CN108275269A - A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula - Google Patents
A kind of imitative bird flapping flight device of line wheel amplitude modulation wound membrane formula Download PDFInfo
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- CN108275269A CN108275269A CN201810068275.7A CN201810068275A CN108275269A CN 108275269 A CN108275269 A CN 108275269A CN 201810068275 A CN201810068275 A CN 201810068275A CN 108275269 A CN108275269 A CN 108275269A
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- line wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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Abstract
The invention discloses a kind of line wheel amplitude modulation wound membrane formulas to imitate bird flapping flight device, belong to imitative bird robot field, including pedestal and it is symmetrically distributed in the left flapping wing of pedestal both sides, right flapping wing, the middle of the base is equipped with line wheel, line wheel is driven by a linear motor, and is transferred to line wheel by rack, gear, and one end of left draught line and right draught line is fixedly connected in line wheel, its other end is respectively fixedly connected with left wing's bar, right flank bar, and the swing of left wing bar, right flank bar is driven by the rotation of line wheel.Left wing's bar, right flank bar are respectively fixedly connected with left flapping wing, right flapping wing, and left flapping wing, right flapping wing use micromotor and small extension spring collective effect, pull open or roll ala, so that realization is gone for a drive or air draft.The configuration of the present invention is simple, movement is reliable, work efficiency is high, is particularly suitable for the flight of flapping wing robot under the environment such as strong wind, high wind.
Description
Technical field
The present invention relates to robot flapping wing field, specifically a kind of line wheel amplitude modulation wound membrane formula imitates bird flapping flight dress
It sets.
Background technology
High-altitude flight may be implemented by patting wing in the birds of nature.During patting wing, assistant can open
Or be closed, to carry out air draft or go for a drive, to reduce resistance, generate larger lift and thrust.Bird-imitating ornithopter device people is often
Imitate what birds flew, existing major part Bird-imitating ornithopter device people is carried out using toggle, crank gear mechanism
Transmission, said mechanism is relatively simple, but often there is certain impact in transmission process, and parts are easier to occur in addition
Abrasion, it is therefore desirable to propose a kind of device for capableing of absorbing.In addition existing most of flapping wing does not fully consider air draft, goes for a drive
Principle, therefore generate resistance it is larger, power receives larger limitation, and flight efficiency is not high.
Based on this, this case application is proposed.
Invention content
The present invention provides a kind of line wheel amplitude modulation wound membrane formulas to imitate bird flapping flight device, using line wheel drive draught line to
So that flapping wing is swung, line can absorb impact caused by motor, thus flapping wing can continuous vibrationless swing, micromotor
Ala folding and unfolding is driven with small extension spring collective effect, and then realizes air draft and goes for a drive.
To achieve the above object, the technical solution adopted by the present invention is：A kind of imitative bird flapping flight of line wheel amplitude modulation wound membrane formula
Device, including pedestal and it is symmetrically distributed in the left flapping wing of pedestal both sides, right flapping wing, the middle of the base is fixed with line wheel pinion stand, line
Rotation is equipped with line wheel and gear on gear teeth wheel seat, and line wheel and gear are rotated and be fixed on line wheel gear shaft, is equipped with below gear
Coordinate the rack of transmission with it, the rack is fixedly connected with the linear motor being fixed on the base, and is driven by linear motor.
Lateral right difference is equipped with symmetrical and the identical left chain wheel seat of structure, left branch successively to left and right in the left side of the line wheel
Support seat, Zola's spring and right pulley seat, right support seat, right tension spring；The top rotation of left chain wheel seat is equipped with left chain wheel.In left support seat
Equipped with left rotation seat, the middle right side of left rotation seat and left wing's bar is rotatably connected, and the one of left side connection Zola's spring of left wing's bar
End, the other end of Zola's spring are fixedly connected with the Zola's spring abutment being fixed on the base, and the left end end of left wing's bar and left flapping wing are solid
Fixed connection.
The top of the right pulley seat is equipped with right pulley.Right support seat is equipped with right rotation seat, right rotation seat and right flank bar
Left pivot movement be fixedly connected, the right side of right flank bar connects one end of right tension spring, and the other end of right tension spring is fixed on and is fixed on
Right spring base on pedestal is fixedly connected, and the right end end of right flank bar is fixedly connected with right flapping wing.Groove one is offered in line wheel
With groove two, be respectively fixed with right draught line, left draught line, left draught line, right draught line bypass respectively left chain wheel, right pulley with
The right end of left wing's bar, the left end of right flank bar are fixedly linked.
