CN106864750B - A kind of microminiature controllably overturns the link mechanism of mean place - Google Patents
A kind of microminiature controllably overturns the link mechanism of mean place Download PDFInfo
- Publication number
- CN106864750B CN106864750B CN201710106432.4A CN201710106432A CN106864750B CN 106864750 B CN106864750 B CN 106864750B CN 201710106432 A CN201710106432 A CN 201710106432A CN 106864750 B CN106864750 B CN 106864750B
- Authority
- CN
- China
- Prior art keywords
- flapping
- gear
- wing
- connecting rod
- mean place
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses the link mechanisms that a kind of microminiature controllably overturns mean place, are related to miniature rotor aircraft field of flapping, including rack, rocker arm, the wing of flapping, driving mechanism of flapping, and overturning mean place control mechanism；Rack is integrally formed, and top is for installing the driving mechanism of flapping being made of motor, gear reduction and link mechanism；The overturning mean place control mechanism of steering engine and gear d composition is fixedly installed with below rack；Driving mechanism of flapping connecting rocker arm and the wing of flapping, for controlling the movement of rocker arm, to drive wing flapping motion of flapping；Flap the wing auxiliary beam connection overturning mean place control mechanism；A gears and gears d engagement is carried on steering engine output shaft；And gear d is fixedly connected with auxiliary beam simultaneously；Steering engine rotation driven gear d rotation, and then can change the overturning mean place for the wing of flapping, realize the control to wing mechanism of flapping；Enough control forces and control moment can accurately be generated.
Description
Technical field
The present invention relates to miniature rotor aircraft fields of flapping, and are that a kind of microminiature controllably overturns mean place specifically
Link mechanism.
Background technique
Since nineteen nineties, with continuous maturation and the microelectric technique of conventional aircraft designing technique
It substantially improves, minute vehicle is suggested and fast development.
Minute vehicle is due to having many characteristics, such as small in size, light-weight and mobility strong, in national security and national economy
Construction Party's mask has wide practical use, suitable under complex environment investigation, exploration and assist rescue etc. work.
Meanwhile with the continuous exploration that people fly to natural biology, bionic design is increasingly used in micro-
Type aircraft field starts the wing minute vehicle of flapping for occurring imitating insect flying.
The mechanism design of existing wing layout of flapping, it is most of to use four-bar mechanism to realize that motor rotary motion is converted into bat
Dynamic movement.Four-bar mechanism is simple to manufacture, is easier to obtain higher precision, also the characteristics of motion of complexity easy to accomplish and track
Design；For microminiature flapping wing layout designs, control mode can not use rudder face to realize.
Summary of the invention
The present invention problem uncontrollable for the ala overturning of the existing miniature wing of flapping, proposes that a kind of microminiature is controllably turned over
The link mechanism for turning mean place, the overturning mean place by changing the wing of flapping realize the control to the wing of flapping.
The microminiature controllably overturns the link mechanism of mean place, including rack, rocker arm, the wing of flapping, driving of flapping
Mechanism, and overturning mean place control mechanism.
Rack is integrally formed, is bilateral symmetry；A groove is equipped with right above center line, for constraining driving machine of flapping
Connecting rod mechanism movement in structure；Center line is arranged right below a biggish column type cavity, for installing in driving mechanism of flapping
Motor, groove or so respectively symmetrically it is each reserve two column type cavitys not of uniform size, wherein two adjacent with groove are larger
Column type cavity is used to install the steering engine of overturning mean place control mechanism；Lesser column type cavity is used to that rocker arm is fixedly mounted；Machine
Lesser cylindrical cavity, hinged remaining parts are additionally provided on frame simultaneously.
Driving mechanism of flapping includes motor, gear reduction and link mechanism；Gear reduction includes gear a, tooth
Take turns b and gear c；
Motor is cooperatively connected on the rack, and fixed installation gear c, gear c meshing gear b, gear b are nibbled on motor output shaft
It closes gear a, gear a and gear b to be respectively fixed on the machine frame, motor driven gear deceleration mechanism kinematic, gear reduction band
The high-speed rotation deceleration of motor output is changed into scheduled rule by dynamic connecting rod mechanism movement.
