CN109353496A - A kind of novel expansion dalta wing flight instruments - Google Patents
A kind of novel expansion dalta wing flight instruments Download PDFInfo
- Publication number
- CN109353496A CN109353496A CN201810724645.8A CN201810724645A CN109353496A CN 109353496 A CN109353496 A CN 109353496A CN 201810724645 A CN201810724645 A CN 201810724645A CN 109353496 A CN109353496 A CN 109353496A
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- Prior art keywords
- keel
- sliding block
- hole
- rotatablely connected
- elastic slice
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
- B64C31/028—Hang-glider-type aircraft; Microlight-type aircraft
- B64C31/032—Hang-glider-type aircraft; Microlight-type aircraft having delta shaped wing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Tents Or Canopies (AREA)
- Prostheses (AREA)
Abstract
A kind of novel expansion dalta wing flight instruments, the present invention relates to a kind of flight instruments, the present invention needs the frequent aerofoil part for disassembling assembling dalta wing to solve existing dalta wing flight instruments in use, the problem of wasting time, it includes main body mechanism, Hua Zhan mechanism and wing structure, main body mechanism includes managing after keel front tube and keel, main body mechanism is connect with sliding exhibition mechanism slips, the front end of wing structure and keel front tube is rotatablely connected, wing structure and Hua Zhan mechanism are rotatablely connected, sliding exhibition mechanism slips are mounted in keel front tube, keel front tube rear end and the front end of pipe after keel are affixed.The invention belongs to airmanship fields.
Description
Technical field
The present invention relates to a kind of flight instruments, and in particular to a kind of expansion dalta wing flight instruments belong to airmanship
Field.
Background technique
The present invention can be realized the Quick distributor to dalta wing flight instruments.Currently, unpowered dalta wing flight instruments
Use pattern is mostly that will fold the dalta wing flight instruments after decomposing with being transported to air objective using the vehicles, in destination
By all parts of dalta wing after being assembled, pre-flight preparation could be completed；After flight, still need to group
Aircraft after dress is split, and sends origin back to using the vehicles.During using dalta wing flight instruments, need
The dismantling of dalta wing flight instruments twice is carried out, and requires the transport of the vehicles again in use process each time, is increased
Use cost.The shortcomings that downward gliding must be taken off from eminence for unpowered dalta wing, people are in unpowered dalta wing
On the basis of installed power device additional so that the flying height of dalta wing be not restricted, save vehicles dragging
Dalta wing to flight starting point cost；And the design of the dalta wing flight instruments of folding and expanding formula is used, so that wing makes
With preceding without assembling, after use without dismantling, the folding and expanding of whole wing can be realized, facilitate storage and transport, save
Time.
Exhibition structure Deployable Structure was set forth in for 20th century 60 years by Buckminster Fuller first
In generation, refers in a non-operative state in folded form, is in the structure of fully unfolded position in the operating condition.In rugosity
The mechanism of state facilitates transport and saves, and the Machine Design of rock-steady structure can be gradually expanded under outer power drive, then makes
Obtaining the course of work becomes more efficiently.
Summary of the invention
The present invention needs the frequent aerofoil for disassembling assembling dalta wing to solve existing dalta wing flight instruments in use
Component, the problem of wasting time, a kind of dalta wing flight instruments of folding and expanding formula of proposition.
The technical solution adopted by the present invention to solve the above problem is as follows: a kind of novel expansion dalta wing flight instruments, it
Including main body mechanism, Hua Zhan mechanism and wing structure, main body mechanism includes managing after keel front tube and keel, main body mechanism and sliding exhibition
The front end of mechanism slips connection, wing structure and keel front tube is rotatablely connected, and wing structure and Hua Zhan mechanism are rotatablely connected, sliding exhibition
Mechanism slips are mounted in keel front tube, and keel front tube rear end and the front end of pipe after keel are affixed.
Further, in a folded configuration, slide block movement to keel front end is horizontal for unfolded formula dalta wing flight instruments
The interference of bar and the first front edge rod is folded and is completed so that sliding block can not readvance.