The left flapping wing, right flapping wing structure are identical, including outer framework, ala, film cylinder and micromotor, the right side of outer framework
Or left side is fixed on left wing's bar or right flank bar.The front and rear sides of outer framework is equipped with " Contraband " shape sliding slot, and the sliding of film cylinder is located at two
Between sliding slot.The both ends of film cylinder are equipped with bearing, and bearing side is equipped with the left or right side of small extension spring connection outer framework.With small drawing
Spring it is opposite the outer framework other side rotation be equipped with film cylinder roll disposed in parallel, the end of roll either end is coaxially fixed
There are micro electric engine base, micro electric engine base to be fixed on outer framework.End of the roll on the inside of outer framework respectively sets one of coiling
It is equipped with bracing wire between slot, winding slot and bearing corresponding to it to connect, bracing wire one end is fixed in winding slot, and the other end is fixed on
The offside of bearing side wall connect with small extension spring.Ala is laid between film cylinder, roll, and left and right ends are individually fixed in film
On cylinder or roll.The ala, bracing wire all have stronger toughness and intensity.
The present invention is further arranged to：Multiple holes or multiple slots are offered on the pedestal.
The present invention is further arranged to：The left support seat, right support seat, left chain wheel seat, right pulley seat are " returning " word
Shape structure.
The present invention is further arranged to：The line wheel pinion stand is U-shaped structure.
The present invention is further arranged to：The line wheel is symmetrical spoke architecture.
The present invention is further arranged to：U-shaped branch before the left support seat and the front and rear sides of right support seat are respectively equipped with
Frame, rear U-bracket are fixed.
The present invention is further arranged to：The left draught line, right draught line are fixed on the symmetrical both sides of line wheel, left traction
The equal length of line, right draught line, and be enough to realize the swing of flapping wing.
The present invention is further arranged to：Left wing's bar or right flank bar are equipped with hook with bracing wire junction and connect.
The present invention is further arranged to：Near left wing's bar and left draught line junction, right flank bar and right draught line
The attachment of junction is respectively equipped with left velocity sensor, right velocity sensor.
The present invention is further arranged to：The roll other end is fixed with the weight counterweight equal with micromotor.
The present invention is further arranged to：The bearing at film cylinder both ends is slidably set to the sliding slot of outer framework front and rear sides
In.
Beneficial effects of the present invention：One, the present invention drives left draught line, the right side to lead using linear motor driving line wheel rotation
Lead it is elastic, to drive with left draught line, right draught line link left wing's bar, right flank bar swing up and down, and then realization flutter
The action of fluttering of the wing.The present invention is driven using traction cable architecture, effectively prevents influence of the vibratory impulse to flapping wing, to
So that entire movement is more steady.
Two, the minitype motor driving roll rotation in flapping wing of the present invention, to wind or open ala, so as to air draft or
It goes for a drive.Specifically, when flapping wing is swung up, ala is wound up on film cylinder, and the ventilation opening between film cylinder and outer framework is beaten
It opens, makes above flapping wing, the air circulation of lower section, to reduce resistance when flapping wing is swung up；When flapping wing is to lower swing, the wing
Film is opened from film cylinder, and the area that ala covers outer framework increases, and the ventilation opening between film cylinder and outer framework is closed, flapping wing to
The lift being subject to when lower swing increases, to greatly improve the flying quality of flapping wing robot.
Three, flapping wing mechanism of the present invention is full symmetric, is advantageously implemented the balance of power, so as to smooth flight, and in flapping-wing aircraft
The front and rear sides of structure adds preceding U-bracket, rear U-bracket, to improve the rigidity of the device, increases the stability of flapping flight.
Description of the drawings
Fig. 1 is the overall structure diagram of the specific embodiment of the invention.
Fig. 2 is the back portion structural schematic diagram of the specific embodiment of the invention.
Fig. 3 is the flapping wing structural schematic diagram of the specific embodiment of the invention.
Fig. 4 is the partial enlarged view of specific embodiment of the invention Fig. 1.
Fig. 5 is another partial enlarged view of specific embodiment of the invention Fig. 1
Fig. 6 is the bottom state diagram of the specific embodiment of the invention.
Fig. 7 is the upper pendulum state diagram of the specific embodiment of the invention.
Wherein：1-left flapping wing, 11-outer frameworks, 12-small extension springs, 13-film cylinders, 13a-bearing, 14-alas, 15-
Bracing wire, 16-rolls, 16a-wire casing, 17-micromotors, 18-micro electric engine bases, 19-counterweights, 2-right flapping wings, 3-
Preceding U-bracket, 4-pedestals, 41-Zola's springs, 41a-Zola's spring abutment, 42-left support seats, 42a-left wing's bar, 42b-left-hand rotation
Dynamic seat, the left velocity sensors of 42c-, 43-left chain wheel seats, 43a-left chain wheel, 44-right pulley seats, 44a-right pulley, 45-
Right support seat, 45a-right flank bar, the right rotation seats of 45b-, the right velocity sensors of 45c-, 46-right tension springs, the right tension springs of 46a-
Seat, 51-line wheels, 51a-line wheel pinion stand, 51b-line wheel gear shaft, 52-grooves one, the left draught lines of 52a-, 53-grooves
The right draught lines of two, 53a-, 54-gears, 55-racks, 6-linear motors, 7-rear U-brackets.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
As shown in Figure 1, a kind of 51 amplitude modulation wound membrane formula of line wheel imitates bird flapping flight device, including pedestal 4, left flapping wing 1, the right side are flutterred
The wing 2, left flapping wing 1, right flapping wing 2 are symmetrically distributed in 4 both sides of pedestal, and left flapping wing 1, right flapping wing 2 and pedestal 4 pass through left wing's bar respectively
42a, the 45a connections of right flank bar.Multiple holes or multiple slots are offered on pedestal 4, are fixedly arranged in the middle of 51 gear of line wheel 54, line wheel
It is equipped with left chain wheel 43a seats 43, left support seat 42, Zola spring abutment 41a, 51 gear of line wheel 54 on the left of 51 gears 54 successively to the left
Right side is equipped with to the right right pulley 44a seats 44, right support seat 45, right spring base 46a successively.51 gear of line wheel 54 is U-shaped structure.
Left support seat 42, right support seat 45, left chain wheel 43a seats 43, right pulley 44a seats 44 are " returning " character form structure.Left chain wheel 43a
43 it is identical as right spring base 46a structures as right support seat 45, Zola's spring abutment 41a as right pulley 44a seats 44, left support seat 42 and point
It is not symmetrically distributed in the both sides of 51 gear of line wheel 54.51 gear of line wheel 54 is upper to be rotatably equipped with line wheel 51, and line wheel 51 is pair
The spoke architecture of title.
Left chain wheel 43a seats 43, right pulley 44a seats 44 top be respectively equipped with left chain wheel 43a, right pulley 44a, left support seat
42 are respectively equipped with left rotation seat 42b, right rotation seat 45b with the top of right support seat 45.As shown in Fig. 2, left wing bar 42a, right flank
The middle part of bar 45a is rotatably set on left rotation seat 42b, right rotation seat 45b respectively, and left wing bar 42a and left chain wheel 43a
43, right flank bar 45a and the junction of right pulley 44a seats 44 are nearby respectively equipped with left velocity sensor 42c, right velocity sensor
45c, to detect direction and the size of flapping wing swing speed.Before left support seat 42, the front and rear sides of right support seat 45 are respectively equipped with
U-bracket 3, rear U-bracket 7 are fixed.
Such as Fig. 2 is simultaneously combined shown in Fig. 5, and line wheel 51 is equipped with groove 1, groove 2 53, is respectively fixed with left draught line
52a, right draught line 53a.Left draught line 52a, right draught line 53a are fixed on 51 symmetrical both sides of line wheel, and left draught line 52a's is another
One end is laid out from 51 bottom of line wheel, and the right end with left wing bar 42a after around left chain wheel 43a is fixedly linked, right draught line 53a's
The other end is laid out from 51 top of line wheel, and the left end with right flank bar 45a after around right pulley 44a is fixedly linked.Left wing bar 42a's
Left end is fixed with 1 phase of left flapping wing, and right end and 2 phase of right flapping wing of right flank bar 45a are fixed.One end of Zola's spring 41 is fixed on Zola's spring
On seat 41a, the other end is fixed on left wing bar 42a.One end of right tension spring 46 is fixed on right spring base 46a, and the other end is fixed
In on right flank bar 45a.Left wing bar 42a and the junction of Zola's spring 41 or right flank bar 45a and right tension spring 46 are equipped with hook for connecting
It connects, left wing bar 42a or right flank bar 45a is also equipped with hook connection with 15 junction of bracing wire.
