CN106379532B - A kind of change of flapping wing is fluttered angle changing mechanism - Google Patents
A kind of change of flapping wing is fluttered angle changing mechanism Download PDFInfo
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- CN106379532B CN106379532B CN201610846532.6A CN201610846532A CN106379532B CN 106379532 B CN106379532 B CN 106379532B CN 201610846532 A CN201610846532 A CN 201610846532A CN 106379532 B CN106379532 B CN 106379532B
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- flapping wing
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- 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 kind of flapping wings to become angle changing mechanism of fluttering, and is related to field of flight vehicle design.Flapping wing becomes angle changing mechanism of fluttering and is made of sized flap wings system and angulation change system.Sized flap wings system is used to generate the upper and lower movement of fluttering of flapping wing, and angulation change system is fluttered angle for changing left and right flapping wing.The present invention change simultaneously left and right flapping wing flutter equilbrium position and horizontal plane angle by way of, change the lift size and Orientation of left and right aerofoil, it is poor to generate lift, so that body generates rolling movement.Both it can be adapted for Computation of Flexible Flapping-Wing and be equally applicable to rigid flapping wing, while high reliablity, and there is no sliding frictions to connect, high-efficient, the service life is long.Lightening hole is rationally designed, so that compact-sized succinct, lightweight construction is easy to process.
Description
Technical field
The present invention relates to field of flight vehicle design, and in particular to a kind of change of flapping wing aircraft is fluttered angle changing mechanism.
Background technique
Currently, UAV system is just playing increasing effect in civilian and military domain.Common unmanned plane is pressed
It can be divided into according to flight theory classification: fixed-wing unmanned plane, rotor wing unmanned aerial vehicle and flapping wing unmanned plane.As low reynolds number air is dynamic
The development of mechanics study, advantage of the flapping flight mode under microminiature scale in terms of pneumatic efficiency and wind loading rating, which receives, grinds
Study carefully the concern of personnel, micro flapping wing air vehicle gradually grows up.But the control mode of flapping wing is always a difficult point, by
It is very light very thin in wing, it is not easy to arrange the control surfaces such as aileron, therefore most flapping wings are controlled without rolling.When flapping flight is slow-footed
When, elevator efficiency can reduce, and pitch control is difficult, limit its further extensive use.
Therefore, the control method for developing flapping wing aircraft is very important.Presently, there are flapping wing control of sideward roll mode,
Such as use is proposed in patent " a kind of roll guidance mechanism of mini-sized flap wings aircraft " (patent announcement CN100413757C)
The mode for changing flapping wing root established angle makes left and right flapping wing lift different, generates 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.Such as patent " differential luffing driving mechanism for flapping wing " (patent announcement number
CN205098477U), fluttered amplitude by changing two sides flapping wing, it is poor to generate left and right lift, and then generate rolling movement.But it is tied
It uses several sliding frictions in structure to be sequentially connected, construction weight is big, and transmission efficiency is low, and life of product is short.Therefore, it is necessary to design
The method of other flapping wing rolling controls.
Summary of the invention
For the flapping wing aircraft mentioned in the prior art to the needs of control of sideward roll, the invention proposes one kind to pass through together
When change left and right flapping wing flutter equilbrium position and horizontal plane angle mode, thus it is possible to vary the lift size of left and right aerofoil and side
To, generate lift it is poor so that body generate rolling movement, the equilbrium position refer to flutter highest point and under flutter it is minimum
The middle position of point.
Flapping wing proposed by the present invention becomes angle changing mechanism of fluttering and is made of sized flap wings system and angulation change system.Sized flap wings system is used
It flutters movement in generating wing, by the way that the upper and lower of flapping wing wing that be converted into of motor is fluttered, generation lift and thrust；Angle
Degree change system is used to control the angle of fluttering of left and right flapping wing wing, and so that flapping wing wing angle of fluttering in left and right is generated variation, generates
Lift is poor.
