CN108945433B - Three-dimensional flapping wing driving mechanism based on cross-shaft hinge and conical rocker arm - Google Patents
Three-dimensional flapping wing driving mechanism based on cross-shaft hinge and conical rocker arm Download PDFInfo
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- CN108945433B CN108945433B CN201810814396.1A CN201810814396A CN108945433B CN 108945433 B CN108945433 B CN 108945433B CN 201810814396 A CN201810814396 A CN 201810814396A CN 108945433 B CN108945433 B CN 108945433B
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Abstract
The invention provides a three-dimensional flapping wing driving mechanism based on a cross-shaft hinge and a conical rocker arm, which comprises a rack (1), a flapping driving mechanism (2) and an amplitude-variable sweeping servo mechanism (3); the flapping driving mechanism (2) comprises a flapping motor, a left flapping driving unit and a right flapping driving unit which are linked with an output shaft of the flapping motor and are symmetrically arranged; the left flapping driving unit and the right flapping driving unit have the same structure and both comprise: gear reducer, circular cone sleeve rocking arm (2.4) and cross flapping axle (2.5). Has the advantages that: the invention provides a three-dimensional flapping wing driving mechanism based on a cross shaft hinge and a conical rocker arm, which can realize complex motions of birds such as sweeping, amplitude changing, flapping and the like by a simpler structure, has higher structural efficiency and higher output power, is high in reliability and long in service life, and is suitable for being applied to a micro flapping wing aircraft.
Description
Technical Field
The invention belongs to the technical field of design of driving mechanisms of flapping wing aircrafts, and particularly relates to a three-dimensional flapping wing driving mechanism based on a cross-shaped shaft hinge and a conical rocker arm.
Background
The miniature flapping wing aircraft is a new concept aircraft simulating bird flight, and has the advantages of small volume, light weight, flexibility, high efficiency and the like. Because the lifting force and the thrust of the flapping wing aircraft are provided by the flapping motion of the flapping wings, the flapping wings are driven to ensure that the flapping wing aircraft obtains good aerodynamic efficiency, and meanwhile, the flapping wing aircraft has higher reliability and good load characteristic and becomes a key link in the development process of the miniature flapping wing aircraft.
The prior flapping wing driving mechanism mainly comprises the following technical approaches:
chinese patent No. CN201354146Y, entitled flapping mechanism for mechanical birds, discloses a flapping device with three degrees of freedom for simulating flying birds to fly. The device adopts three motors to respectively drive the crank rocker mechanism, the gear ring mechanism and the gear set to realize three-degree-of-freedom motion of flapping, twisting and swinging for simulating flying bird wing spreading flight. The disadvantages are as follows: the whole mechanism is controlled by three independent motors, redundant waste weight is brought to the aircraft, three independent systems are in a series connection relationship in control, the reliability is low, the composition of the mechanism is complex, the weight and the miniaturization are difficult, and the application of the mechanism on a miniature flapping wing aircraft is limited.
The invention patent of Chinese patent No. CN101508343A, entitled bionic micro aircraft with flapping wing track in 8 shape, provides a single-degree-of-freedom four-link flapping wing driving mechanism, which drives a crank link mechanism to drive the flapping wing to flap up and down through a two-stage gear reducer, and realizes the flapping of flapping wing track in 8 shape by virtue of the elastic deformation capability of the flapping wing and the aerodynamic characteristics generated by specific flapping frequency. The disadvantages are as follows: the required motion mode can be generated only under specific frequency by utilizing elastic deformation, the flexibility is lacked, the adaptability to the air flow change is insufficient, and the response to the frequency change is difficult to predict.
In summary, the main problems of the conventional flapping wing driving mechanism are as follows: the structure is complex, the weight is large, the application to a microminiature flapping wing aircraft is difficult, the simulation degree of a bird flapping mode is not enough, the realization of the flapping mode lacks effective means, and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a three-dimensional flapping wing driving mechanism based on a cross-shaped shaft hinge and a conical rocker arm, which can effectively solve the problems.