Link mechanism includes: two symmetrical connecting rod a, a two symmetrical connecting rod b and connecting rod c；
The one end connecting rod c is hinged by mounting hole and gear a；The other end is mutually constrained with the groove in rack；On each connecting rod b
It is reserved that there are two mounting hole and a strip grooves；Wherein connecting rod b is hingedly fixed by an intermediate mounting hole with rack；
It is connected respectively with a connecting rod a by the mounting hole on another top；The mounting hole of two strip grooves and connecting rod c overlap one
It rises, the groove that centre one rivet of perforation is fixed on the rack.
Connecting rod a is crescent, is reserved there are two mounting hole, there is cutting inside both ends, and the one end connecting rod a passes through mounting hole and company
Bar b is connected；The other end is connected among rocker arm as the output end for driving mechanism of flapping.
Gear a rotation, drives connecting rod c to move up and down in the trench, while driving connecting rod b around the position being fixed on the rack
Other end rotation is driven to be further driven to rocker arm so that connecting rod a be driven to move and flap.
Totally two, rocker arm, it is respectively arranged in rack two sides；Each one end and rack are hinged, and the other end and the wing of flapping are solid
It connects, realizes and drive wing movement of flapping by rocker arm；Meanwhile being connected among rocker arm with connecting rod a.
The wing of flapping includes girder, auxiliary beam and ala, is connected by girder with rocker arm.
Overturning mean place control mechanism includes two symmetrical steering engines and two symmetrical gear d；Steering engine right angle setting
A gears and gears d engagement is carried below rack, on each steering engine output shaft；And one end of gear d and the wing of flapping is auxiliary
Beam is fixedly connected；Steering engine band moving gear d is rotated, and then can change the overturning mean place for the wing of flapping, the control needed
Power and control moment realize the control to wing mechanism of flapping；
When original state, the initial angle of attack of two wings of flapping in left and right is 0 degree, with the initial position of ala during flapping
For mean place overturning.When needing to change the overturning mean place of ala to obtain control force and control moment, operator's hair
Steering engine radio signal is given, steering engine deflection command is given；Steering engine exports specific angular displacement by deflection command, drives defeated with steering engine
The connected gear d of gear is carried on shaft rotates specific angle；And the auxiliary beam bias for the wing of flapping is connected on gear d；Gear d
After rotating special angle, the initial position for thriving film of flapping changes, thus the control force and control moment that are needed.
The present invention has the advantages that
1), a kind of microminiature controllably overturns the link mechanism of mean place, is clapped using steering engine and gear reduction control
The overturning mean place of the dynamic wing, is a kind of novel control implementation.
2), a kind of microminiature controllably overturns the link mechanism of mean place, realizes control using steering engine and gear reduction
System, can accurately generate enough control forces and torque.
3), a kind of microminiature controllably overturns the link mechanism of mean place, decoration structure features simple design, and material is easy to get, and is easy to add
Work.
Detailed description of the invention
Fig. 1 is the top view for the link mechanism that a kind of microminiature of the present invention controllably overturns mean place；
Fig. 2 is the front view for the link mechanism that a kind of microminiature of the present invention controllably overturns mean place；
Fig. 3 is the top view that a kind of microminiature of the present invention controllably overturns rack in the link mechanism of mean place；
Fig. 4 is the left view that a kind of microminiature of the present invention controllably overturns rack in the link mechanism of mean place；
Fig. 5 is the structural schematic diagram that a kind of microminiature of the present invention controllably overturns connecting rod c in the link mechanism of mean place；
Fig. 6 is the structural schematic diagram that a kind of microminiature of the present invention controllably overturns connecting rod b in the link mechanism of mean place；
Fig. 7 is the structural schematic diagram that a kind of microminiature of the present invention controllably overturns connecting rod a in the link mechanism of mean place；
Fig. 8 is the structural schematic diagram that a kind of microminiature of the present invention controllably overturns rocker arm in the link mechanism of mean place；
Fig. 9 is the structural schematic diagram that a kind of microminiature of the present invention controllably overturns the wing of flapping in the link mechanism of mean place.
1- flaps the wing；2- rocker arm；3- connecting rod a；4- connecting rod b；5- connecting rod c；6- gear a；7- gear b；8- rack；9- gear
c；10- gear d；11- steering engine；
The auxiliary beam of 101-；102- girder；103- ala；201- column type cavity；202- mounting hole；203- preformed hole；301-
302- mounting hole；401-402- mounting hole；403- strip groove；501-502- mounting hole；801-802- mounting hole；803- ditch
Slot；804-805- mounting hole；806- column type cavity.
Specific embodiment
Specific implementation method of the invention is described in detail with reference to the accompanying drawing.
A kind of microminiature of the present invention controllably overturns the link mechanism of mean place, by the overturning average bit for changing the wing of flapping
Set the control realized to wing layout of flapping；In such a way that simple mechanism realizes and efficiently flaps, enough lift and control can be provided
Torque processed.
The microminiature controllably overturns the link mechanism of mean place, as depicted in figs. 1 and 2, including the wing 1 of flapping, it shakes
Arm 2, connecting rod a3, connecting rod b4, connecting rod c5, gear a6, gear b7, rack 8, gear c9, gear d10 and steering engine 11；
As shown in figure 3, rack 8 uses resin material or polylactic acid (pla), it is integrally formed by 3D printing；In rack 8
Reserved series installation hole, it is convenient to be connected with other structures.
Specifically: rack 8 is bilateral symmetry, and groove 803, the every side of groove 803 reserved two are equipped with right above center line
A mounting hole 802 and mounting hole 801 not of uniform size, the mounting hole 802 of 803 two sides of groove are symmetrically installed, and mounting hole 801 is also right
Claim installation；Mounting hole 804 and column type cavity 806 are provided with below groove 803, meanwhile, in column type cavity 806 and mounting hole 804
Between horizontal line on symmetrically open there are two mounting hole 805；
The driving mechanism of flapping that installation is made of motor, gear reduction and link mechanism in rack 8；
Specifically as shown in figure 4, the internal diameter of cylindrical cavity 806 is consistent with motor diameter, motor is fitted to the column of rack
On shape cavity 806.Gear c9 is fixedly mounted on motor output shaft, gear c9 meshing gear b7, gear b7 are solid by mounting hole 805
It is fixed that gear b7 meshing gear a6, gear a6 are hinged in rack 8 by mounting hole 804 on the rack, gear a6, gear b7 and
Gear c9 collectively forms gear reduction and slows down to the speedy carding process rotation of motor.
Link mechanism includes two symmetrical connecting rod a3, two symmetrical connecting rod b4 and connecting rod c5；
As shown in figure 5, the both ends connecting rod c5 are reserved with mounting hole 501 and mounting hole 502 respectively；Pass through mounting hole 502 and tooth
It is hinged to take turns a6；It is mutually constrained by mounting hole 501 with the groove 803 in rack 8；As shown in fig. 6, being reserved on each connecting rod b4
Mounting hole 401, mounting hole 402 and strip groove 403；Connecting rod b4 is hinged by the mounting hole 802 on mounting hole 402 and rack 8
It is fixed；Two strip grooves 403 on symmetrical connecting rod b4 overlap with the mounting hole 501 on connecting rod c5, centre perforation one
Rivet is fixed on the groove 803 of rack；Connecting rod b4 is connected by mounting hole 401 with connecting rod a3.
As shown in fig. 7, connecting rod a3 is crescent, it is reserved with mounting hole 301 and mounting hole 302.By mounting hole 302 and even
The mounting hole 401 of bar b4 is connected；Pass through 301 connecting rocker arm 2 of mounting hole.
As shown in figure 8, there are cylindrical cavity 201, mounting hole 202 and preformed holes 203 on rocker arm 2；Rocker arm 2 passes through preformed hole
203 and rack 8 mounting hole 802 it is hingedly fixed；It is hinged and connected by the mounting hole 301 on mounting hole 202 and connecting rod a3；Pass through
Cylindrical cavity 201 is connected with the wing 1 of flapping.
As shown in figure 9, the wing 1 of flapping includes girder 102, auxiliary beam 101 and ala 103；Flap on wing girder 102 and rocker arm 2
Mounting hole 201 be fixedly linked.Meanwhile auxiliary beam 101 is connected with overturning mean place control mechanism.
Overturning mean place control mechanism includes two symmetrical steering engines 11 and two symmetrical gear d10；Steering engine 11 hangs down
It is directly mounted on the lower section of 8 mounting hole 802 of rack, included gear is fixedly mounted on each 11 output shaft of steering engine and is engaged with gear d10；
Gear d10 is fixed by cylinder outstanding in rack 8 and rack 8；And the other end of gear d10 and the auxiliary beam 101 for the wing 1 of flapping are inclined
Heart connection；Steering engine 11 is rotated with moving gear d10, and then can change the overturning mean place for the wing 1 of flapping, the control needed
Power and control moment realize the control to the wing 1 of flapping；
A kind of microminiature of the present invention controllably overturns the link mechanism of mean place, and specific work process is as follows:
Motor exports high-speed rotation, and the gear reduction through gear c, gear b and gear a composition, which is realized, to slow down；Gear a
Rotation drive with its bias connect connecting rod c movement；The other end of connecting rod c can only be realized since the groove of rack constrains
Lower movement, while this end and the strip groove end of connecting rod b are hinged, and the middle section connecting rod b is hingedly on the rack, therefore connecting rod b
The movement at strip groove end will drive the rotation of the other end around the rotation of intermediate fixed point；The connecting rod b other end and connecting rod a are hinged, from
And connecting rod a is driven to move；One end is fixed on the rack, and connecting rod a drives rocker arm to flap；The wing of flapping is fixed on rocker arm and shakes
Arm is flapped together, generates lift and aerodynamic moment.
When the initial angle of attack of two wings of flapping in left and right is 0 degree, the resultant force of two wings of flapping in left and right straight up, does not have
Additional moment, aircraft can be realized vertical takeoff at this time；When need to aircraft realize control when, operator issue steering engine without
Line electric signal gives steering engine deflection command；After steering engine receives deflection command, steering engine exports specific angular displacement, drive with
The connected gear d of steering engine output shaft rotates specific angle；And the auxiliary beam bias for the wing of flapping is connected on gear d；Gear d rotation
After special angle, the initial position for thriving film of flapping changes；When two steering engines respectively symmetrically turn an angle, flap
The initial angle of attack also symmetry change of the wing, the also symmetry change of the mean place of the overturning of ala, at this time can through studying during flapping
Additional pitching moment is generated, can be realized the pitch control for wing mechanism of flapping；When two steering engine antisymmetry turn over certain angle
When, also antisymmetry changes the initial angle of attack for the wing of flapping, and also antisymmetry changes the mean place of the overturning of ala during flapping, warp
Research can generate additional yawing at this time, can be realized the fixed point divertical motion for wing mechanism of flapping；When two steering engines point
When not turning over different angles, the initial angle of attack for the wing of flapping changes different angle, the average bit of the overturning of ala during flapping
It sets and also changes different angle, additional yawing and rolling moment can be generated at this time by being studied, and can be realized with certain half
Diameter turning.
Claims (5)
1. the link mechanism that a kind of microminiature controllably overturns mean place, which is characterized in that including rack, rocker arm, the wing of flapping is clapped
Dynamic driving mechanism, and overturning mean place control mechanism；
Rack is integrally formed, is bilateral symmetry；A groove is equipped with right above center line, for constraining in driving mechanism of flapping
Connecting rod mechanism movement；Center line is arranged right below a biggish column type cavity, for installing the electricity in driving mechanism of flapping
Machine；Driving mechanism of flapping includes motor, gear a, gear b, gear c；Connecting rod a, connecting rod b and connecting rod c；
Specific installation are as follows: motor is cooperatively connected on the rack, and gear c, gear c meshing gear b are fixedly mounted on motor output shaft,
Gear b meshing gear a, gear a and gear b are respectively fixed on the machine frame, and gear a, gear b, gear c collectively form The gear deceleration
Mechanism；
Link mechanism includes: two symmetrical connecting rod a, a two symmetrical connecting rod b and connecting rod c；
The one end connecting rod c and gear a are hinged；The other end is mutually constrained with the groove in rack；Reserve an item in the one end each connecting rod b
Shape groove；Two symmetrical strip grooves overlap with connecting rod c, the groove that centre one rivet of perforation is fixed on the rack；
And the difference other end connect connecting rod a while each connecting rod b and hingedly fixed rack；The connecting rod a other end is as driving machine of flapping
The output end of structure is connected among rocker arm；
Totally two, rocker arm, it is respectively arranged in rack two sides；Each rocker arm both ends are hinged with rack and the wing of flapping respectively, realize by shaking
The dynamic wing movement of flapping of armband；
Flap the girder connecting rocker arm of the wing, auxiliary beam connection overturning mean place control mechanism；
Overturning mean place control mechanism includes two symmetrical steering engines and two symmetrical gear d；Steering engine is vertically mounted on machine
A gears and gears d engagement is carried below frame, on each steering engine output shaft；And one end of gear d and the auxiliary beam for the wing of flapping are solid
Fixed connection；Steering engine rotation driven gear d rotation, and then can change the overturning mean place for the wing of flapping, the control needed
Power and control moment realize the control to wing mechanism of flapping.