The sized flap wings system is by preceding substrate, metacoxal plate, fuselage connecting rod, motor, motor gear, intermediate gear, sliding tooth
Wheel, flapping wing pull rod, flapping wing swing arm, flapping wing spar and rotating basis composition.Wherein preceding substrate and metacoxal plate are plate structure, are passed through
Fuselage connecting rod is fixed together in parallel, there is part mounting hole on preceding substrate and metacoxal plate；Motor is mounted on metacoxal plate
Corresponding installation site, motor gear are installed on motor output shaft；Intermediate gear is a double-layer gear, by two gear radius
Gear of different sizes is combined in parallel and coaxial rotating, is mounted on metacoxal plate and corresponds to installation site, and gear
The relatively large gear wheel of radius is meshed with motor gear；Driving gear shares two corresponding installation sites for being mounted on metacoxal plate
On, it is provided with drive rod, is meshed between two driving gears, and left side driving gear and intermediate gear middle gear half
The relatively small pinion gear of diameter is meshed；Flapping wing pull rod is that rod-like structure side is connected on the drive rod of driving gear, the other side
It is connected to the outside connection position of flapping wing swing arm, there are two flapping wing pull rods altogether；Flapping wing swing arm side is installed in angulation change system
Rotating basis top, middle part is connected with flapping wing pull rod, and the other side is equipped with flapping wing spar, and there are two flapping wing swing arms altogether；Flapping wing
Spar is rod-like structure, represents the main spar of common flapping wing, and there are two flapping wing spars altogether；Pair of substrate before rotating basis is installed on
Installation site is answered, lower part is hinged with preceding substrate, and middle part locating rod passes through the reserved curved opening and steering gear pull rod on preceding substrate
Sleeve connection, top and the flapping wing swing arm phase inside in sized flap wings system are hinged, and there are two rotating basis altogether.
The angulation change system by steering engine, steering engine rocker arm, steering gear pull rod, washer is auxiliarily fixed and fixed pin forms.Its
The corresponding installation site of substrate before middle steering engine is installed on can convert mechanical movement for control signal, drive steering engine rocker arm；Rudder
Machine rocker arm side is installed on steering engine output shaft, and the other side is connected with steering gear pull rod；Steering gear pull rod is rod-like structure, side and rotation
The middle part locating rod for turning pedestal is connected, and the other side is connected with steering engine rocker arm, and there are two steering gear pull rods altogether；It is ring that washer, which is auxiliarily fixed,
Shape structure is mounted in the middle part of rotating basis in locating rod, and preceding substrate is clipped in the middle by auxiliary positioning washer and rotating basis, two sides
Rotating basis is both needed to install, and there are two auxiliary positioning washers altogether.
The course of work that flapping wing of the invention becomes angle changing mechanism of fluttering is as follows: when work, motor gear is driven by motor, electricity
Machine gear drives intermediate gear, and intermediate gear drives driving gear, and driving gear band moves flapping wing pull rod, and flapping wing pull rod drives flapping wing
Swing arm and flapping wing spar, finally by the upper and lower movement of fluttering for being converted into wing of motor, fluttering for wing provides lift
With thrust.When needs, which change, flutters angle, control signal is provided, steering engine rotation drives the swing of steering engine rocker arm, steering engine rocker arm
Steering gear pull rod is driven, steering gear pull rod drives the rotation of rotating basis, so that differential, generation liter occurs for the angle of fluttering of left and right wing
Power is poor, and then generates rolling movement.
The present invention has the advantages that
(1) the rolling control function of flapping wing is realized；
(2) it is not only suitable for flexible wing and is suitable for rigid wing again, applicability is good；
(3) fricton-tight frictional drive connection, efficiency high life are long；
(4) compact overall structure, succinct, is conducive to mitigate weight, improves reliability, easy to process.
Detailed description of the invention
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 are respectively the front view of metacoxal plate and preceding substrate in the present invention；
Fig. 6 is intermediate gear schematic diagram of the present invention；
Fig. 7 is auxiliary positioning washer schematic view of the mounting position of the present invention；
Fig. 8 is rotating basis structure chart of the present invention.
In figure:
Substrate before 1-；2- metacoxal plate；3- fuselage connecting rod；
4- motor；5- motor gear；6- intermediate gear；
7- drives gear；8- flapping wing pull rod；9- flapping wing swing arm；
10- flapping wing spar；11- rotating basis；12- steering engine；
13- steering engine rocker arm；Washer is auxiliarily fixed in 14- steering gear pull rod 15-；
16- fixed pin.
The tail number A of digital number indicates the right side for being located at fuselage in figure, and tail number B indicates the left side for being located at fuselage.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
It includes sized flap wings system and angulation change system, the flapping wing system that flapping wing provided by the invention, which becomes angle changing mechanism of fluttering,
System major function is to generate the movement of fluttering of flapping wing wing, and the design of sized flap wings system can convert flapping wing for the rotation of motor 4
The upper and lower of spar 10 flutters, and then generates lift and thrust.Angulation change system is used to control the angle of fluttering of left and right flapping wing wing
Degree, the design of structure is so that the rotation of steering engine 12 converts the differential swing of flapping wing spar 10, the angle so that left and right flapping wing wing is fluttered
Degree generates variation, it is poor to generate lift, and then generate rolling moment.Flapping wing is connected on the flapping wing spar 10.
Flapping wing of the present invention become the sized flap wings system for angle changing mechanism of fluttering as shown in Figure 1, the sized flap wings system by preceding substrate 1, after
Substrate 2, motor 4, motor gear 5, intermediate gear 6, driving gear 7, flapping wing pull rod 8, flapping wing swing arm 9, is flutterred at fuselage connecting rod 3
Thriving beam 10 and rotating basis 11 form.Wherein preceding substrate 1 and metacoxal plate 2 are plate structure, as fig. 5 a and fig. 5b, figure
5A show metacoxal plate 2, and Fig. 5 B show preceding substrate 1, and the major function of the preceding substrate 1 and metacoxal plate 2 is to maintain flapping wing
Aircraft shape simultaneously provides installation site for other components, and there are four corresponding fuselages with the distribution above of metacoxal plate 2 for preceding substrate 1
Preceding substrate 1 is fixed together by the mounting hole of connecting rod 3 by being bonded by four fuselage connecting rods 3 with metacoxal plate 2, keeps one
Substrate 1 is parallel with metacoxal plate 2 before fixed distance is simultaneously kept, and be designed on preceding substrate 1 and metacoxal plate 2 a large amount of lightening holes or
Person uses skeleton structure, for mitigating construction weight.Motor 4 is mounted 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 preceding substrate 1 and metacoxal plate 2 across metacoxal plate 2, major function
It is to provide power for sized flap wings system.Motor gear 5 is mounted 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 gear radius of intermediate gear 6 be meshed.Intermediate gear 6 is double-deck gear, such as Fig. 6 institute
Show, is stitched and fastened by the relatively small pinion gear of a gear radius relatively large gear wheel and gear radius, gear wheel
Plane of rotation is parallel with the Plane of rotation of pinion gear, and coaxial rotating.Intermediate gear 6 is mounted on the front side of metacoxal plate 2, peace
For holding position as shown in Fig. 2, pinion gear is located at close to 2 side of metacoxal plate, gear wheel is located remotely from 2 side of metacoxal plate, intermediate gear
Main function is transmitting power, and gear wheel is meshed with motor gear 5, and pinion gear is meshed with gear 7B is driven, each gear it
Between meshing relation it is as shown in Figure 4.Driving gear 7 is the gear wheel for having drive rod, is mounted on the front side of metacoxal plate 2,
Altogether there are two installations, becomes the longitudinally asymmetric face of angle changing mechanism of fluttering relative to flapping wing and be left and right symmetrically arranged, installation site such as Fig. 2 institute
Show, wherein left side driving gear 7B is meshed with the pinion gear of intermediate 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 rod 8B, and right side drives gear 7A and right side flapping wing pull rod
8A is connected.Flapping wing pull rod 8 (including right side flapping wing pull rod 8A and left side flapping wing pull rod 8B) is rod-like structure, for connecting driving
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 the flapping wing pull rod 8 and drive
Drive rod on moving gear 7 is connected, and the other end is connected with 9 outside mounting hole of flapping wing swing arm, shares two, relative to mechanism longitudinal direction
The plane of symmetry is left and right symmetrically arranged, and left side flapping wing pull rod 8B is connected with left side driving gear 7B and left side flapping wing swing arm 9B, and right side is flutterred
Wing pull rod 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 generate to flutter simultaneously
Connect flapping wing spar 10, the top installation position phase of the inside mounting hole of flapping wing swing arm 9 and rotating basis 11 in angulation change system
Connection, outside mounting hole are connected with the side of flapping wing pull rod 8, and flapping wing spar 10 is inserted into flapping wing swing arm 9 by side mounting hole
Interior, there are two flapping wing swing arms 9 altogether, are left and right symmetrically arranged.Flapping wing spar 10 is elongated rod shape structure, and expression is in flapping wing wing
Main spar, one end are inserted into flapping wing swing arm 9 by the side mounting hole of flapping wing swing arm 9, and by being bonded flapping wing spar 10
It is fixed together with flapping wing swing arm 9, shares two flapping wing spars 10, be left and right symmetrically arranged.Rotating basis 11 as shown in figure 8, its
Installation site preceding substrate 1 rear side, as shown in Figure 1,11 lower part of rotating basis mounting hole corresponding with preceding substrate 1 is hinged, in
Portion's locating rod passes through the arc positioning groove on preceding substrate 1, middle part locating rod perpendicular to rotating basis 11 and 1 front side of preceding substrate with
It is hinged on the inside of 14 sleeve connection of steering gear pull rod in angulation change system, upper part and flapping wing swing arm 9, altogether there are two installations,
Be symmetrically arranged relative to the longitudinally asymmetric face of mechanism, major function be under the drive of steering engine 12, it is hinged around its underpart
Installation position generates rotary motion, changes the angle of flutter equilbrium position and horizontal plane.So far, by driving gear 7, flapping wing pull rod 8,
The crank and rocker mechanism that flapping wing swing arm 9, rotating basis 11 collectively constitute can convert the upper of flapping wing wing for motor 4
Under flutter.
Flapping wing becomes the longitudinally asymmetric face of angle changing mechanism of fluttering and refers to perpendicular under static condition where the output shaft of motor.
Bilateral symmetry described herein each means symmetrical relative to the longitudinally asymmetric face.
Flapping wing of the present invention becomes the angulation change system for angle changing mechanism of fluttering as shown in Figure 1, the angulation change system is by rudder
Steering engine rocker arm 13, steering gear pull rod 14, washer 15 and the composition of fixed pin 16 is auxiliarily fixed in machine 12.The wherein major function of steering engine 12
For the control signal of flight control system or remote control system is changed into mechanical movement, and steering engine rocker arm 13 and steering gear pull rod 14 are driven,
It generates rotating basis 11 and generates rotary motion around the hinged installation position in its underpart, installation site is in preceding substrate 1
On corresponding mounting hole.Steering gear pull rod 14 is the sleeved long plate shape structure of side band, and major function is connection rotating basis 11
With steering engine rocker arm 13, sleeve is perpendicular to steering gear pull rod 14.With in sleeved side and rotating basis 11 in steering gear pull rod 14
Portion's locating rod sleeve connection, the other side are connected with steering engine rocker arm 13, install two altogether, are left and right symmetrically arranged.Steering engine rocker arm 13 is
The sleeved long plate structure of side band, sleeve is perpendicular to long plate structure, wherein the output shaft with sleeved side Yu steering engine 12
Sleeve connection, the other side and left side steering gear pull rod 14B and right side steering gear pull rod 14A are articulated with a bit.Washer 15, which is auxiliarily fixed, is
Ring structure, mounting means is as shown in fig. 7, be installed in the middle part locating rod of rotating basis 11, outside preceding substrate 1
One piece of fixed pin 16 is installed then in the outside that washer 15 is auxiliarily fixed in side, and fixed pin 16 is common split pin, rotating basis
The hole for installing fixed pin 16 is provided in 11 middle part locating rod, left and right installation method is consistent, is symmetrically installed.Pad is auxiliarily fixed
The main function of circle 15 is the platform cooperated under 11 middle part locating rod of rotating basis, preceding substrate 1 is clipped in the middle, to guarantee to rotate
The stability of pedestal 11 during rotation.
The course of work that flapping wing of the present invention becomes angle changing mechanism of fluttering is as follows: when normal condition, steering engine 12 is in an intermediate position,
Flapping wing aircraft is symmetrical at this time, and motor 4 rotates, and motor gear 5 is driven to rotate, and motor gear 5 drives intermediate gear 6
Rotation, intermediate gear 6 drive left side driving gear 7B rotation, and left side drives gear 7B to drive right side driving gear 7A rotation, left
Drive rod on side driving gear 7B and right side driving gear 7A drives left flapping wing pull rod 8B and right flapping wing pull rod 8A to move respectively,
Left flapping wing pull rod 8B and right flapping wing pull rod 8A drives left flapping wing swing arm 9B and right flapping wing swing arm 9A to move respectively, left flapping wing swing arm 9B
Left flapping wing spar 10B and right flapping wing spar 10A is driven to move respectively with right flapping wing swing arm 9A.It so far, can be with by sized flap wings system
The upper and lower of flapping wing that be converted into of motor 4 is fluttered, and left and right is symmetrically fluttered, and rolling moment is not generated.Work as needs
When rolling movement, steering engine 12 receives signal, rotates a corresponding angle, it will and drive steering engine rocker arm 13 to rotate an angle,
Steering engine rocker arm 13 drives left steering gear pull rod 14B and right steering gear pull rod 14A to move simultaneously, left steering gear pull rod 14B and right steering gear pull rod
14A drives anticlockwise pedestal 11B and right rotation pedestal 11A to move respectively, so that the movement of fluttering of the left and right sides generates differential change
Change, it is poor to generate lift, and then generate rolling movement.
Embodiment
This example provides a kind of change of flapping wing and flutters angle changing mechanism, front-back baseboard high 125mm, wide 100mm, and fuselage connects shank diameter
5mm, motor are bright 2204 brushless motor of space, and all modules are 1, and wherein the motor gear number of teeth is 10, big on intermediate gear
The number of teeth of pinion gear is respectively 42 and 15, and driving number of gear teeth is 55, the long 55mm of flapping wing pull rod, the long 65mm of flapping wing swing arm, flapping wing
The long 300mm of spar, the long 55mm of rotating basis, interfix bar are located at the position away from bottom installation position 40mm on rotating basis, rudder
The long 30mm of machine pull rod, the long 25mm of steering engine rocker arm, steering engine model EMAX-ES08MA, auxiliary positioning inside diameter of gasket are 4mm, outer diameter
For 9mm, fixed pin diameter is 1mm.
Through simplation verification, movement of normally fluttering is may be implemented in present apparatus sized flap wings system, and angulation change system may be implemented
Rotating basis 11 respectively has 25 ° of rotary motion in vertical position or so.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
The equivalent variations or modification done according to disclosed principle, mentality of designing, it is within the scope of the present invention.
Claims (3)
- The angle changing mechanism 1. a kind of flapping wing change is fluttered, it is characterised in that: it includes sized flap wings system that the flapping wing, which becomes angle changing mechanism of fluttering, With angulation change system, the sized flap wings system is fluttered movement for generating flapping wing, by by the wing that is converted into of motor It flutters up and down, generates lift and thrust；Angulation change system is used to control the angle of fluttering of left and right wing, and left and right wing is made to flutter Angle generates variation, and it is poor to generate lift, and then plays the role of rolling control；The sized flap wings system by preceding substrate, metacoxal plate, fuselage connecting rod, motor, motor gear, intermediate gear, driving gear, flutter Wing pull rod, flapping wing swing arm, flapping wing spar and rotating basis composition；Preceding substrate and metacoxal plate are plate structure, are connected by fuselage Bar is fixed together in parallel, there is part mounting hole on preceding substrate and metacoxal plate；Motor is installed on the back substrate；Motor tooth Wheel is installed on motor output shaft and coaxial rotating；Intermediate gear is that a double-layer gear is installed on the back substrate, by two Gear radius gear of different sizes is combined in parallel and coaxial rotating, the big gear wheel of intermediate gear middle gear radius It is meshed with motor gear；Driving gear shares two installations on the back substrate, and driving gear is provided with drive rod, two drivings It is meshed between gear, and the pinion gear that left side drives gear small with intermediate gear middle gear radius is meshed；Flapping wing pull rod It is connected to for rod-like structure side on the drive rod of driving gear, the other side is connected to the outside connection position of flapping wing swing arm, shares Two flapping wing pull rods；Flapping wing swing arm side is installed on the rotating basis top in angulation change system, middle part and flapping wing pull rod phase Even, the other side is equipped with flapping wing spar, and there are two flapping wing swing arms altogether；Flapping wing spar is rod-like structure, and there are two flapping wing spars altogether； Rotating basis lower part is hinged with preceding substrate, and middle part locating rod passes through the reserved curved opening on preceding substrate, and top and flapping wing are put Arm is connected, and there are two rotating basis altogether；The angulation change system by steering engine, steering engine rocker arm, steering gear pull rod, washer is auxiliarily fixed and fixed pin forms；Steering engine peace Loaded on preceding substrate；Steering engine rocker arm side is installed on steering engine output shaft, and the other side is connected with steering gear pull rod；Steering gear pull rod is bar Shape structure, side are connected with the middle part locating rod of rotating basis, and the other side is connected with steering engine rocker arm, and there are two steering gear pull rods altogether； It is cyclic structure that washer, which is auxiliarily fixed, is mounted in the middle part of rotating basis in locating rod, auxiliary positioning washer and rotating basis will before Substrate is clipped in the middle, and two sides rotating basis is both needed to install, and there are two auxiliary positioning washers altogether；In the outside that washer is auxiliarily fixed, One piece of fixed pin is installed, fixed pin is split pin, and the hole for installing fixed pin is provided in the middle part locating rod of rotating basis, left Right installation method is consistent, is symmetrically installed；The course of work that flapping wing becomes angle changing mechanism of fluttering is as follows: when normal condition, steering engine is in an intermediate position, at this time flapping flight Device is symmetrical, motor rotation, drives motor gear rotation, and motor gear drives intermediate gear rotation, intermediate gear band Dynamic left side sliding tooth wheel rotation, left side drive the dynamic right side sliding tooth wheel rotation of gear band, and left side drives gear and right side sliding tooth Drive rod on wheel drives left flapping wing pull rod and right flapping wing pull rod to move respectively, and left flapping wing pull rod drives respectively with right flapping wing pull rod Left flapping wing swing arm and right flapping wing swing arm motion, left flapping wing swing arm and right flapping wing swing arm drive left flapping wing spar and the right flapping wing wing respectively Beam movement；So far, the upper and lower of flapping wing that be converted into of motor is fluttered by sized flap wings system, and left and right is symmetrically to flutter , do not generate rolling moment；When needing rolling movement, steering engine receives signal, rotates a corresponding angle, it will drives rudder Machine rocker arm rotates an angle, and steering engine rocker arm drives left steering gear pull rod and right steering gear pull rod to move simultaneously, left steering gear pull rod and the right side Steering gear pull rod drives anticlockwise pedestal and right rotation base motion respectively, so that the movement of fluttering of the left and right sides generates differential change Change, it is poor to generate lift, and then generate rolling movement.
- The angle changing mechanism 2. a kind of flapping wing change according to claim 1 is fluttered, it is characterised in that: on preceding substrate and metacoxal plate Design has lightening hole.
- The angle changing mechanism 3. a kind of flapping wing change according to claim 1 is fluttered, it is characterised in that: small in the intermediate gear Gear is located remotely from metacoxal plate side, and gear wheel is located at close to metacoxal plate side.
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|---|---|---|---|
| CN201610846532.6A CN106379532B (en) | 2016-09-23 | 2016-09-23 | A kind of change of flapping wing is fluttered angle changing mechanism |
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| CN201610846532.6A CN106379532B (en) | 2016-09-23 | 2016-09-23 | A kind of change of flapping wing is fluttered angle changing mechanism |
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| CN106379532B true CN106379532B (en) | 2019-01-29 |
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| 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 |
| CN108820205B (en) * | 2018-06-28 | 2020-11-24 | 魏辰昊 | Multi-flight-attitude flapping-wing micro aircraft |
| 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 |
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| CN112278271B (en) * | 2020-11-24 | 2022-04-05 | 北京航空航天大学 | Vector control mechanism of micro hovering flapping-wing aircraft and aircraft |
| CN113386958B (en) * | 2021-06-15 | 2024-01-09 | 东北大学 | Phase-changing double-flapping-wing mechanism and micro air vehicle |
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2016
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