The technical scheme adopted by the invention is as follows:
the invention provides a three-dimensional flapping wing driving mechanism based on a cross-shaft hinge and a conical rocker arm, which comprises a rack (1), a flapping driving mechanism (2) and an amplitude-variable sweeping servo mechanism (3);
the left flapping wing (4) and the right flapping wing (5) are symmetrically arranged on the left side and the right side of the rack (1); the flapping driving mechanism (2) comprises a flapping motor, a left flapping driving unit and a right flapping driving unit which are linked with an output shaft of the flapping motor and are symmetrically arranged; the output end of the left flapping driving unit is connected with the left flapping wing (4), and the output end of the right flapping driving unit is connected with the right flapping wing (5); the flapping motor drives the left flapping driving unit and the right flapping driving unit to act simultaneously, so that the left flapping wing (4) and the right flapping wing (5) are driven to flap simultaneously;
wherein, left side flapping drive unit with right side flapping drive unit's structure is the same, all includes: the gear reducer, the conical sleeve rocker arm (2.4) and the cross flapping shaft (2.5); the gear reducer is arranged on the rack (1) and is directly connected with the flapping motor; the cross flapping axis (2.5) comprises a flapping long axis (2.5.1) and a flapping short axis (2.5.2) which are arranged in a cross shape; the conical sleeve rocker arm (2.4) is a rocker arm with the length capable of being adjusted in a self-adaptive manner; one end of the conical sleeve rocker arm (2.4) is hinged with an eccentric shaft hole of a final-stage gear of the gear reducer, the other end of the conical sleeve rocker arm (2.4) is provided with an upper chuck and a lower chuck, and the upper chuck and the lower chuck are respectively hinged with the upper end and the lower end of the flapping short shaft (2.5.2); meanwhile, two ends of the flapping short shaft (2.5.2) are hinged with the wing root of the flapping wing and are used as a flapping shaft for flapping of the flapping wing; when the flapping motor drives the gear reducer to rotate, the track of the conical sleeve rocker arm (2.4) in the space forms a conical surface through the rotating motion, wherein the conical vertex angle of the conical surface is the position of the flapping short shaft (2.5.2), and the rotating motion is converted into the up-and-down flapping motion of the flapping short shaft (2.5.2); when the flapping short shaft (2.5.2) does up-and-down flapping motion, the flapping wing is driven to do up-and-down flapping motion;
the variable amplitude sweeping servo mechanism (3) comprises a left variable amplitude sweeping servo unit and a right variable amplitude sweeping servo unit which are symmetrically arranged at the left side and the right side of the rack (1); a front amplitude-variable sweeping servo motor and a rear amplitude-variable sweeping servo motor are arranged in the middle of the rack (1); the output end of the left amplitude-variable sweeping servo unit is connected with the left flapping wing (4), and the output end of the right amplitude-variable sweeping servo unit is connected with the right flapping wing (5); the left amplitude-variable sweeping servo unit and the right amplitude-variable sweeping servo unit respectively comprise a front amplitude-variable sweeping servo device (3.1) and a rear amplitude-variable sweeping servo device (3.2) which are symmetrically arranged at the front side and the rear side of the flapping long shaft (2.5.1);
the front amplitude-variable sweeping servo motor is used for driving the front amplitude-variable sweeping servo devices (3.1) on the left side and the right side to act, and further changing the distance between the front end of the cross flapping shaft (2.5) and the rack (1); the rear amplitude-variable sweeping servo motor is used for driving rear amplitude-variable sweeping servo devices (3.2) on the left side and the right side to act, and further changing the distance between the rear end of the cross flapping shaft (2.5) and the rack (1);
when the front end and the rear end of the cross flapping shaft (2.5) simultaneously perform linear motion in the direction away from the rack (1), the cone vertex angle of the motion track of the conical sleeve rocker arm (2.4) is reduced, and the flapping amplitude of the wing is reduced; when the front end and the rear end of the cross flapping shaft (2.5) simultaneously perform linear motion in the direction close to the rack (1), the cone vertex angle of the motion track of the conical sleeve rocker arm (2.4) is increased, and the flapping amplitude of the wing is increased; when the front end and the rear end of the cross flapping shaft (2.5) are acted with acting forces in opposite directions, namely the front mechanism and the rear mechanism are controlled in a differential mode, at the moment, the cross flapping shaft (2.5) rotates along the horizontal plane and is not parallel to the axis of the fuselage, at the moment, the sweep angle of the flapping wing changes, and therefore sweeping control over the flapping wing is achieved.