2. the link mechanism that a kind of microminiature as described in claim 1 controllably overturns mean place, which is characterized in that described
Rack uses resin material or polylactic acid, integrally formed by 3D printing；Groove or so is respectively symmetrically each to reserve two sizes
Different column type cavity, wherein the two larger column type cavitys adjacent with groove are used to install overturning mean place control mechanism
Steering engine；Lesser column type cavity is used to that rocker arm is fixedly mounted；Beneath trenches are provided with mounting hole and column type cavity, and mounting hole is used to solid
Fixed gear a；Meanwhile installation there are two symmetrically being opened on the horizontal line among the column type cavity and mounting hole that beneath trenches are provided with
Hole, one of mounting hole are used to fix gear b.
3. the link mechanism that a kind of microminiature as described in claim 1 controllably overturns mean place, which is characterized in that described
It is reserved on each connecting rod b that there are two mounting hole and a strip grooves；Wherein connecting rod b is cut with scissors by intermediate mounting hole and rack
Connect fixation；It is connected respectively with a connecting rod a by the mounting hole on another top；
Connecting rod a is crescent, and reserved there are two mounting holes, and have cutting inside both ends.
4. the link mechanism that a kind of microminiature as described in claim 1 controllably overturns mean place, which is characterized in that described
The wing of flapping includes girder, auxiliary beam and ala；The wing of flapping is connected by girder with the mounting hole on rocker arm.
5. the link mechanism realization for applying a kind of microminiature described in claim 1 controllably to overturn mean place controls the wing of flapping
Method, it is characterised in that:
When motor exports high-speed rotation, through gear reduction realization deceleration；The rotation of gear a drives the company connecting with its bias
Bar c movement；The other end of connecting rod c moves up and down in the groove of rack, drives the strip groove end motion of connecting rod b, due to even
Hingedly on the rack, therefore connecting rod b drives other end rotation around intermediate fixed point for the middle section bar b, so that connecting rod a be driven to transport
It is dynamic；It drives the wing of flapping to flap together through rocker arm, generates lift and aerodynamic moment；
When the initial angle of attack of two wings of flapping in left and right is 0 degree, the resultant force of two wings of flapping in left and right straight up, is not added
Torque, aircraft can be realized vertical takeoff at this time；
When needing to realize control to aircraft, operator issues steering engine radio signal, after giving steering engine deflection command, steering engine
Specific angular displacement is exported, band moving gear d rotates specific angle, the initial position for thriving film of flapping is driven to change；
When two steering engines respectively symmetrically turn an angle, the initial angle of attack also symmetry change for the wing of flapping, process of flapping wing centre section
The also symmetry change of the mean place of the overturning of film generates additional pitching moment at this time, realizes the pitch control for wing mechanism of flapping；
When two steering engine antisymmetry turn over certain angle, also antisymmetry changes the initial angle of attack for the wing of flapping, process of flapping wing centre section
Also antisymmetry changes the mean place of the overturning of film, generates additional yawing, realizes that the fixed point for wing mechanism of flapping turns to fortune
It is dynamic；
When two steering engines turn over different angles respectively, the initial angle of attack for the wing of flapping changes different angle, process of flapping wing centre section
The mean place of the overturning of film also changes different angle, generates additional yawing and rolling moment, realizes with certain radius
Turning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106432.4A CN106864750B (en) | 2017-02-27 | 2017-02-27 | A kind of microminiature controllably overturns the link mechanism of mean place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106432.4A CN106864750B (en) | 2017-02-27 | 2017-02-27 | A kind of microminiature controllably overturns the link mechanism of mean place |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106864750A CN106864750A (en) | 2017-06-20 |
| CN106864750B true CN106864750B (en) | 2019-04-26 |
Family
ID=59167815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106432.4A Active CN106864750B (en) | 2017-02-27 | 2017-02-27 | A kind of microminiature controllably overturns the link mechanism of mean place |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106864750B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606675A (en) * | 2018-12-21 | 2019-04-12 | 北京航空航天大学 | A kind of bionic flying micro-robot based on single crank double rocker mechanism |
| CN112009681B (en) * | 2020-08-05 | 2022-03-11 | 北京航空航天大学 | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof |
| CN112298552B (en) * | 2020-08-06 | 2022-08-12 | 北京航空航天大学 | Miniature double-flapping-wing aircraft capable of being controlled by autonomous stability augmentation and control moment generation method thereof |
| CN112009682B (en) * | 2020-08-06 | 2022-01-25 | 北京航空航天大学 | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2540040C1 (en) * | 2013-07-30 | 2015-01-27 | Василий Дмитриевич Поспелов | Aircraft with flapping wings (beetle craft) |
| CN105857598A (en) * | 2016-04-25 | 2016-08-17 | 北京航空航天大学 | Wing-flapping micro aerial vehicle structure |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
| CN106167095A (en) * | 2016-07-18 | 2016-11-30 | 上海交通大学 | A kind of high frequency flapping wing Bionic insect flight device with anti-dislocation mechanism |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
-
2017
- 2017-02-27 CN CN201710106432.4A patent/CN106864750B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2540040C1 (en) * | 2013-07-30 | 2015-01-27 | Василий Дмитриевич Поспелов | Aircraft with flapping wings (beetle craft) |
| CN105857598A (en) * | 2016-04-25 | 2016-08-17 | 北京航空航天大学 | Wing-flapping micro aerial vehicle structure |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
| CN106167095A (en) * | 2016-07-18 | 2016-11-30 | 上海交通大学 | A kind of high frequency flapping wing Bionic insect flight device with anti-dislocation mechanism |
| CN106379532A (en) * | 2016-09-23 | 2017-02-08 | 北京航空航天大学 | Flapping-wing flapping angle changing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106864750A (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106864750B (en) | A kind of microminiature controllably overturns the link mechanism of mean place | |
| CN106945833B (en) | A kind of microminiature multiple wing bionic flapping-wing flying vehicle | |
| CN100430297C (en) | Driving mechanism for wings of minitype ornithopter | |
| CN108945430A (en) | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold | |
| CN109131865A (en) | Recoverable and extensible flying rotor system | |
| CN104229138B (en) | Split differential tail wing control mechanism of flapping-wing micro air vehicle | |
| US6824094B2 (en) | Power assembly for ornicopter | |
| CN108438220A (en) | A kind of multiple degrees of freedom imitates dragonfly flapping wing aircraft and its control method | |
| CN110104175A (en) | A kind of coaxial reversed pair is flutterred rotor mechanism | |
| CN102390530A (en) | Micromechanical controllable flapping rotary wing aircraft and manufacturing method as well as control method thereof | |
| CN110065630A (en) | A kind of bionic flapping-wing flying robot | |
| CN201354146Y (en) | Flapping mechanism of mechanical bird | |
| CN106828922B (en) | A kind of position control mechanism that imitative insect wing is flapped | |
| CN108528692A (en) | A kind of folded wing double-rotor aerobat and its control method | |
| CN108298075B (en) | Flapping wing aircraft capable of hovering and control method thereof | |
| CN208036606U (en) | A kind of imitative dragonfly flapping wing aircraft of multiple degrees of freedom | |
| CN211033009U (en) | Small coaxial dual-rotor unmanned aerial vehicle | |
| CN110466757B (en) | Driving method of bionic flapping wing driving mechanism with active torsion and folding functions | |
| CN105857598A (en) | Wing-flapping micro aerial vehicle structure | |
| CN201354147Y (en) | Mechanical bird | |
| CN109911185A (en) | A kind of high speed single rotor helicopter without tail surface | |
| CN113415115A (en) | Aerocar wing and rotor hybrid retraction system and aerocar | |
| CN106864749B (en) | A kind of miniature rotor aircraft of flapping of variable deceleration ratio | |
| CN2889427Y (en) | Steering mechanism for model helicopter | |
| CN107336827A (en) | A kind of linkage hollow out wing suitable for flapping wing aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170620 Assignee: Beijing Hangyuan ruizeng System Technology Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021110000003 Denomination of invention: A microminiature linkage mechanism with controllable turning average position Granted publication date: 20190426 License type: Common License Record date: 20210121 |