Further, it is unfolded formula dalta wing flight instruments during expansion, is not up to final position in sliding block
When, the semicylinder of sliding block locking elastic slice square hole protrusions and the bottom face contact of keel, sliding block normal movement.
Further, when sliding block reaches home position, the effect of the semicylinder of locking elastic slice protrusion in compressed spring
It is lower to slide into the slot that keel are opened, to realize the locking to unfolded formula dalta wing flight instruments.
Further, when carrying out the folding of dalta wing, it is only necessary to press locking elastic slice downwards, overcome the bullet of compressed spring
Spring force, mobile sliding block while locking elastic slice protrusion semicylinder leaves the square groove of keel, it can realize to unfolded
The unlock of formula dalta wing.
The beneficial effects of the present invention are: the one, present invention can by the combination of Simple Member using the principle of exhibition structure
Realize the folding and unlatching of dalta wing aerofoil；Two, compared with traditional dalta wing flight instruments, the present invention before flight with end
It is rapider to the assembling of dalta wing and recycling afterwards, reduce time cost；Three, the mechanism of apparatus of the present invention is maximum after deployment
Maintaining for degree is consistent with traditional triangle wing flight instruments, and it is seamless right with old-fashioned dalta wing flight instruments to can be realized
It connects；Four, operation of the present invention is simple, is easy to upper hand.
Detailed description of the invention
Fig. 1 is the folded state schematic perspective view of novel unfolded formula dalta wing flight instruments of the invention；
Fig. 2 is a kind of top view of the folded state of novel unfolded formula dalta wing flight instruments of Fig. 1；
Fig. 3 is the stereochemical structure signal of the first front edge rod 11 of novel unfolded formula dalta wing flight instruments of the invention
Figure；
Fig. 4 is the stereochemical structure signal of the second auxiliary rod 13 of novel unfolded formula dalta wing flight instruments of the invention
Figure；
Fig. 5 be Fig. 2 during novel unfolded formula dalta wing flight instruments of the invention are in expansion at sliding block 18
Cross-sectional view；
Fig. 6 is the unfolded state schematic perspective view of novel unfolded formula dalta wing flight instruments of the invention；
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
Specific embodiment 1: illustrating present embodiment, a kind of novel expansion of present embodiment in conjunction with Fig. 1-Fig. 6
Dalta wing flight instruments, it includes main body mechanism 1, Hua Zhan mechanism 2 and wing structure 3, and main body mechanism 1 includes 4 He of keel front tube
Pipe 5 after keel, main body mechanism 1 and Hua Zhan mechanism 2 are slidably connected, and the front end of wing structure 3 and keel front tube 4 is rotatablely connected, machine
Wing mechanism 3 and Hua Zhan mechanism 2 are rotatablely connected, and Hua Zhan mechanism 2 is slidably mounted in keel front tube 4,4 rear end of keel front tube and keel
The front end of pipe 5 is affixed afterwards, and Hua Zhan mechanism 2 slides back and forth to realize unfolding and folding for dalta wing in keel front tube 4.
Specific embodiment 2: illustrating present embodiment in conjunction with Fig. 1-Fig. 6, the main body mechanism 1 of present embodiment further includes
Column 6, control tripod 7, tee tube 17 and two keel attachment spacers 8, control tripod 7 and the front end of pipe 5 after keel are solid
Fixed to connect, pipe 5 is inserted on two horizontal ports of tee tube 17 after keel, and column 6 is inserted into the vertical of tee tube 17 vertically
On port, the central axes of pipe 5 are vertically arranged behind the central axes of column 6 and keel, and two keel gaskets 8 are parallel respectively to be fixedly mounted
In the upper surface and lower end surface of 4 front end of keel front tube.In actual use, need to install additional upper bracing cable between column 6 and aerofoil, and
Bracing cable under needing to install additional between control tripod 7 and aerofoil.Other structures and connection relationship are same as the specific embodiment one.
Specific embodiment 3: illustrating present embodiment in conjunction with Fig. 1, Fig. 2 and Fig. 6, the wing structure 3 of present embodiment is wrapped
Two wing components 9 are included, two wing components components 9 are symmetrically disposed on the two sides of main body mechanism 1, and each wing components 9 are distinguished
It is rotatablely connected with two keel gaskets 8, each wing components 9 are rotatablely connected with Hua Zhan mechanism 2 respectively.Other structures and connection are closed
It is same as the specific embodiment one.
Specific embodiment 4: illustrating present embodiment, a wing components 9 of present embodiment in conjunction with Fig. 1, Fig. 2 and Fig. 6
Including the first front edge rod 11, the first auxiliary rod 12, the second auxiliary rod 13, third auxiliary rod 14, the second front edge rod 16 and cross bar 15,
The position at the both ends of the first front edge rod 11 and close middle part is equipped with through-hole, and the both ends and middle part of the second front edge rod 16 are by front end
Position is equipped with through-hole equipped with through-hole, the both ends of the first auxiliary rod 12 and close to the position at middle part, and the both ends of the second auxiliary rod 13 are set
There is a through-hole, the both ends of third auxiliary rod 14 are equipped with through-hole, the both ends of cross bar 15 and through-hole are equipped with close to intermediate position, before first
One end of edge bar 11 is rotatablely connected with two keel gaskets 8 by pin shaft, the other end of the first front edge rod 11 and the one of cross bar 15
End and one end of the second auxiliary rod 13 are rotatablely connected by pin shaft, and the other end and Hua Zhan mechanism 2 of cross bar 15 are rotatablely connected, and first
Front edge rod 11 is machined with elongated slot along its length, and the first front edge rod 11 is close to the hole of medium position and one end of the first auxiliary rod 12
It being rotatablely connected by pin shaft, the other end of the front end of the second front edge rod 16 and the first auxiliary rod 12 is rotatablely connected by pin shaft, the
Two front edge rods, 16 middle part is rotatablely connected close to the hole of front position by the other end of pin shaft and the second auxiliary rod 13, the first auxiliary
Bar 12 is rotatablely connected close to the hole of medium position and one end of third auxiliary rod 14 by pin shaft, the other end of third auxiliary rod 14
It is rotatablely connected close to the hole of medium position by pin shaft with cross bar 15.Other structures and connection relationship and specific embodiment three-phase
Together.
The elongated slot of first front edge rod 11 along its length, 12 He of the first auxiliary rod is accommodated for dalta wing in the deployed state
Dalta wing accommodates cross bar 15 in a folded configuration.It is housed inside the first auxiliary rod 12 in the first front edge rod 11 simultaneously in certain journey
The stiffness and strength of the first front edge rod 11 are strengthened on degree.
The hole of second front edge rod, 16 front end is arranged in outside the axis of main rod, avoids dalta wing in the deployed state, connection
The pin shaft of second front edge rod 16 and the first auxiliary rod 12 is interfered with each other with the pin shaft for connecting cross bar 5 and the first front edge rod 11.
Specific embodiment 5: illustrating present embodiment, the first auxiliary rod of present embodiment in conjunction with Fig. 1, Fig. 3 and Fig. 4
12 include arch block 10 and the first stock 24, and the second front edge rod 16 includes two arch fixture blocks 23 and the second stock 25, arch block
10 are equipped with through-hole, and the plane of the side of arch block 10 is fixedly connected with 24 side of the first stock, sets on two arch fixture blocks 23
There is through-hole, two arch fixture blocks 23 are parallel to be mounted on the outer wall of 25 front end of the second stock, and the setting of arch block 10 is bent at two
Among clevis block 23, and arch block 10 is connected with two arch fixture blocks 23 by pin rotation, and 25 front end of the second stock is along length
Direction is machined with strip groove, and the plane of the side of arch block 10 and the bottom surface of 25 strip groove of the second stock fit.Other structures
It is identical as specific embodiment four with connection relationship.
Specific embodiment 6: illustrating present embodiment in conjunction with Fig. 1, Fig. 6 and Fig. 5, the Hua Zhan mechanism 2 of present embodiment is wrapped
Sliding block 18, slider bottom plate 19, sliding block locking elastic slice 20, hex screw 21, spring 22 are included, the upper surface of sliding block 18 is equipped with and sliding block
The hole that locking elastic slice 20 cooperates, and the front and back of sliding block 18 is equipped with through-hole, the position among sliding block locking elastic slice 20 is in the horizontal direction
Equipped with through-hole, sliding block locking elastic slice 20 is mounted in the hole of 18 upper surface of sliding block, and keel front tube 4 is inserted into sliding block 18 and sliding block lock
Only on elastic slice 20, and sliding block locking elastic slice 20 and keel front tube 4 are slidably connected, and one end of spring 22 is fixed on slider bottom plate 19
On, the other end of spring 22 is fixed on the lower plate of sliding block locking elastic slice 20, the other end and the sliding block 18 of each cross bar 15
Side is rotatablely connected by pin shaft, and the lower part of sliding block 18 is equipped with threaded hole, and sliding block 18 and slider bottom plate 19 pass through hex screw 21
Connection.Other structures and connection relationship are identical as specific embodiment one or three.
Specific embodiment 7: illustrating present embodiment, 4 end of keel front tube of embodiment in conjunction with Fig. 1, Fig. 6 and Fig. 5
Lower surface is equipped with groove, has semi-cylindrical hill, the groove of 4 end of keel front tube at the lower plate of 20 interstitial hole of sliding block locking elastic slice
It is correspondingly arranged with the semicolumn protrusion at 20 interstitial hole lower plate of sliding block locking elastic slice, side is equipped among sliding block locking elastic slice 20
Hole, keel front tube 4 pass through the square hole setting among sliding block locking elastic slice 20,20 lower semicircular shape protrusion of sliding block locking elastic slice and dragon
4 following table face contact of bone front tube, the top of sliding block locking elastic slice 20 are a semi-cylindrical hills.Other structures and connection relationship and tool
Body embodiment six is identical.
Working principle
When a kind of novel unfolded formula dalta wing flight instruments are in folded state, before sliding block 18 moves to keel at this time
4 front end of pipe, the interference of cross bar 15 and the first front edge rod 11 is so that sliding block 18 can not readvance；In folding process, exist originally
First front edge rod 11 contains the first lower auxiliary rod 12 and rotates stretching from the elongated slot of the first front edge rod 11, the first auxiliary rod 12 and
Second front edge rod 16 and the second auxiliary rod 13 form a class parallelogram linkage；In folding process, the first leading edge
The angle that bar 11 is formed with cross bar 15 constantly reduces, so that the third auxiliary rod 14 being connected with the first auxiliary rod 12 and cross bar 15
It is stretched out from the elongated slot of the first front edge rod 11, while pushing the rotation of the first auxiliary rod 12 and the first front edge rod 11, to make the
Two front edge rods 16 keep the state parallel with the first front edge rod 11 to fold along 4 rectilinear direction of keel front tube substantially, greatly reduce
Its wing area.
When a kind of novel unfolded formula dalta wing flight instruments are in unfolded state.Parallel four side of second front edge rod, 16 class
It under the drive of shape link mechanism, is on same straight line with the first front edge rod 11, so that the first front edge rod 11, the second leading edge
Bar 16 and cross bar 15 constitute a triangle, keep dalta wing flight instruments in running order；First auxiliary rod 12 is accommodated in
In the elongated slot of first front edge rod 11, it utmostly ensure that and do not generate excessive variation compared with dalta wing typical structure, second is auxiliary
Bar 13 is helped to drive through class parallelogram linkage, the second auxiliary rod 13 is in the first front edge rod 11 and the second front edge rod 16
Lower section, and the second auxiliary rod 13 and the first front edge rod 11 and the second front edge rod 16 are on same straight line.