Preferably, the gear reducer adopts a two-stage parallel gear reduction mechanism, and comprises a gear carrier (2.1), a primary gear (2.2) and a secondary gear (2.3); the gear rack (2.1) is mounted on the frame (1), and the primary gear (2.2) and the secondary gear (2.3) which are meshed with each other are mounted on the gear rack (2.1); the primary gear (2.2) is directly connected with the flapping motor; and an eccentric shaft hole of the secondary gear (2.3) is hinged with one end of the conical sleeve rocker arm (2.4).
Preferably, the reduction ratio of the two-stage parallel gear reduction mechanism is 19-30.
Preferably, the device also comprises a gliding lock (6); the gliding lock (6) is used for clamping or releasing the secondary gear (2.3).
Preferably, the conical sleeve rocker arm (2.4) comprises a base (2.4.1), an optical axis (2.4.2) and a Y-shaped chuck (2.4.3); one end of the optical axis (2.4.2) extends into the base (2.4.1), and the other end of the optical axis (2.4.2) extends into the Y-shaped chuck (2.4.3), so that the Y-shaped chuck (2.4.3) can be extended or shortened relative to the base (2.4.1); the tail end of the base (2.4.1) is hinged with an eccentric shaft hole of the secondary gear (2.3), and an upper chuck and a lower chuck of the Y-shaped chuck (2.4.3) are respectively hinged with the upper end and the lower end of the flapping short shaft.
Preferably, said front amplitude sweep servo (3.1) and said rear amplitude sweep servo (3.2) each comprise: a connecting rod plate (3A), a rocker arm plate (3B), a slide block guide rail groove (3C), a lead screw slide block (3D) and a flapping bearing (3E);
the slide block guide rail groove (3C) is fixedly arranged on the rack (1); the lead screw sliding block (3D) is arranged in the sliding block guide rail groove (3C) and is connected with a corresponding amplitude-variable sweeping servo motor, and the lead screw sliding block (3D) is driven by the amplitude-variable sweeping servo motor to perform linear motion in the front-back direction along the sliding block guide rail groove (3C);
the top of the connecting rod plate (3A) is hinged with the slide block guide rail groove (3C) through the rocker arm plate (3B); one side of the connecting rod plate (3A) is hinged with the lead screw sliding block (3D), and the other side of the lead screw sliding block (3D) is hinged with the flapping bearing (3E) fixed on the flapping long shaft (2.5.1); when the screw rod sliding block (3D) performs linear motion in the front-back direction, the flapping bearing (3E) is driven to perform linear motion in the left-right direction, and then one end of the flapping long shaft (2.5.1) is driven to perform linear motion in the left-right direction, namely motion far away from or close to the machine body.
The three-dimensional flapping wing driving mechanism based on the cross-shaped shaft hinge and the conical rocker arm has the following advantages:
the invention provides a three-dimensional flapping wing driving mechanism based on a cross shaft hinge and a conical rocker arm, which can realize complex motions of birds such as sweeping, amplitude changing, flapping and the like by a simpler structure, has higher structural efficiency and higher output power, is high in reliability and long in service life, and is suitable for being applied to a micro flapping wing aircraft.