As shown in Fig. 2, the pedestal 4 of 51 gear of line wheel, 54 rear sides is equipped with linear motor 6, linear motor 6 connects rack
55, the gear 54 on rack 55 and 51 gear of line wheel 54 is meshed.When the axis of linear motor 6 stretches out, rack 55 is with moving gear
54 rotations, line wheel 51 follow rotation, tighten left draught line 52a, right draught line 53a；When the axis of linear motor 6 is retracted, line wheel 51
Left draught line 52a, right draught line 53a are unclamped in rotation.
In conjunction with shown in Fig. 3, the left flapping wing 1 of the present embodiment, 2 structure of right flapping wing are identical and arranged symmetrically, include outer framework 11,
11 right side of outer framework of ala 14, film cylinder 13 and micromotor 17, left flapping wing 1 is fixed with left wing bar 42a, the outline border of right flapping wing 2
11 left side of frame is fixed with right flank bar 45a.Outer framework 11 is " Contraband " shape structure, and the forward and backward inside of outer framework 11 is equipped with " Contraband " shape
Sliding slot, 13 both ends of film cylinder are respectively provided with a bearing 13a, and bearing 13a is slidably set in sliding slot, and the sliding of film cylinder 13 is made to be located at two
Between sliding slot and it can slidably reciprocate.The bearing 13a at 13 both ends of film cylinder sets with the both ends of outer framework 11 and is connect there are two tension spring.Outside
The left or right side rotation of frame 11 is equipped with the roll 16 parallel with film cylinder 13.Micromotor 17 is fixed on 16 one end of roll
End and coaxially setting, the other end of roll 16 are equipped with the counterweight 19 with 17 same or similar weight of micromotor, with
Realize the balance of roll 16.
As shown in figure 4, the both ends end of roll 16 respectively sets one of winding slot 16a, the bearing 13a at 13 both ends of film cylinder with around
Bracing wire 15 is equipped between wire casing 16a, 15 one end of bracing wire is fixed and wound in winding slot 16a, and the other end is by tying up or knotting
Or it is fixed on the arc ring of the left or right sides bearing 13a protrusion of 13 one end of film cylinder corresponding to winding slot 16a by hook.
Ala 14 is laid between film cylinder 13 and roll 16, and left and right ends are individually fixed on film cylinder 13 or roll 16, ala
14 width are less than the width between two small extension springs.Motor drives roll 16 to rotate, effect of the film cylinder 13 in bracing wire 15 and tension spring
Ala 14 is unfolded or is packed up by lower rotation, i.e., when film 13 inside Slideslip of cylinder open ventilation opening ventilation, when film cylinder 13 outward
Ventilation opening is closed when sliding, flapping wing goes for a drive.
In the present embodiment, film cylinder 13 includes film axis and roller, and film axis is arranged in centre of the drum, tension spring and 15 equal winding of bracing wire
It is fixed on film axis or is fixed on film axis by hanging hole or hook, ala 14 is fixed on roller；Bearing 13a is fixed on film axis
On.
Such as Fig. 6 is simultaneously combined shown in Fig. 3, and when flapping wing is swung up, linear motor 6 drives line wheel 51 to tighten left draught line
52a, right draught line 53a, left wing bar 42a, right flank bar 45a free end（Left wing bar 42a, right flank bar 45a respectively with left draught line
52a, right draught line 53a connections one end be free end）Be pulled down, left wing bar 42a, right flank bar 45a respectively with left support seat 42,
Right support seat 45 be center of rotation rotation, left wing bar 42a, right flank bar 45a fixing end（Left wing bar 42a, right flank bar 45a difference
The one end being connect with left flapping wing 1, right flapping wing 2 is fixing end）And left flapping wing 1, right flapping wing 2 lift, left flapping wing 1, right flapping wing 2 are upward
It swings.Meanwhile micromotor 17 drives roll 16 to rotate take-up, the bracing wire 15 at 16 both ends of roll is quickly wrapped in roll
In 16 wire casing 16a, to pull bearing 13a to be translated to 16 side of roll, film cylinder 13 follows bearing 13a to translate fortune together
It is dynamic, and film cylinder 13 winds ala 14 under force, the distance between film cylinder 13 and roll 16 reduce, and ventilation opening is quickly beaten
It opens, small extension spring, Zola's spring 41, right tension spring 46 are in tensioning state, the air-flow between left flapping wing 1,2 upper and lower of right flapping wing at this time
Mutually circulation, to the resistance for reducing left flapping wing 1, putting on right flapping wing 2.
As shown in fig. 7, when flapping wing is to lower swing, linear motor 6 drives line wheel 51 to unclamp left draught line 52a, right traction
Line 53a, left wing bar 42a, right flank bar 45a fixing end Zola's spring 41, right tension spring 46 pulling force effect under flutter to lower swing, a left side
The wing 1 is with right flapping wing 2 to lower swing, the free end tilting of left wing bar 42a, right flank bar 45a.In left flapping wing 1,2 bottom of right flapping wing
While, 17 quick rotation of micromotor drive roll 16 rotate unwrapping wire, bearing 13a under small extension spring pulling force effect outward
It is mobile, so that the expansion of ala 14 is covered ventilation opening, ventilation opening quick disappearance, left flapping wing 1, right flapping wing 2 upper and lower between gas
Stream is blocked, to go for a drive to increase resistance, to effectively promoted lift suffered when left flapping wing 1, right 2 bottom of flapping wing with
Thrust.
In the present embodiment, for ease of display, the suitably reduction of left flapping wing 1, right flapping wing 2 is made into left flapping wing 1, right flapping wing 2 and bottom
4 sizes of seat are close.
In the present embodiment, roll 16 can also be set to flapping wing outer fix, at this time when film cylinder 13 slides in and out, ventilation opening
It opens, flapping wing carries out air draft；When film 13 slid inward of cylinder, ventilation opening is closed, and flapping wing goes for a drive.
In conclusion the present invention linear motor 6, Zola's spring 41, right tension spring 46 collective effect under, pass through left draught line
52a, right draught line 53a pull left wing bar 42a, the 45a rotations of right flank bar；Ala 14 is rolled or opened using film cylinder 13, to real
The now ventilation on flapping wing when pendulum, the bottom is gone for a drive.The configuration of the present invention is simple, movement is reliable, work efficiency is high, particularly suitable strong wind,
The flight of flapping wing robot under the environment such as high wind.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, all things considered are all merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (11)
1. a kind of line wheel amplitude modulation wound membrane formula imitates bird flapping flight device, including pedestal is flutterred with the left side for being symmetrically distributed in pedestal both sides
The wing, right flapping wing, it is characterised in that：The middle of the base is fixed with line wheel pinion stand, is rotated on line wheel pinion stand and is equipped with line wheel and gear,
Line wheel and gear are fixed on by the rotation of line wheel gear shaft on line wheel pinion stand, and the tooth for coordinating transmission with it is equipped with below gear
Item, the rack is fixedly connected with the linear motor being fixed on the base, and is driven by linear motor；The left side of the line wheel to
Left and right side is equipped with to the right symmetrical and the identical left chain wheel seat of structure, left support seat, Zola's spring and right pulley seat, the right side successively respectively
Support base, right tension spring；The top rotation of left chain wheel seat is equipped with left chain wheel；Left support seat be equipped with left rotation seat, left rotation seat with
The middle right side of left wing's bar is rotatably connected, one end of left side connection Zola's spring of left wing's bar, the other end of Zola's spring and fixation
Zola's spring abutment on pedestal is fixedly connected, and the left end end of left wing's bar is fixedly connected with left flapping wing；The right pulley seat it is upper
Portion is equipped with right pulley；Right support seat is equipped with right rotation seat, and right rotation seat is fixedly connected with the left pivot movement of right flank bar, right flank bar
Right side connect one end of right tension spring, the other end of right tension spring is fixed on to be fixedly connected with the right spring base being fixed on the base,
The right end end of right flank bar is fixedly connected with right flapping wing；Groove one and groove two are offered in line wheel, are respectively fixed with right traction
Line, left draught line, left draught line, right draught line bypass the left end of left chain wheel, the right end of right pulley and left wing's bar, right flank bar respectively
It is fixedly linked；The left flapping wing, right flapping wing structure are identical, including outer framework, ala, film cylinder and micromotor, the right side of outer framework
Side or left side are fixed on left wing's bar or right flank bar；The front and rear sides of outer framework is equipped with " Contraband " shape sliding slot, and the sliding of film cylinder is located at
Between two sliding slots；The both ends of film cylinder are equipped with bearing, and bearing side is equipped with the left or right side of small extension spring connection outer framework；With it is small
The opposite outer framework other side rotation of tension spring is equipped with coaxially consolidates with film cylinder roll disposed in parallel, the end of roll either end
There are micro electric engine base, micro electric engine base to be fixed on outer framework surely；End of the roll on the inside of outer framework respectively set together around
It is equipped with bracing wire between wire casing, winding slot and bearing corresponding to it to connect, bracing wire one end is fixed in winding slot, and the other end is fixed
In the offside of bearing side wall connect with small extension spring；Ala is laid between film cylinder, roll, and left and right ends are individually fixed in
On film cylinder or roll.
2. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The bottom
Multiple holes or multiple slots are offered on seat.
3. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The left side
Support base, right support seat, left chain wheel seat, right pulley seat are " returning " character form structure.
4. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The line
Gear teeth wheel seat is U-shaped structure.
5. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The line
Wheel is symmetrical spoke architecture.
6. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The left side
The front and rear sides of support base and right support seat is respectively equipped with preceding U-bracket, rear U-bracket is fixed.
7. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
Left draught line, right draught line are fixed on the symmetrical both sides of line wheel, left draught line, right draught line equal length.
8. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The left side
Wing bar or right flank bar are equipped with hook with bracing wire junction and connect.
9. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：The left side
Be respectively equipped near wing bar and left draught line junction, near right flank bar and right draught line junction left velocity sensor,
Right velocity sensor.
10. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
The roll other end is fixed with the weight counterweight equal with micromotor.
11. a kind of line wheel amplitude modulation wound membrane formula according to claim 1 imitates bird flapping flight device, it is characterised in that：It is described
The bearing at film cylinder both ends is slidably set in the sliding slot of outer framework front and rear sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068275.7A CN108275269B (en) | 2018-01-24 | 2018-01-24 | Reel amplitude-adjusting film-rolling type bird-flapping-wing-imitating flying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068275.7A CN108275269B (en) | 2018-01-24 | 2018-01-24 | Reel amplitude-adjusting film-rolling type bird-flapping-wing-imitating flying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108275269A true CN108275269A (en) | 2018-07-13 |
| CN108275269B CN108275269B (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810068275.7A Active CN108275269B (en) | 2018-01-24 | 2018-01-24 | Reel amplitude-adjusting film-rolling type bird-flapping-wing-imitating flying device |
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| CN (1) | CN108275269B (en) |
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| CN109018338B (en) * | 2018-07-23 | 2021-10-15 | 黄永胜 | Bionic flapping wing flight mechanism and aircraft |
| CN113212749A (en) * | 2021-07-08 | 2021-08-06 | 北京科技大学 | Bionic butterfly flapping wing aircraft and stay-supported steering mechanism thereof |
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| US11613351B2 (en) | 2021-07-08 | 2023-03-28 | University Of Science And Technology Beijing | Butterfly-inspired flapping-wing aerial robot and pull cord type turning mechanism thereof |
| CN113911346A (en) * | 2021-11-17 | 2022-01-11 | 江苏第二师范学院（江苏省教育科学研究院） | Variable windward area variable inclination angle driving energy adjustable continuous winged device |
| CN113911353A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Four-synchronous parallelogram transmission roller shutter rotary wing unmanned aerial vehicle |
| CN113911351A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Automatic curtain-pulling type driving energy-adjustable continuous rotating wing device |
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| CN113911338A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Automatic curtain-drawing driving energy-adjustable high-efficiency flying flapping wing device |
| CN113911347A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Parallelogram transmission rolling curtain type high-efficiency flying flapping wing device |
| CN113911352A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Four-synchronous belt transmission roller shutter rotary wing unmanned aerial vehicle |
| CN113911350A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Synchronous belt drive rolling curtain continuous rotary wing device |
| CN113911354A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Six-curtain driving energy-adjustable rotary wing aircraft |
| CN113911348A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Synchronous belt transmission rolling curtain type high-efficiency flight flapping wing device |
| CN113911335A (en) * | 2021-11-17 | 2022-01-11 | 苏州高博软件技术职业学院 | Two-curtain driving energy-adjustable rotary wing aircraft with fixed wings |
| CN113830298A (en) * | 2021-11-17 | 2021-12-24 | 苏州高博软件技术职业学院 | Parallelogram transmission rolling curtain continuous rotary wing device |
| CN116443248A (en) * | 2023-06-09 | 2023-07-18 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
| CN116443248B (en) * | 2023-06-09 | 2023-09-26 | 上海海事大学 | Insect-imitating flapping wing mechanism based on folding-opening mechanism and flapping wing machine |
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