When sliding block 18 is not up to final position, the lower surface of semi-cylindrical hill and keel front tube 4 in 20 elastic slice of sliding block locking
Contact, sliding block normal movement, when sliding block 18 reaches home position, work of 20 semi-cylindrical hill of locking elastic slice in compressed spring 22
In the slot set by lower slide-in keel front tube 4, to realize the locking to unfolded formula dalta wing flight instruments.Carry out
When the folding of dalta wing, it is only necessary to press locking elastic slice 20 downwards, the spring force of compressed spring 22 be overcome, in locking elastic slice 20
Semi-cylindrical hill leaves mobile sliding block while keel 4 square groove of front tube, it can realizes the unlock to unfolded formula dalta wing.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified to
The equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention, according to the technical essence of the invention, at this
Within the spirit and principle of invention, any simple modifications, equivalent substitutions and improvements to the above embodiments etc. still belong to
Within the protection scope of technical solution of the present invention.
Claims (7)
1. a kind of novel expansion dalta wing flight instruments, it is characterised in that: it include main body mechanism (1), Hua Zhan mechanism (2) and
Wing structure (3), main body mechanism (1) include managing (5) after keel front tube (4) and keel, main body mechanism (1) and Hua Zhan mechanism (2)
It is slidably connected, the front end of wing structure (3) and keel front tube (4) is rotatablely connected, and wing structure (3) and Hua Zhan mechanism (2) rotate
Connection, Hua Zhan mechanism (2) are slidably mounted on keel front tube (4), and the front end of (5) is managed behind the rear end of keel front tube (4) and keel
It is fixedly connected.
2. a kind of novel expansion dalta wing flight instruments according to claim 1, it is characterised in that: main body mechanism (1)
Further include column (6), control tripod (7), tee tube (17) and two keel attachment spacers (8), controls tripod (7) and dragon
The front end that (5) are managed after bone is fixedly connected, and (5) are managed after keel and are inserted on two horizontal ports of tee tube (17), column (6) is perpendicular
On the vertical port of tee tube (17), the central axes that (5) are managed behind the central axes of column (6) and keel are vertically arranged straight cutting,
Two keel gaskets (8) are fixedly mounted on the upper surface and lower end surface of keel front tube (4) front end in parallel respectively.
3. a kind of novel expansion dalta wing flight instruments according to claim 1, it is characterised in that: wing structure (3)
Including two wing components (9), two wing components components (9) are symmetrically disposed on the two sides of main body mechanism (1), each wing group
Part (9) is rotatablely connected with two keel gaskets (8) respectively, and each wing components (9) are rotatablely connected with Hua Zhan mechanism (2) respectively.
4. a kind of novel expansion dalta wing flight instruments according to claim 3, it is characterised in that: each wing components
It (9) include the first front edge rod (11), the first auxiliary rod (12), the second auxiliary rod (13), third auxiliary rod (14), the second front edge rod
(16) and cross bar (15), the both ends of the first front edge rod (11) and it is equipped with through-hole close to the position at middle part, the second front edge rod (16)
Both ends and middle part are equipped with logical by the position of front end equipped with through-hole, the both ends of the first auxiliary rod (12) and close to the position at middle part
Hole, the both ends of the second auxiliary rod (13) are equipped with through-hole, and the both ends of third auxiliary rod (14) are equipped with through-hole, the both ends of cross bar (15) and
It is equipped with through-hole close to intermediate position, one end of the first front edge rod (11) is rotatablely connected with two keel gaskets (8) by pin shaft,
The other end of first front edge rod (11) and the one end of cross bar (15) and one end of the second auxiliary rod (13) are rotatablely connected by pin shaft,
The other end of cross bar (15) and Hua Zhan mechanism (2) are rotatablely connected, and the first front edge rod (11) is machined with elongated slot along its length, and first
Front edge rod (11) is rotatablely connected close to the hole of medium position and the one end of the first auxiliary rod (12) by pin shaft, the second front edge rod
(16) other end of front end and the first auxiliary rod (12) is rotatablely connected by pin shaft, and front end is leaned in the middle part of the second front edge rod (16)
The hole of position is rotatablely connected by the other end of pin shaft and the second auxiliary rod (13), and the first auxiliary rod (12) is close to medium position
One end of hole and third auxiliary rod (14) is rotatablely connected by pin shaft, and the other end and cross bar (15) of third auxiliary rod (14) are close
The hole of medium position is rotatablely connected by pin shaft.
5. a kind of novel expansion dalta wing flight instruments according to claim 4, it is characterised in that: the first auxiliary rod
It (12) include arch block (10) and the first stock (24), the second front edge rod (16) includes two arch fixture blocks (23) and the second stock
(25), arch block (10) is equipped with through-hole, and the plane of the side of arch block (10) is fixedly connected with the first stock (24) side, and two
A arch fixture block (23) is equipped with through-hole, the parallel outer wall for being mounted on the second stock (25) front end of two arch fixture blocks (23)
On, arch block (10) setting is intermediate in two arch fixture blocks (23), and arch block (10) and two arch fixture blocks (23) pass through pin
Nail rotation connection, the second stock (25) front end are machined with strip groove along its length, the plane of the side of arch block (10) and the
The bottom surface of two stocks (25) strip groove fits.
6. a kind of novel expansion dalta wing flight instruments according to claim 1 or 3, it is characterised in that: Hua Zhan mechanism
It (2) include sliding block (18), slider bottom plate (19), sliding block locking elastic slice (20), hex screw (21), spring (22), sliding block (18)
Upper surface be equipped with the hole that cooperate with sliding block locking elastic slice (20), and the front and back of sliding block (18) is equipped with through-hole, sliding block locking elastic slice
(20) intermediate position is equipped with through-hole in the horizontal direction, and sliding block locking elastic slice (20) is mounted in the hole of sliding block (18) upper surface,
Keel front tube (4) is inserted on sliding block (18) and sliding block locking elastic slice (20), and sliding block locking elastic slice (20) and keel front tube (4)
It is slidably connected, one end of spring (22) is fixed on slider bottom plate (19), and the other end of spring (22) is fixed on sliding block locking bullet
On the lower plate of piece (20), the other end of each cross bar (15) and the side of sliding block (18) are rotatablely connected by pin shaft, sliding block
(18) lower part is equipped with threaded hole, and sliding block (18) is connect with slider bottom plate (19) by hex screw (21).
7. a kind of novel expansion dalta wing flight instruments according to claim 6, it is characterised in that: keel front tube (4)
End lower surface is equipped with groove, there is semi-cylindrical hill, keel front tube (4) end at the lower plate of sliding block locking elastic slice (20) interstitial hole
The groove at end is correspondingly arranged with the semicolumn protrusion at sliding block locking elastic slice (20) interstitial hole lower plate, sliding block locking elastic slice (20)
Centre is equipped with square hole, and keel front tube (4) passes through the intermediate square hole of sliding block locking elastic slice (20) and is arranged, under sliding block locking elastic slice (20)
Portion's semi-cylindrical hill and keel front tube (4) following table face contact, the top of sliding block locking elastic slice (20) is a semi-cylindrical hill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810724645.8A CN109353496B (en) | 2018-07-04 | 2018-07-04 | Unfolding type delta wing flying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810724645.8A CN109353496B (en) | 2018-07-04 | 2018-07-04 | Unfolding type delta wing flying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109353496A true CN109353496A (en) | 2019-02-19 |
| CN109353496B CN109353496B (en) | 2022-05-31 |
Family
ID=65349610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810724645.8A Active CN109353496B (en) | 2018-07-04 | 2018-07-04 | Unfolding type delta wing flying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109353496B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
| CN111792020A (en) * | 2020-07-17 | 2020-10-20 | 哈尔滨工业大学（威海） | Novel foldable parachute wing unmanned aerial vehicle based on SMA drive |
| US11905022B2 (en) * | 2021-03-24 | 2024-02-20 | Schain Lolatchy | Helicopter flight support |
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| CN109850026A (en) * | 2019-02-21 | 2019-06-07 | 北京航空航天大学 | It is a kind of to climb wall-gliding machine people with the ala that take down the exhibits |
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| US11905022B2 (en) * | 2021-03-24 | 2024-02-20 | Schain Lolatchy | Helicopter flight support |
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| CN109353496B (en) | 2022-05-31 |
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