Drawings
FIG. 1 is an overall structure diagram of the three-dimensional flapping wing driving mechanism and the flapping wing provided by the invention after being assembled;
FIG. 2 is an overall structure diagram of a three-dimensional flapping wing driving mechanism provided by the invention;
FIG. 3 is a block diagram of a flapping drive mechanism according to the present invention;
FIG. 4 is a cross-sectional view of a conical sleeve rocker arm provided by the present invention;
fig. 5 is a structural diagram of a luffing sweep servo provided by the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to solve the problems that a flapping wing driving mechanism in the prior art is complex in structure, heavy in weight, poor in reliability and short in service life and is difficult to apply to a small flapping wing aircraft, the invention provides a three-dimensional flapping wing driving mechanism based on a cross-shaft hinge and a conical rocker arm, which can realize complex motions of birds such as sweeping, amplitude changing and flapping with a simple structure, has high structural efficiency and high output power, is high in reliability and long in service life, and is suitable for being applied to the small flapping wing aircraft.
Specifically, the three-dimensional flapping wing driving mechanism based on the cross-axle hinge and the conical rocker arm, which is provided by the invention, is referred to fig. 2 and comprises a rack 1, a flapping driving mechanism 2 and a variable amplitude sweeping servo mechanism 3.
The frame is a truss structure integrally milled by carbon fiber composite plates and aluminum alloy, is made by cutting the carbon fiber composite plates, and is provided with a motor mounting hole, a speed reduction gear shaft hole and the like. The frame is fixedly connected with the flapping driving mechanism 2 and the amplitude-variable sweeping servo mechanism 3 through bolts, and the flapping motion of the wings is realized through the flapping driving mechanism 2; the amplitude of flapping can be adjusted and the sweeping motion can be realized through the amplitude-variable sweeping servo mechanism. The details of the flapping drive 2 and the luffing sweep servo 3 are described below:
flapping driving mechanism
Referring to fig. 1, a left flapping wing 4 and a right flapping wing 5 are symmetrically arranged on the left side and the right side of a frame 1; the specific structural form of the flapping wings is not limited in the present application, and fig. 1 is only an example. The flapping driving mechanism 2 comprises a flapping motor, a left flapping driving unit and a right flapping driving unit which are linked with an output shaft of the flapping motor simultaneously and are symmetrically arranged; the output end of the left flapping driving unit is connected with the left flapping wing 4, and the output end of the right flapping driving unit is connected with the right flapping wing 5; the flapping motor drives the left flapping driving unit and the right flapping driving unit to move simultaneously, and further drives the left flapping wing 4 and the right flapping wing 5 to perform flapping actions simultaneously; the flapping motor can be a brushless dc motor, for example, a brushless dc motor with kv value of 900 and 1400 is used.
The structure of left side flapping drive unit is the same with right side flapping drive unit, all includes: the gear reducer, the conical sleeve rocker arm 2.4 and the cross flapping shaft 2.5; the gear reducer is arranged on the frame 1 and is directly connected with the flapping motor; the cross flapping axis 2.5 comprises a flapping long axis 2.5.1 and a flapping short axis 2.5.2 which are crossly arranged; the conical sleeve rocker arm 2.4 is a rocker arm with the length capable of being adjusted in a self-adaptive manner; one end of the conical sleeve rocker arm 2.4 is hinged with an eccentric shaft hole of a final-stage gear of the gear reducer, the other end of the conical sleeve rocker arm 2.4 is provided with an upper chuck and a lower chuck, and the upper chuck and the lower chuck are respectively hinged with the upper end and the lower end of the flapping short shaft 2.5.2; meanwhile, two ends of the flapping minor axis 2.5.2 are hinged with the wing root of the flapping wing to be used as a flapping axis for flapping of the flapping wing; when the flapping motor drives the gear reducer to rotate, the track of the conical sleeve rocker arm 2.4 in the space forms a conical surface through the rotating motion, wherein the conical vertex angle of the conical surface is the position of the flapping short shaft 2.5.2, and the rotating motion is converted into the up-and-down flapping motion of the flapping short shaft 2.5.2; when the flapping minor axis 2.5.2 does up-and-down flapping motion, the flapping wing is driven to do up-and-down flapping motion;
in the concrete implementation, the gear reducer adopts a two-stage parallel gear speed reducing mechanism, the flapping motor reduces the speed through the two-stage parallel gear speed reducing mechanism to increase the torque, and the speed reducing ratio of the two-stage parallel gear speed reducing mechanism is 19-30.
Referring to fig. 3, the two-stage parallel gear reduction mechanism includes a gear carrier 2.1, a primary gear 2.2 and a secondary gear 2.3, which are made of an aluminum alloy; a gear rack 2.1 is arranged on the frame 1, and a primary gear 2.2 and a secondary gear 2.3 which are meshed with each other are arranged on the gear rack 2.1; the primary gear 2.2 is directly connected with the flapping motor; the eccentric shaft hole of the secondary gear 2.3 is hinged with one end of the conical sleeve rocker arm 2.4.
Also comprises a gliding lock 6; the glide lock 6 is used to lock or release the secondary gear 2.3. The gliding lock is a one-way mechanism located at a specific position of a final gear, and the mechanism can be locked at the specific position after power is cut off timely. The function is as follows: the gliding lock can ensure that the wings are clamped with specific positions on the wheels when the wings are in a horizontal position, so that the wings are locked at the positions and enter a gliding state.
In the invention, the flapping long shafts of the cross flapping shafts are used as the flapping shafts and are positioned at the left side and the right side of the frame, and the relative positions of the flapping long shafts and the frame can be controlled by the amplitude-variable sweeping servo mechanism; the flapping short shaft of the cross flapping shaft is hinged with a sleeve rocker arm, and the sleeve rocker arm is connected with an eccentric shaft hole on a final-stage gear of the speed reducing mechanism. Therefore, in order to assist in realizing the adjustment of the relative position of the cross flapping shaft and the machine body, the sleeve rocker arm needs to be designed into a rocker arm with the length capable of being adjusted in an adaptive manner.
Thus, with reference to fig. 4, the sleeve rocker arm 5 can be designed in the following configuration: the conical sleeve rocker arm 2.4 comprises a base 2.4.1, an optical axis 2.4.2 and a Y-shaped clamp 2.4.3; one end of the optical axis 2.4.2 extends into the base 2.4.1, and the other end of the optical axis 2.4.2 extends into the Y-shaped clamp 2.4.3, so that the Y-shaped clamp 2.4.3 can extend or shorten relative to the base 2.4.1; the tail end of the base 2.4.1 is hinged with the eccentric shaft hole of the secondary gear 2.3, and the upper and lower chucks of the Y-shaped chuck 2.4.3 are respectively hinged with the upper and lower ends of the flapping short shaft.
The connection mode of the optical axis end of the conical sleeve rocker arm and the gear can be a single-degree-of-freedom common hinge or a two-degree-of-freedom universal joint.
It can be seen that the sleeve rocker arm forms a rotation-sliding pair with the optical axis of the rocker arm hinged to the secondary gear, so that the length of the entire sleeve rocker arm is variable. When the vertical distance of the rotating point position of the cross flapping shaft relative to the machine body is changed, the sleeve rocker arm can be extended or shortened in a self-adaptive mode, so that the size of the cone apex angle of the conical track of the sleeve rocker arm is changed, and the flapping amplitude is changed.
Variable amplitude sweep servo mechanism
The variable amplitude sweeping servo mechanism 3 comprises a left variable amplitude sweeping servo unit and a right variable amplitude sweeping servo unit which are symmetrically arranged at the left side and the right side of the rack 1; a front amplitude-variable sweeping servo motor and a rear amplitude-variable sweeping servo motor are arranged in the middle of the rack 1; the output end of the left amplitude-variable sweep servo unit is connected with the left flapping wing 4, and the output end of the right amplitude-variable sweep servo unit is connected with the right flapping wing 5.
And for the left amplitude-variable sweeping servo unit and the right amplitude-variable sweeping servo unit, the two sliding block mechanisms are driven by a screw rod servo motor. The servo motor is driven by a lead screw, and the position of the output end of the mechanism relative to the machine body is adjusted. The output end of the mechanism restrains the flapping long shaft of the cross flapping shaft, namely the amplitude-variable sweeping servo mechanism is used for controlling the position of the flapping long shaft relative to the machine body.
Specifically, referring to fig. 5, the left variable amplitude sweep servo unit and the right variable amplitude sweep servo unit each include a front variable amplitude sweep servo device 3.1 and a rear variable amplitude sweep servo device 3.2 which are symmetrically installed on the front side and the rear side of the flapping long axis 2.5.1; the front amplitude-variable sweeping servo device 3.1 and the rear amplitude-variable sweeping servo device 3.2 form a double-slider mechanism. Since the front amplitude-varying sweeping servo device 3.1 and the rear amplitude-varying sweeping servo device 3.2 are respectively driven by an independent amplitude-varying sweeping servo motor, the front amplitude-varying sweeping servo device 3.1 and the rear amplitude-varying sweeping servo device 3.2 can be independently adjusted and controlled.
The front amplitude-variable sweeping servo motor is used for driving the front amplitude-variable sweeping servo devices 3.1 on the left side and the right side to act, and further changing the distance from the front end of the cross flapping shaft 2.5 to the rack 1; the rear amplitude-variable sweeping servo motor is used for driving the rear amplitude-variable sweeping servo devices 3.2 on the left side and the right side to act, and further changing the distance between the rear end of the cross flapping shaft 2.5 and the frame 1;
wherein, the front amplitude sweep servo device 3.1 and the rear amplitude sweep servo device 3.2 both comprise: connecting rod board 3A, rocker arm board 3B, slider guide rail groove 3C, lead screw slider 3D and flapping bearing 3E are the aluminum alloy material, and the connecting rod that connecting rod board 3A and rocker arm board 3B represented is 2 with the length proportion of rocking arm: 1.
the slide block guide rail groove 3C is fixedly arranged on the rack 1; the lead screw slide block 3D is arranged in the slide block guide rail groove 3C and is connected with a corresponding amplitude sweep servo motor, and the lead screw slide block 3D is driven by the amplitude sweep servo motor to perform linear motion in the front-back direction along the slide block guide rail groove 3C;
the top of the connecting rod plate 3A is hinged with the slide block guide rail groove 3C through a rocker arm plate 3B; one side of the connecting rod plate 3A is hinged with a lead screw sliding block 3D, and the other side of the lead screw sliding block 3D is hinged with a flapping bearing 3E fixed on a flapping long shaft 2.5.1; when the screw rod sliding block 3D performs linear motion in the front-rear direction, the flapping bearing 3E is driven to perform linear motion in the left-right direction, and then one end of the flapping long shaft 2.5.1 is driven to perform linear motion in the left-right direction, namely, motion far away from or close to the machine body.
Therefore, when the front end and the rear end of the cross flapping shaft 2.5 simultaneously move linearly in the direction away from the rack 1, the cone vertex angle of the motion track of the conical sleeve rocker arm 2.4 is reduced, and the flapping amplitude of the wing is reduced; when the front end and the rear end of the cross flapping shaft 2.5 simultaneously perform linear motion towards the direction close to the rack 1, the cone vertex angle of the motion track of the conical sleeve rocker arm 2.4 is increased, and the flapping amplitude of the wing is increased; when the front end and the rear end of the cross flapping shaft 2.5 are acted with acting forces in opposite directions, namely the front mechanism and the rear mechanism are controlled in a differential mode, at the moment, the cross flapping shaft 2.5 rotates along the horizontal plane and is not parallel to the body axis, at the moment, the sweep angle of the flapping wing changes, and therefore sweeping control over the flapping wing is achieved.
In the invention, the control range of the amplitude-varying sweep servo mechanism to the flapping amplitude is 60-90 degrees, and the control range to the sweeping amplitude is-10 degrees to +10 degrees.
The three-dimensional flapping wing driving mechanism based on the cross-shaped shaft hinge and the conical rocker arm has the following design characteristics:
(1) because a driving mechanism of the conical sleeve rocker arm and the cross shaft hinge is used, the rotary power of the gear is converted into flapping motion; and the amplitude-variable sweeping servo mechanism is designed to realize the adjustment of the flapping amplitude and the sweeping amplitude, thereby realizing the effective control of parameters such as the flapping amplitude, the sweeping and the like. The mechanism can realize the control of the multi-variable of the flapping wing with multiple degrees of freedom through the modes, has complete functions, simple structure, light weight and good service life and maintainability.
(2) In the two-stage gear reduction mechanism, the final stage uses a gear with a large modulus, and can effectively bear the load transmitted by the flapping wings. The last gear is provided with a gliding lock at a proper position, and the power can be cut off at a proper time, so that the last gear is locked at the position, and the gliding function of the flapping wing is realized.
(3) The invention can realize the complex flapping motion of imitating birds with a simpler structure, has the advantages of simple structure, light weight, high reliability, long service life and the like, and is suitable for being applied to a micro flapping wing aircraft.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (6)
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| CN201810814396.1A CN108945433B (en) | 2018-07-23 | 2018-07-23 | Three-dimensional flapping wing driving mechanism based on cross-shaft hinge and conical rocker arm |
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| CN201810814396.1A CN108945433B (en) | 2018-07-23 | 2018-07-23 | Three-dimensional flapping wing driving mechanism based on cross-shaft hinge and conical rocker arm |
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| CN114261516B (en) * | 2021-12-03 | 2023-07-14 | 西北工业大学深圳研究院 | Flapping wing aircraft |
| CN114313254B (en) * | 2021-12-03 | 2023-07-14 | 西北工业大学深圳研究院 | Flapping wing driving device for flapping wing aircraft |
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| CN2778678Y (en) * | 2004-10-27 | 2006-05-10 | 尤玉成 | Ornithopter |
| US20070205322A1 (en) * | 2006-03-06 | 2007-09-06 | Wei-Hsiang Liao | Micro aviation vehicle |
| CN202574619U (en) * | 2012-05-25 | 2012-12-05 | 哈尔滨工业大学深圳研究生院 | 8-shaped track flapping-wing mechanism and micro flapping-wing air vehicle |
| CN202765291U (en) * | 2012-08-30 | 2013-03-06 | 华南理工大学 | Insect aircraft imitating flapping wing mechanism |
| CN106240815A (en) * | 2016-08-15 | 2016-12-21 | 上海工程技术大学 | The sized flap wings system of ∞ font movement locus and the flapping wing aircraft containing this system |
| CN106379532B (en) * | 2016-09-23 | 2019-01-29 | 北京航空航天大学 | A kind of change of flapping wing is fluttered angle changing mechanism |
| CN207060398U (en) * | 2017-06-21 | 2018-03-02 | 吉林大学 | A kind of wing has the flapping wing aircraft of Three Degree Of Freedom |
| CN108146633B (en) * | 2017-12-21 | 2020-01-31 | 西北工业大学 | Variable zero-amplitude flapping wing drive mechanism and flapping wing drive method |
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2018
- 2018-07-23 CN CN201810814396.1A patent/CN108945433B/en active Active
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