (en) | 2019-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106379532A (en) | Flapping-wing flapping angle changing mechanism | |
| CN101249887B (en) | Aileron rotary retractable flapping wing device | |
| CN102390530B (en) | Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof | |
| CN101837195B (en) | Model airplane with vertical takeoff and landing | |
| CN102211667B (en) | Flapping wing driving mechanism of two-level parallel gear reduction | |
| CN104787327B (en) | A kind of multi-rotor aerocraft of changeable wheelbase | |
| CN103010456A (en) | Novel variable-diameter variable-pitch propeller | |
| CN202138538U (en) | Driving mechanism of cylindrical cam flapping wing | |
| CN102556335B (en) | Flying-wing layout aircraft provided with cycloidal propellers | |
| CN101984331A (en) | Dynamics comprehensive test bed for half-unfolding gas bomb with long tilting rotor wing | |
| CN101863306A (en) | Omnidirectional vectored thrust cycloidal propeller | |
| CN101966870B (en) | Steel wire hinged-type flapping-wing micro air vehicle (FMAV) driving mechanism | |
| CN111976978B (en) | Transmission device for flapping and twisting combined motion of bionic flapping wings for micro-aircraft | |
| CN103754360B (en) | One kind flying disc type gyroplane | |
| CN102935890A (en) | Variable diameter screw propeller | |
| CN107031832B (en) | A kind of lift unit with the disk wing and the aircraft using the device | |
| CN202783762U (en) | Four rotor wing indoor airship | |
| CN201825236U (en) | Driving mechanism for steel-wire hinged minisize flapping-wing aircraft | |
| CN104477383B (en) | Three-dimensional flapping flapping-wing drive mechanism | |
| CN207045728U (en) | Fixed-wing vector unmanned plane | |
| CN113682473A (en) | Coaxial homodromous double-flapping rotor aircraft | |
| CN106114842A (en) | A kind of oil electricity mixing coaxial dual-rotor helicopter and using method thereof | |
| CN201744174U (en) | Model airplane vertically taking off and landing | |
| CN202491921U (en) | Bionic ornithopter | |
| CN202038454U (en) | Flapping wing driving mechanism with two-stage parallel gear reduction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |