CN110127049B - Miniature bionic ornithopter with 8-shaped wingtip track - Google Patents
Miniature bionic ornithopter with 8-shaped wingtip track Download PDFInfo
- Publication number
- CN110127049B CN110127049B CN201910403998.2A CN201910403998A CN110127049B CN 110127049 B CN110127049 B CN 110127049B CN 201910403998 A CN201910403998 A CN 201910403998A CN 110127049 B CN110127049 B CN 110127049B
- Authority
- CN
- China
- Prior art keywords
- rod
- crank
- frame
- wing
- power input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000009467 reduction Effects 0.000 claims description 21
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 3
- 230000002146 bilateral effect Effects 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The application discloses a miniature bionic ornithopter with an 8-shaped wingtip track, which comprises a frame, a power mechanism, a double-crank rocker mechanism, a space mechanism and a tail wing mechanism which are arranged on the frame, wherein the double-crank rocker mechanism comprises two crank bevel gears which are in meshed connection with each other, the power mechanism is in transmission connection with one crank bevel gear, the space mechanism based on the spherical hinge comprises two space multiple connecting rod assemblies which are arranged in bilateral symmetry, the two space multiple connecting rod assemblies are in one-to-one correspondence with the two crank bevel gears, the crank bevel gears drive a rocker to shake through a transmission connecting rod, the rocker drives a power input rod to swing around a third revolute pair, a wing root control rod moves under the drive of the power input rod and the constraint of an inertia constraint rod, and the wing root control rod realizes flapping, swinging and overturning actions under the constraint of three ball pairs, so that the flapping wing movement mode of the miniature bionic ornithopter is more close to flying organisms. The application is used in the miniature ornithopter.
Description
Technical Field
The application relates to the technical field of miniature ornithopters, in particular to a miniature bionic ornithopter with an 8-shaped wingtip track.
Background
The miniature flapping wing aircraft is a novel aircraft which is developed in a simulated biological flight mode, has high propulsion efficiency, and has the characteristics of high concealment and low noise. Aerodynamic related experimental studies have shown that micro flapping wing aircraft with dimensions below 15cm possess superior aerodynamic performance over fixed wings and rotors. As a miniature ornithopter with the similar flying posture of birds, the ornithopter can be used for special purposes such as animal behavior observation and research, military reconnaissance, eavesdropping, airport bird expelling and the like.
Currently, tens of miniature bionic ornithopters exist at home and abroad. However, these miniature bionic ornithopters either use special driving modes, such as piezoelectric ceramics and artificial muscles, so that the flight time of the aircraft is very short or the battery and the control module cannot be loaded; or the flapping-wing device has larger difference with the real biological flapping-wing movement mode, and can not realize the combination of flapping and active torsion of the flapping-wing or has small torsion amplitude, so that the aircrafts can not effectively utilize the high-lift mechanism of biological flight and are in a lower bionic level.
Disclosure of Invention
The application aims to solve the technical problems that: the miniature bionic ornithopter with the 8-shaped wingtip track has the advantages that the flapping wing movement mode is closer to a flying organism, and a high lift force mechanism of the organism flying is effectively utilized to provide a larger lift force.
The application solves the technical problems as follows:
the miniature bionic ornithopter with the 8-shaped wingtip track comprises a frame, a power mechanism, a double-crank rocker mechanism and a space mechanism based on a spherical hinge, wherein the frame is arranged in a front-back extending mode, the power mechanism, the double-crank rocker mechanism and the space mechanism based on the spherical hinge are arranged at the front part of the frame, and a tail wing mechanism is arranged at the rear end of the frame;
the double-crank rocker mechanism comprises two crank conical teeth which are symmetrically arranged left and right, the two crank conical teeth are in meshed connection, a first rotating pair which is eccentrically arranged with the crank conical teeth is arranged on the crank conical teeth, the crank conical teeth are connected with a transmission connecting rod, the crank conical teeth are connected with one end of the transmission connecting rod through the first rotating pair, the other end of the transmission connecting rod is connected with a rocker, a second rotating pair is arranged between one end of the rocker and the transmission connecting rod, and one end of the rocker is connected with the transmission connecting rod through the second rotating pair;
the power mechanism is in transmission connection with one crank bevel gear;
the space mechanism based on the spherical hinge comprises two space multi-connecting rod assemblies which are symmetrically arranged left and right, the two space multi-connecting rod assemblies are connected with two crank bevel gears in a one-to-one correspondence manner, the space multi-connecting rod assemblies comprise a power input rod, an inertial restraint rod and a wing root control rod, the power input rod and the inertial restraint rod are symmetrically arranged front and back, the power input rod and the inertial restraint rod respectively extend to the outer side of a frame, the inner end of the power input rod and the inner end of the inertial restraint rod are mutually far away, the outer end of the power input rod and the outer end of the inertial restraint rod are mutually close to each other, the inner end of the power input rod is provided with a third revolute pair, the inner end of the power input rod is fixedly connected with a frame through the third revolute pair, the inner end of the power input rod is coaxially arranged with the rocking rod, the inner end of the inertial restraint rod is provided with a fourth revolute pair, the inner end of the inertial restraint rod is connected with the frame through a fourth revolute pair, the root control rod is arranged on the symmetrical surface between the power input rod and the restraint rod, the outer side of the frame is provided with a third revolute pair, the isosceles pair is connected with the outer side of the frame through a third revolute pair, and the third revolute pair is connected with the outer side of the wing ball, and the wing ball is connected with the outer end of the wing ball through the third revolute pair;
the wing root control rod is connected with a bionic flapping wing.
As a further improvement of the scheme, the power mechanism and the double-crank rocker mechanism are arranged on the lower side of the frame, and the space mechanism based on the spherical hinge is arranged on the upper side of the frame.
As a further improvement of the scheme, the power mechanism comprises a driving part and a gear reduction assembly in transmission connection with the driving part, and the driving part is in transmission connection with one of the crank bevel gears through the gear reduction assembly.
As a further improvement of the scheme, the driving part comprises a rotating motor arranged on the frame, the output shaft of the rotating motor is connected with a driving gear, the gear reduction assembly comprises a plurality of reduction gears which are sequentially connected in a meshed mode, the rotating motor is connected with the reduction gear at the starting end in a meshed mode through the driving gear, and the rotating shaft of one crank bevel gear is connected with the reduction gear at the terminal end.
As a further improvement of the scheme, the tail wing mechanism comprises a horizontal wing and a vertical wing which are transversely arranged, wherein the vertical wing is vertically arranged, the front end of the horizontal wing is connected with the rear end of the frame, the lower edge of the vertical wing is connected with the center line of the horizontal wing, the rear edge of the vertical wing is connected with a swing wing, a swing driver is arranged between the swing wing and the vertical wing, and the swing driver can drive the swing wing to swing left and right.
As a further improvement of the scheme, a lithium battery is arranged in the middle of the frame and is electrically connected with the rotating motor and the swing driver respectively.
As a further improvement of the scheme, a streamline shell is sleeved outside the frame.
The beneficial effects of the application are as follows: under the drive of the power mechanism, the two crank bevel gears are driven to rotate, the crank bevel gears drive the rocking bars to rock through the transmission connecting rod, the rocking bars drive the power input rod to swing around the third revolute pair, the wing root control rod moves under the drive of the power input rod and the restraint of the inertial restraint rod, the rotating amplitude of the power input rod is equal to the amplitude of the rocking bars in the double crank rocking bar mechanism, in the moving process, the moment that the peak value and the valley value are obtained by the rocking bars overlaps, the wing root control rod can be driven by the power input rod, and the first ball pair, the second ball pair and the third ball pair realize flapping, swinging and overturning actions under the constraint of the first ball pair, the third ball pair connected with the wing root control rod and the inertia constraint rod depends on inertial motion during the transition of the upstroke and the downstroke of the flapping, so that the bionic flapping wing has different flapping forms and changes periodically during the upstroke and the downstroke of the flapping, the movement mode of the bionic flapping wing is more close to the flying organism, and a high lift force mechanism of the biological flying is effectively utilized to provide a larger lift force.
The application is used in the miniature ornithopter.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the application, but not all embodiments, and that other designs and drawings can be obtained from these drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic view of the internal structure of an embodiment of the present application;
FIG. 2 is a schematic view of the front of a frame of an embodiment of the present application;
FIG. 3 is a schematic diagram of an embodiment of the present application;
FIG. 4 is a graph of attitude change and flapping tip trajectory over a period of an embodiment of the present application.
Detailed Description
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present application. It is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present application based on the embodiments of the present application. In addition, all coupling/connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to the fact that a more optimal coupling structure may be formed by adding or subtracting coupling aids depending on the particular implementation. The technical features of the application can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1 to 4, this is an embodiment of the present application, in particular:
the miniature bionic ornithopter with the 8-shaped wingtip track comprises a frame 100, a power mechanism, a double-crank rocker mechanism 200 and a space mechanism based on a spherical hinge, wherein the frame 100 is arranged in a front-back extending mode, the power mechanism, the double-crank rocker mechanism 200 and the space mechanism based on the spherical hinge are arranged at the front part of the frame 100, and a tail wing mechanism 600 is arranged at the rear end of the frame 100;
as shown in fig. 2, the double crank rocker mechanism 200 includes two crank bevel gears 210 symmetrically disposed on the left and right, the two crank bevel gears 210 are engaged with each other, a first revolute pair 220 eccentrically disposed with the crank bevel gears 210 is disposed on the crank bevel gears 210, the crank bevel gears 210 are connected with a transmission link 230, the crank bevel gears 210 are connected with one end of the transmission link 230 through the first revolute pair 220, the other end of the transmission link 230 is connected with a rocker 240, a second revolute pair 250 is disposed between one end of the rocker 240 and the transmission link 230, and one end of the rocker 240 is connected with the transmission link 230 through the second revolute pair 250;
the power mechanism is in transmission connection with one of the crank bevel teeth 210;
as shown in fig. 2, the space mechanism based on spherical hinge comprises two space multi-link assemblies 300 symmetrically arranged left and right, the two space multi-link assemblies 300 are connected with two crank bevel gears 210 in a one-to-one correspondence manner, the space multi-link assemblies 300 comprise a power input rod 310, an inertial restraint rod 320 and a wing root control rod 330, the power input rod 310 and the inertial restraint rod 320 are symmetrically arranged front and back, the power input rod 310 and the inertial restraint rod 320 respectively extend towards the outer side of the frame 100, the inner ends of the power input rod 310 are mutually far away from the inner ends of the inertial restraint rod 320, the outer ends of the power input rod 310 are mutually close to the outer ends of the inertial restraint rod 320, the inner ends of the power input rod 310 are provided with a third revolute pair 340, the inner ends of the power input rod 310 are fixedly connected with the frame 100 through the third revolute pair 340, the inner ends of the power input rod 310 are fixedly connected with one end of a rocker 240 far away from a second revolute pair 250, the inner ends of the power input rod 310 are coaxially arranged with the rocker 240, the inner ends of the inertial restraint rod 320 are respectively provided with a fourth revolute pair 350, the inner ends of the inertial restraint rod 320 are symmetrically arranged at the outer side of the frame 330 through the second revolute pair 330, the outer side of the wing rod 330 is connected with the second revolute pair 330 through the third revolute pair 330, the outer end of the wing rod 330 is arranged at the outer side of the frame 330, the side of the wing rod 330 is connected with the second revolute pair 330 through the third revolute pair 330, the outer end of the inertial confinement rod 320 is connected with the bottom corner of the rear side of the wing root control rod 330 through a third ball pair 321;
as shown in fig. 3, the root control lever 330 is connected with a bionic ornithopter 800.
Under the drive of a power mechanism, the two crank bevel gears 210 are driven to rotate, the crank bevel gears 210 drive the rocking bars 240 to shake through the transmission connecting rod 230, the rocking bars 240 drive the power input rod 310 to shake around the third revolute pair 340, the wing root control rod 330 moves under the drive of the power input rod 310 and under the restraint of the inertia restraint rod 320, the rotating amplitude of the power input rod 310 is equal to the amplitude of the rocking bars 240 in the double crank rocker mechanism 200, in the moving process, the amplitude and the valley value of the amplitude are overlapped, the wing root control rod 330 can be driven by the power input rod 310, and the first ball pair 331, the second ball pair 311 and the third ball pair 321 are constrained to realize flapping, swinging and overturning actions, and the third ball pair 321 connecting the wing root control rod 330 and the inertia restraint rod 320 relies on inertial motion when the upstroke and downstroke of the flapping are changed, so that the bionic wing 800 has different flapping modes and changes periodically in the upstroke and downstroke of the flapping mode, the wing 800 can be driven by the root control rod 330 to make the bionic wing 800 to make a motion profile of an 8-shaped motion profile in the bionic wing, the bionic wing is more convenient to a high-lift figure, and the bionic wing is drawn by the bionic wing figure, and the bionic wing is more in the motion mode like a high-lift figure, and the bionic wing figure is more like a figure, and a high-and a life figure is.
Further as a preferred embodiment, the power mechanism and the double crank rocker mechanism 200 are mounted on the lower side of the frame 100, and the space mechanism based on the spherical hinge is mounted on the upper side of the frame 100. So that the structure of the miniature bionic ornithopter is miniaturized.
Further as a preferred embodiment, the power mechanism comprises a driving part and a gear reduction assembly 400 in transmission connection with the driving part, wherein the driving part is in transmission connection with one of the crank bevel teeth 210 through the gear reduction assembly 400. The gear reduction assembly 400 reduces the output of the driving unit, increases torque, and transmits the output to the double crank rocker mechanism 200.
Further as a preferred embodiment, the driving part includes a rotating electric machine 500 mounted on the frame 100, the output shaft of the rotating electric machine 500 is connected with a driving gear, the gear reduction assembly 400 includes a plurality of reduction gears 410 sequentially engaged with each other, the rotating electric machine 500 is engaged with the reduction gear 410 at the beginning through the driving gear, and the rotating shaft of one of the crank bevel gears 210 is connected with the reduction gear 410 at the end. The gear reduction assembly 400 can achieve the effects of reducing speed and increasing torque through a plurality of reduction gears 410.
Further as a preferred embodiment, the tail wing mechanism 600 includes a horizontal wing 610 and a vertical wing 620 disposed vertically, the front end of the horizontal wing 610 is connected with the rear end of the frame 100, the lower edge of the vertical wing 620 is connected with the middle line of the horizontal wing 610, the rear edge of the vertical wing 620 is connected with a swing wing 630, a swing driver 640 is disposed between the swing wing 630 and the vertical wing 620, and the swing driver 640 can drive the swing wing 630 to swing left and right. The swing driver 640 controls the swing wings 630 to swing left and right so as to control the flight direction of the miniature bionic ornithopter.
Further as a preferred embodiment, a lithium battery 700 is mounted in the middle of the frame 100, and the lithium battery 700 is electrically connected to the rotating electric machine 500 and the swing driver 640, respectively. The lithium battery 700 provides all the power for the miniature bionic ornithopter, and a control board is generally arranged for controlling the flapping frequency and the flight direction.
Further as shown in fig. 3, the device also comprises a shell 900 sleeved outside the frame 100, the housing 900 is contoured to follow the contours of birds, and the housing 900 has a streamlined shape to reduce flight resistance.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiments described above, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (5)
1. A miniature bionic ornithopter with an 8-shaped wingtip track is characterized in that: the device comprises a frame, a power mechanism, a double-crank rocker mechanism and a space mechanism based on a spherical hinge, wherein the frame is arranged in a front-back extending mode, the power mechanism, the double-crank rocker mechanism and the space mechanism based on the spherical hinge are arranged at the front part of the frame, and a tail wing mechanism is arranged at the rear end of the frame;
the double-crank rocker mechanism comprises two crank conical teeth which are symmetrically arranged left and right, the two crank conical teeth are in meshed connection, a first rotating pair which is eccentrically arranged with the crank conical teeth is arranged on the crank conical teeth, the crank conical teeth are connected with a transmission connecting rod, the crank conical teeth are connected with one end of the transmission connecting rod through the first rotating pair, the other end of the transmission connecting rod is connected with a rocker, a second rotating pair is arranged between one end of the rocker and the transmission connecting rod, and one end of the rocker is connected with the transmission connecting rod through the second rotating pair;
the power mechanism is in transmission connection with one crank bevel gear;
the space mechanism based on the spherical hinge comprises two space multi-connecting rod assemblies which are symmetrically arranged left and right, the two space multi-connecting rod assemblies are connected with two crank bevel gears in a one-to-one correspondence manner, the space multi-connecting rod assemblies comprise a power input rod, an inertial restraint rod and a wing root control rod, the power input rod and the inertial restraint rod are symmetrically arranged front and back, the power input rod and the inertial restraint rod respectively extend to the outer side of a frame, the inner end of the power input rod and the inner end of the inertial restraint rod are mutually far away, the outer end of the power input rod and the outer end of the inertial restraint rod are mutually close to each other, the inner end of the power input rod is provided with a third revolute pair, the inner end of the power input rod is fixedly connected with a frame through the third revolute pair, the inner end of the power input rod is coaxially arranged with the rocking rod, the inner end of the inertial restraint rod is provided with a fourth revolute pair, the inner end of the inertial restraint rod is connected with the frame through a fourth revolute pair, the root control rod is arranged on the symmetrical surface between the power input rod and the restraint rod, the outer side of the frame is provided with a third revolute pair, the isosceles pair is connected with the outer side of the frame through a third revolute pair, and the third revolute pair is connected with the outer side of the wing ball, and the wing ball is connected with the outer end of the wing ball through the third revolute pair;
the wing root control rod is connected with a bionic flapping wing;
the power mechanism and the double-crank rocker mechanism are arranged on the lower side of the frame, and the space mechanism based on the spherical hinge is arranged on the upper side of the frame;
the power mechanism comprises a driving part and a gear reduction assembly in transmission connection with the driving part, and the driving part is in transmission connection with one of the crank bevel gears through the gear reduction assembly.
2. The miniature bionic ornithopter of the 8-shaped wingtip track according to claim 1, wherein: the driving part comprises a rotating motor arranged on the frame, the output shaft of the rotating motor is connected with a driving gear, the gear reduction assembly comprises a plurality of reduction gears which are sequentially meshed and connected, the rotating motor is meshed and connected with the reduction gear at the starting end through the driving gear, and the rotating shaft of one crank bevel gear is connected with the reduction gear at the terminal.
3. The miniature bionic ornithopter of the 8-shaped wingtip track according to claim 1, wherein: the fin mechanism comprises a horizontal fin and a vertical fin which are transversely arranged, the front end of the horizontal fin is connected with the rear end of the frame, the lower edge of the vertical fin is connected with the center line of the horizontal fin, the rear edge of the vertical fin is connected with a swing fin, a swing driver is arranged between the swing fin and the vertical fin, and the swing driver can drive the swing fin to swing left and right.
4. A miniature bionic ornithopter having an 8-shaped tip trajectory as defined in claim 3, wherein: the middle part of the frame is provided with a lithium battery which is respectively and electrically connected with the rotating motor and the swinging driver.
5. The miniature bionic ornithopter of the 8-shaped wingtip track according to claim 1, wherein: and a streamline shell is sleeved on the outer side of the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403998.2A CN110127049B (en) | 2019-05-15 | 2019-05-15 | Miniature bionic ornithopter with 8-shaped wingtip track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403998.2A CN110127049B (en) | 2019-05-15 | 2019-05-15 | Miniature bionic ornithopter with 8-shaped wingtip track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110127049A CN110127049A (en) | 2019-08-16 |
| CN110127049B true CN110127049B (en) | 2023-11-14 |
Family
ID=67574202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910403998.2A Active CN110127049B (en) | 2019-05-15 | 2019-05-15 | Miniature bionic ornithopter with 8-shaped wingtip track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110127049B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667841B (en) * | 2019-09-05 | 2021-03-26 | 山东大学 | Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft |
| CN114439898B (en) * | 2022-01-12 | 2023-12-19 | 哈尔滨工程大学 | Wave fin toothless transmission mechanism and system |
| CN115817811A (en) * | 2022-11-21 | 2023-03-21 | 中国人民解放军陆军工程大学 | Bionic ornithopter for reconnaissance |
| CN116853497B (en) * | 2023-08-31 | 2023-11-24 | 上海海事大学 | Insect-imitating multi-degree-of-freedom flapping-wing mechanism and flapping-wing machine |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2921340A1 (en) * | 2007-09-20 | 2009-03-27 | Univ Paris Sud | FLYING WING ENGINE |
| TW200930619A (en) * | 2008-01-15 | 2009-07-16 | Univ Tamkang | Biomimetc micro air vehicle with 8-shaped flapping wing trajectory |
| CN102616375A (en) * | 2012-04-09 | 2012-08-01 | 上海交通大学 | Bevel gear four-wing type flapping wing mini-aircraft |
| TW201305016A (en) * | 2011-07-21 | 2013-02-01 | wei-xiang Liao | Flapping-wing aerial vehicle |
| CN104443380A (en) * | 2014-12-11 | 2015-03-25 | 香港理工大学 | Splay-track flapping wing mechanism and miniature flapping wing air vehicle |
| CN105620747A (en) * | 2016-03-03 | 2016-06-01 | 上海工程技术大学 | Flapping-wing mechanism capable of achieving motion trail shaped like horizontal Arabic number eight |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
| 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 |
| WO2017149987A1 (en) * | 2016-02-29 | 2017-09-08 | 株式会社村田製作所 | Flapping device |
| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
| CN109533323A (en) * | 2018-11-15 | 2019-03-29 | 天津大学 | A kind of micro flapping wing air vehicle with single-degree-of-freedom flexible wing |
| CN110525647A (en) * | 2019-09-09 | 2019-12-03 | 北京航空航天大学 | A kind of transmission mechanism suitable for miniature four flapping wing aircraft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112009683B (en) * | 2020-08-06 | 2021-11-02 | 北京航空航天大学 | Miniature double-flapping-wing aircraft |
-
2019
- 2019-05-15 CN CN201910403998.2A patent/CN110127049B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2921340A1 (en) * | 2007-09-20 | 2009-03-27 | Univ Paris Sud | FLYING WING ENGINE |
| TW200930619A (en) * | 2008-01-15 | 2009-07-16 | Univ Tamkang | Biomimetc micro air vehicle with 8-shaped flapping wing trajectory |
| TW201305016A (en) * | 2011-07-21 | 2013-02-01 | wei-xiang Liao | Flapping-wing aerial vehicle |
| CN102616375A (en) * | 2012-04-09 | 2012-08-01 | 上海交通大学 | Bevel gear four-wing type flapping wing mini-aircraft |
| CN104443380A (en) * | 2014-12-11 | 2015-03-25 | 香港理工大学 | Splay-track flapping wing mechanism and miniature flapping wing air vehicle |
| WO2017149987A1 (en) * | 2016-02-29 | 2017-09-08 | 株式会社村田製作所 | Flapping device |
| CN105620747A (en) * | 2016-03-03 | 2016-06-01 | 上海工程技术大学 | Flapping-wing mechanism capable of achieving motion trail shaped like horizontal Arabic number eight |
| CN106005405A (en) * | 2016-07-18 | 2016-10-12 | 上海交通大学 | High-frequency flapping-wing bionic insect aircraft with controllable passive torsion |
| 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 |
| CN109050910A (en) * | 2018-07-17 | 2018-12-21 | 北京航空航天大学 | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism |
| CN109080829A (en) * | 2018-10-15 | 2018-12-25 | 南京航空航天大学 | A kind of micro flapping wing air vehicle based on flexible hinge |
| CN109533323A (en) * | 2018-11-15 | 2019-03-29 | 天津大学 | A kind of micro flapping wing air vehicle with single-degree-of-freedom flexible wing |
| CN110525647A (en) * | 2019-09-09 | 2019-12-03 | 北京航空航天大学 | A kind of transmission mechanism suitable for miniature four flapping wing aircraft |
Non-Patent Citations (4)
| Title |
|---|
| 仿生微扑翼飞行器扑翼机构的设计及其动态模拟和分析;江敬强;《优秀硕士论文全文数据库工程科技Ⅱ辑》;第1-163页 * |
| 张兴伟.扑翼柔性变形对悬停气动特性影响的数值研究.《哈尔滨工业大学学报》.2012,第32-37页. * |
| 扑翼飞行的运动分析与仿真设计;黄永斌;《优秀硕士论文全文数据库工程科技Ⅱ辑》;第1-157页 * |
| 结冰对扑动翼气动特性影响的计算分析;谢凌望;《汕头大学学报》;第23-28页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110127049A (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110127049B (en) | Miniature bionic ornithopter with 8-shaped wingtip track | |
| CN108945430B (en) | Bionic flapping-folding-active torsion hybrid-driven flapping wing aircraft | |
| CN107416202B (en) | Miniature flapping wing aircraft | |
| WO2020233608A1 (en) | Dragonfly-like miniature four-winged ornithopter | |
| CN109592029B (en) | Bird-imitating micro flapping wing aircraft | |
| CN109050910A (en) | Bionic flying micro-robot based on crank rocker Yu passive rotating mechanism | |
| CN202574619U (en) | 8-shaped track flapping-wing mechanism and micro flapping-wing air vehicle | |
| CN108438220B (en) | Multi-degree-of-freedom dragonfly-imitating flapping-wing aircraft and control method thereof | |
| CN110525647B (en) | Transmission mechanism suitable for miniature four-flapping-wing aircraft | |
| CN110104173B (en) | Sweep and twist three-degree-of-freedom micro flapping wing aircraft | |
| CN112173101B (en) | Hovering double-flapping-wing aircraft based on Clap-flying mechanism | |
| CN209814271U (en) | Four-degree-of-freedom flapping wing aircraft device | |
| CN109911197B (en) | Four-degree-of-freedom ornithopter device | |
| CN115675861A (en) | Hummingbird flapping wing imitating mechanism based on gear rack mechanism | |
| CN108639337B (en) | Single-degree-of-freedom flapping wing mechanism capable of realizing space motion trail | |
| CN213109783U (en) | Opposite-flapping four-wing miniature flapping wing aircraft | |
| CN210503181U (en) | 8-shaped wing tip track micro bionic ornithopter | |
| CN112141332A (en) | Five pole flapping wing aircraft in space based on just gentle coupling | |
| CN111547237B (en) | Ornithopter with two-degree-of-freedom motion | |
| CN211996141U (en) | Bionic flapping wing aircraft with self-adaptive attack angle | |
| CN210063360U (en) | Bionic mechanical flapping wing machine | |
| TW201630787A (en) | Micro aerial vehicle flapping wing transmission structure | |
| CN114435590B (en) | Variable-incidence-angle ornithopter with wing rotation function | |
| CN214267957U (en) | Five pole flapping wing aircraft in space based on just gentle coupling | |
| CN110510118A (en) | A kind of bionical dragonfly robot of Dual-motors Driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |