CN110615099B - Flapping torsion amplitude-variable two-degree-of-freedom flapping wing mechanism and aircraft thereof - Google Patents
Flapping torsion amplitude-variable two-degree-of-freedom flapping wing mechanism and aircraft thereof Download PDFInfo
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- CN110615099B CN110615099B CN201910893029.XA CN201910893029A CN110615099B CN 110615099 B CN110615099 B CN 110615099B CN 201910893029 A CN201910893029 A CN 201910893029A CN 110615099 B CN110615099 B CN 110615099B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention discloses a flapping-wing mechanism with variable flapping torsion amplitude and two degrees of freedom, which comprises a wing support piece, an amplitude-changing flapping mechanism, an amplitude-changing torsion mechanism, a first power transmission system and a second power transmission system, wherein the wing support piece is used for being connected with a supporting wing, the amplitude-changing flapping mechanism is used for adjusting the amplitude of wing flapping, the amplitude-changing torsion mechanism is used for adjusting the amplitude of wing torsion, the first power transmission system is used for providing power for the amplitude-changing flapping mechanism, and the second power transmission system is used for providing power for the amplitude-changing torsion mechanism. According to the invention, by arranging the amplitude-variable flapping mechanism for adjusting the flapping amplitude of the wing and the amplitude-variable torsion mechanism for adjusting the torsion amplitude of the wing, the wing has the characteristics of flapping, torsion and movement capable of changing the flapping amplitude and the torsion amplitude, and the two degrees of freedom movement of the wing, both flapping and torsion, enables the flight state to be more close to the actual flapping law of bird flight, and has good air property; the amplitude-variable flutter of the wing enables the aircraft to select proper amplitude and torsion amplitude of the flapping wing based on different flight conditions, and the flight efficiency and the endurance are effectively improved.
Description
Technical Field
The invention belongs to the technical field of flapping-wing aircrafts, and particularly relates to a flapping torsion amplitude-variable two-degree-of-freedom flapping-wing mechanism and an aircraft thereof.
Background
At present, a single-degree-of-freedom flapping wing mechanism is mostly adopted by a micro air vehicle, namely, the movement of a wing is only planar up-down flapping, and the flapping wing mechanism has the advantages of simpler structure and lighter weight, but has lower bionic degree and can not meet the requirement on aerodynamic performance. In order to improve the aerodynamic performance of a flapping wing mechanism and meet the requirement of an aircraft for long-time flight, flapping wing mechanisms with multiple degrees of freedom of movement are researched. Typical examples are: the flapping wing mechanism of the insect-imitating aircraft in the patent 201210316492.6 is formed by combining a crank rocker mechanism, and then is amplified to a wing, so that the wing has two-dimensional motion, and the wing tip can draw an 8-shaped track. The patent 201310180160.4 relates to a flapping wing device for realizing active torsion of a wing flapping wing and a wing surface, which changes rotary motion into reciprocating motion of a wing torsion connecting rod through a wing rotary crank so as to drive the wing to make periodic torsion action. The three-dimensional flapping wing mechanism of the flapping wing aircraft in the patent 201420266922.2 drives the torsion connecting piece to enable the torsion rod to rotate through the driving crank, meanwhile, the torsion rod drives the flapping rod to flap, and the flapping wing folding and unfolding mechanism is further arranged to realize three-dimensional movement of flapping, torsion and folding and unfolding of the wing.
In the flapping wing structure, the flapping amplitude and the torsion amplitude of the flapping wing aircraft during flight cannot be changed, and proper flapping amplitude and torsion amplitude cannot be selected according to different flight conditions, so that the flight efficiency and the endurance are not high, and the micro flapping wing aircraft cannot be widely applied.
Disclosure of Invention
In order to solve the problems, the invention provides a flapping torsion amplitude-variable two-degree-of-freedom flapping wing mechanism and an aircraft thereof, and solves the problem that the flapping amplitude and the torsion amplitude of the existing flapping wing aircraft cannot be adjusted during flight.
In order to solve the technical problems, the invention adopts the following technical scheme:
The two-degree-of-freedom flapping wing mechanism with variable flapping torsion amplitude comprises a wing support piece, an amplitude-variable flapping mechanism, an amplitude-variable torsion mechanism, a first power transmission system and a second power transmission system, wherein the wing support piece is used for being connected with a supporting wing, the amplitude-variable flapping mechanism is used for adjusting the amplitude of the wing flapping, the amplitude-variable torsion mechanism is used for adjusting the amplitude of the wing torsion, the first power transmission system is used for providing power for the amplitude-variable flapping mechanism, and the second power transmission system is used for providing power for the amplitude-variable torsion mechanism;
The amplitude-changing flapping mechanism comprises a first transmission shaft and a first sliding block, and a first connecting arm and a second connecting arm are arranged on the first sliding block; the first transmission shaft is connected with the output end of the first power transmission system, the first sliding block is arranged on the first transmission shaft, and the first sliding block can move along the first transmission shaft; the wing support piece is provided with a chute, the chute is axially arranged along the first transmission shaft, and the tail end of the first connecting arm is arranged in the chute;
the amplitude-variable flapping mechanism comprises a rocker, a second sliding block, a connecting cross rod and a movable support, wherein the second sliding block is sleeved on the rocker and can move on the rocker, and the second sliding block is connected with the output end of the second power transmission system; the connecting cross rod and the movable support are respectively connected to two ends of the rocker, wherein the rocker can move at the intersection point of the rocker and the connecting cross rod, and the movable support is hinged with the rocker; the movable support can drive the rocker to move, so that the distance between the movable support and the second sliding block is adjusted; the connecting cross rod is movably connected with the second connecting arm.
Specifically, the first power transmission system comprises a first steering engine, a first gear, a second gear, a first bevel gear and a second bevel gear, wherein the first gear is connected to the first steering engine, the second gear is meshed with the first gear, the first bevel gear is coaxially connected with the second gear, the second bevel gear is meshed with the first bevel gear, and the first transmission shaft is connected with the second bevel gear.
Specifically, the first transmission shaft is provided with transmission teeth, and the first slider is sleeved at one end of the transmission teeth to form a screw slider mechanism.
Specifically, the second power transmission system comprises a driving motor, a third gear connected with the output end of the driving motor, a fourth gear meshed with the third gear, a fifth gear coaxially connected with the fourth gear, and a sixth gear meshed with the fifth gear, and the second sliding block is connected with the sixth gear through a connecting shaft.
Specifically, the movable support on be connected with the support actuating mechanism that drives the movable support and remove, support actuating mechanism include second steering wheel, seventh gear, eighth gear and second transmission shaft, the output and the seventh gear connection of second steering wheel, eighth gear and seventh gear engagement, the one end and the eighth gear coaxial coupling of second transmission shaft, the other end and movable support are connected and are formed lead screw slider mechanism.
Further, the wing support is connected with the frame through a rotating pair, so that the wing support has two amplitudes of flapping and torsion; the first power transmission system and the second power system are fixed on the frame, the movable support is movably connected to the bracket, and the first transmission shaft is connected to the frame.
Specifically, the revolute pair be T type plate, but the flange board swing joint of T type plate is in the frame, can rotate around the frame, the web of T type plate articulates with wing support for wing support can rotate around the pin joint.
Further, a first guide groove is formed in the first sliding block, and a first guide rail matched with the first guide groove is arranged on the frame.
Further, a second guide groove is formed in the movable support, and a second guide rail matched with the second guide groove is arranged on the frame.
The invention also discloses a two-degree-of-freedom aircraft with variable flapping torsion amplitude, which comprises a flapping wing mechanism, wings, a fuselage and a tail, wherein the flapping wing mechanism is the flapping wing mechanism provided by the invention, and the wings are connected to a wing support piece.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, by arranging the amplitude-variable flapping mechanism for adjusting the flapping amplitude of the wing and the amplitude-variable torsion mechanism for adjusting the torsion amplitude of the wing, the wing has the characteristics of flapping, torsion and movement capable of changing the flapping amplitude and the torsion amplitude, and the two degrees of freedom movement of the wing, both flapping and torsion, enables the flight state to be more close to the actual flapping law of bird flight, and has good air property; the amplitude-variable flutter of the wing enables the aircraft to select proper amplitude and torsion amplitude of the flapping wing based on different flight conditions, and the flight efficiency and the endurance are effectively improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
FIG. 1 is an isometric view of the overall structure of the flapping-wing mechanism of the present invention.
Figure 2 is a front view of the overall structure of the flapping-wing mechanism of the present invention.
Figure 3 is a rear view of the overall structure of the flapping-wing mechanism of the present invention.
Figure 4 is a top view of the overall structure of the flapping-wing mechanism of the present invention.
Figure 5 is a schematic view of an aircraft structure having a flapping wing mechanism of the present invention.
The reference numerals in the figures are as follows:
1-wing supporting piece, 2-amplitude-variable flapping mechanism, 3-amplitude-variable torsion mechanism, 4-first power transmission system, 5-second power transmission system, 6-frame, 7-wing, 8-fuselage and 9-tail;
101-a chute;
201-a first transmission shaft, 202-a first sliding block, 203-a first connecting arm, 204-a second connecting arm, 205-a rotating pair, 206-a first guide groove;
301-rocker, 302-second slider, 303-connecting cross bar, 304-movable support, 305-support driving mechanism, 306-second steering engine, 307-seventh gear, 308-eighth gear, 309-second transmission shaft, 310-second guide slot;
401-a first steering engine, 402-a first gear, 403-a second gear, 404-a first bevel gear, 405-a second bevel gear;
501-a driving motor, 502-a third gear, 503-a fourth gear, 504-a fifth gear, 505-a sixth gear;
601-first rail, 602-second rail.
The details of the invention are explained in further detail below with reference to the drawings and the detailed description.
Detailed Description
The following specific embodiments of the present application are provided, and it should be noted that the present application is not limited to the following specific examples, and all equivalent changes made on the basis of the technical scheme of the present application fall within the protection scope of the present application.
In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top" and "inner, outer" are generally defined with reference to the drawing plane of the corresponding drawing figures, and are defined with reference to the outline of the corresponding drawing figures.
As shown in fig. 1, the invention discloses a flapping-amplitude-variable two-degree-of-freedom flapping wing mechanism, which comprises a wing support 1 for connecting and supporting a wing, an amplitude-variable flapping mechanism 2 for adjusting the amplitude of wing flapping, an amplitude-variable torsion mechanism 3 for adjusting the amplitude of wing torsion, a first power transmission system 4 for providing power for the amplitude-variable flapping mechanism, and a second power transmission system 5 for providing power for the amplitude-variable torsion mechanism.
In one embodiment of the present invention, as shown in FIG. 1, the luffing flapping mechanism 2, the luffing torsion mechanism 3, the first driveline 4, and the second driveline 5 are supported by a frame 6. The wing support 1 is connected to the frame 6 by a revolute pair 205, wherein in a preferred embodiment of the invention the revolute pair 205 is a T-shaped plate, the flange of which is movably connected to the frame 6 and is rotatable about the frame, the web of which is hinged to the wing support 1 such that the wing support 1 is rotatable about the hinge point such that the wing support 1 has both flapping and torsion degrees of freedom.
The luffing flapping mechanism 2 comprises a first transmission shaft 201 and a first sliding block 202, and a first connecting arm 203 and a second connecting arm 204 are arranged on the first sliding block 202; the first transmission shaft 201 is connected with the output end of the first power transmission system 4, the first sliding block 202 is arranged on the first transmission shaft 201, the first sliding block 202 can move along the first transmission shaft 201, and particularly, transmission teeth are arranged on the first transmission shaft 201, so that one end of the shaft is a screw shaft, the other end of the shaft is a polished rod, one end of the polished rod is coaxially connected with the first power transmission system 4, the polished rod is partially supported on the frame 6, the first sliding block 202 is sleeved on the screw shaft, the inner wall of the first sliding block 202 is of a screw structure matched with the screw shaft, and the first sliding block 202 and the screw shaft form a screw sliding block mechanism. The wing support 1 is provided with a sliding groove 101, the sliding groove 101 is axially arranged along a first transmission shaft 201, the tail end of a first connecting arm 203 is arranged in the sliding groove 101, and the luffing flapping mechanism 2 and the wing support 1 are connected together through the first connecting arm 203. As the first slider 202 moves on the first drive shaft 201, the first connecting arm moves in the chute 101, thereby changing the flapping amplitude of the wing support 1.
In this embodiment, the first drivetrain 4 includes a first steering engine 401, a first gear 402, a first bevel gear 404, and a second bevel gear 405, the first steering engine 401 is fixed to the frame 6, the first gear 402 is a high-speed pinion, and the second gear 403 is a low-speed bull gear.
The first gear 402 is connected to the first steering engine 401, the second gear 403 is meshed with the first gear 402, the first bevel gear 404 is connected coaxially with the second gear 403, the second bevel gear 405 is meshed with the first bevel gear 404, and the optical rod end of the first transmission shaft 201 is connected with the second bevel gear 405. In the embodiment of the invention, the gear ratio of the second bevel gear 405 to the first bevel gear 404 is 1:1, so that symmetry of flapping wing motion at the left side and the right side is ensured.
In general, two wing support frames 1 are symmetrically arranged, so that two luffing flapping mechanisms 2 are symmetrically arranged, and the same two first transmission shafts 201, the first sliding blocks 202 and the second bevel gears 405 are symmetrically arranged, as shown in fig. 2.
Preferably, the first sliding block 202 is provided with a first guide groove 206, and the frame 6 is provided with a first guide rail 601 matched with the first guide groove 206, and the first guide groove 206 is inserted into the first guide rail 601, so that the first sliding block 202 can only move left and right along the first transmission shaft 201 and cannot rotate.
As shown in fig. 1 and 2, the amplitude-variable torsion mechanism 3 comprises a rocker 301, a second slider 302, a connecting cross rod 303 and a movable support 304, wherein the second slider 302 is sleeved on the rocker 301, the second slider 302 can move on the rocker 301, and the second slider 302 is connected with the output end of the second power transmission system 5. The connecting rail 303 and the movable support 304 are respectively connected to both ends of the rocker 301, wherein the rocker 301 is movable at its intersection with the connecting rail 303, and the movable support 304 is hinged with the rocker 301. The rocker 301 is shifted by the second power transmission system 5 to rotate by taking the movable support 304 as a supporting point.
The connecting cross rod 303 is movably connected with the second connecting arm 204, and the amplitude changing flutter mechanism 2 is connected with the amplitude changing torsion mechanism 3 through the second connecting arm 204. Specifically, in the embodiment of the present invention, the first transmission shaft 201 extends out of the two suspension arms, two ends of the connection cross bar 303 are fixed on the two suspension arms, two ends of the connection cross bar 303 rotate around the connection position between the two ends of the connection cross bar and the suspension arms, and the end of the second connection arm 204 is provided with a sleeve, and the sleeve is sleeved on the connection cross bar 303, so that the first connection arm 204 moves along the connection cross bar 303.
The movable support 304 can drive the rocker 301 to move, so that the distance between the movable support 304 and the second slider 302 is adjusted, and finally the swing amplitude of the wing is adjusted. Specifically, in this embodiment, the support driving mechanism 305 is used to drive the moving support 304 to move. As shown in fig. 2, the support driving mechanism 305 includes a second steering engine 306, a seventh gear 307, an eighth gear 308 and a second transmission shaft 309, an output end of the second steering engine 306 is connected with the seventh gear 307, the eighth gear 308 is meshed with the seventh gear 307, one end of the second transmission shaft 309 is coaxially connected with the eighth gear 308, and the other end is connected with the movable support 304 to form a screw slider mechanism. The movable support 304 is moved up and down by the rotation of the second transmission shaft 309, so as to push the rocking rod 301 to move up and down, change the distance between the hinge points of the movable support 304 and the rocking rod 301 and the rotation center of the output shaft of the second power transmission system 5, change the swing amplitude of the rocking rod 301, and further change the torsion amplitude of the flapping wings.
The second power transmission system 5 includes a driving motor 501, a third gear 502 connected to an output end of the driving motor 501, a fourth gear 503 meshed with the third gear 502, a fifth gear 504 coaxially connected with the fourth gear 503, and a sixth gear 505 meshed with the fifth gear 504. Wherein, the driving motor 501 is installed on the frame 6 through a motor frame, the connecting shafts of the fourth gear 503 and the fifth gear 504 are also installed on the frame 6, the second slider 302 is connected with the sixth gear 505 through a connecting shaft, and the second slider 302 is eccentrically connected with the sixth gear 505, so as to ensure the rotation amplitude of the rocker 301. In the present embodiment, the third gear 502 is a high-speed pinion gear, the fourth gear 503 is a high-speed bull gear, the fifth gear 504 is a low-speed pinion gear, and the sixth gear 505 is a low-speed bull gear, thus forming a reduction mechanism.
Preferably, a second guide groove 310 is also provided on the movable support 304, and a second guide rail 602 matched with the second guide groove 310 is provided on the frame 6, so that the movable support 304 can only move up and down along the transmission shaft 309 without rotating.
Specifically, the movable support 304 in this embodiment is a T-shaped plate, a second guide slot 310 is provided at one side flange end of the T-shaped plate, and a hinge block is connected to a web plate of the T-shaped plate, and the hinge block is hinged to the bottom of the rocker 301, so that the rocker 301 can freely rotate around the connection point.
The flapping amplitude adjusting process of the flapping wing mechanism comprises the following steps:
the first power transmission system 4 drives the first transmission shaft 201 to rotate, the first transmission shaft 201 drives the first sliding block 202 on the first transmission shaft 201 to move, and the position of the first connecting arm 203 in the sliding groove 101 is changed, so that the flapping amplitude of the flapping wing rod 4 is changed.
The torsion amplitude adjusting process of the flapping wing mechanism comprises the following steps:
The support driving mechanism 305 drives the second transmission shaft 309 to rotate, the second transmission shaft 309 drives the movable support 304 thereon to move up and down, and the second power transmission system 5 drives the movable support 304 and the rocker 301 to change the distance between the hinge point and the rotation center of the output shaft of the second power transmission system 5, thereby changing the swing amplitude of the rocker 301. The revolute pair 205 is hinged with the frame 6 and the wing support 1 respectively, so that the left wing support 1 and the right wing support 1 have two degrees of freedom, and the front end of the first connecting arm 203 penetrates into the chute 101 of the wing support 1 to drive the wing support 1 to flap and twist.
According to the invention, the amplitude-variable flutter of the wing is adjusted, so that the aircraft can select proper amplitude and torsion amplitude of the flapping wing based on different flight conditions, and the flight efficiency and endurance are effectively improved.
In another embodiment of the present invention, a two-degree-of-freedom aircraft with variable flapping torsion amplitude is also disclosed, and the aircraft comprises a flapping wing mechanism, a wing 7, a fuselage 8 and a tail 9, wherein the flapping wing mechanism is the flapping wing mechanism described in the above embodiment of the present invention, the wing 7 is connected to a wing support, and the shapes of the fuselage 8 and the tail 9 are designed according to specific needs, as shown in fig. 5.
The individual technical features described in the above-described embodiments may be combined in any suitable manner without contradiction, as long as they do not deviate from the idea of the invention and should also be regarded as the disclosure of the invention.
Claims (5)
1. The two-degree-of-freedom flapping wing mechanism with the variable flapping torsion amplitude is characterized by comprising a wing support (1) for connecting and supporting a wing, an amplitude-variable flapping mechanism (2) for adjusting the wing flapping amplitude, an amplitude-variable torsion mechanism (3) for adjusting the wing torsion amplitude, a first power transmission system (4) for providing power for the amplitude-variable flapping mechanism, and a second power transmission system (5) for providing power for the amplitude-variable torsion mechanism;
The amplitude-variable flapping mechanism (2) comprises a first transmission shaft (201) and a first sliding block (202), wherein a first connecting arm (203) and a second connecting arm (204) are arranged on the first sliding block (202); the first transmission shaft (201) is connected with the output end of the first power transmission system (4), the first sliding block (202) is arranged on the first transmission shaft (201), and the first sliding block (202) can move along the first transmission shaft (201); the wing support (1) is provided with a chute (101), the chute (101) is axially arranged along the first transmission shaft (201), and the tail end of the first connecting arm (203) is arranged in the chute (101);
The amplitude-variable torsion mechanism (3) comprises a rocker (301), a second sliding block (302), a connecting cross rod (303) and a movable support (304), wherein the second sliding block (302) is sleeved on the rocker (301), the second sliding block (302) can move on the rocker (301), and the second sliding block (302) is connected with the output end of the second power transmission system (5); the connecting cross rod (303) and the movable support (304) are respectively connected to two ends of the rocker (301), wherein the rocker (301) can move at the intersection point of the connecting cross rod (303), and the movable support (304) is hinged with the rocker (301); the movable support (304) can drive the rocker (301) to move, so that the distance between the movable support (304) and the second sliding block (302) is adjusted; the connecting cross rod (303) is movably connected with the second connecting arm (204);
The first power transmission system (4) comprises a first steering engine (401), a first gear (402), a second gear (403), a first bevel gear (404) and a second bevel gear (405), wherein the first gear (402) is connected to the first steering engine (401), the second gear (403) is meshed with the first gear (402), the first bevel gear (404) is coaxially connected with the second gear (403), the second bevel gear (405) is meshed with the first bevel gear (404), and the first transmission shaft (201) is connected with the second bevel gear (405);
The second power transmission system (5) comprises a driving motor (501), a third gear (502) connected with the output end of the driving motor (501), a fourth gear (503) meshed with the third gear (502), a fifth gear (504) coaxially connected with the fourth gear (503), and a sixth gear (505) meshed with the fifth gear (504), and the second sliding block (302) is connected with the sixth gear (505) through a connecting shaft;
the movable support (304) is connected with a support driving mechanism (305) for driving the movable support (304) to move, the support driving mechanism (305) comprises a second steering engine (306), a seventh gear (307), an eighth gear (308) and a second transmission shaft (309), the output end of the second steering engine (306) is connected with the seventh gear (307), the eighth gear (308) is meshed with the seventh gear (307), one end of the second transmission shaft (309) is coaxially connected with the eighth gear (308), and the other end of the second transmission shaft is connected with the movable support (304) to form a screw slider mechanism;
The wing support (1) is connected with the frame (6) through a rotating pair (205), so that the wing support (1) has two amplitudes of flapping and torsion; the first power transmission system (4) and the second power transmission system (5) are fixed on the frame (6), the movable support (304) can be movably connected to the frame (6), and the first transmission shaft (201) is connected to the frame (6);
The revolute pair (205) is a T-shaped plate, and the flange plate of the T-shaped plate can be movably connected to the frame (6) and can rotate around the frame, and the web plate of the T-shaped plate is hinged with the wing support (1) so that the wing support (1) can rotate around a hinge point.
2. The flapping torsion amplitude variable two-degree-of-freedom flapping wing mechanism according to claim 1, wherein the first transmission shaft (201) is provided with transmission teeth, and the first slider (202) is sleeved at one end of the transmission teeth.
3. The flapping torsion amplitude variable two-degree-of-freedom flapping wing mechanism according to claim 1, wherein the first slider (202) is provided with a first guide groove (206), and the frame (6) is provided with a first guide rail (601) matched with the first guide groove (206).
4. The flapping torsion amplitude variable two-degree-of-freedom flapping wing mechanism according to claim 1, wherein the movable support (304) is provided with a second guide groove (310), and the frame (6) is provided with a second guide rail (602) matched with the second guide groove (310).
5. A two-degree-of-freedom aircraft with variable flapping torsion amplitude, comprising a flapping wing mechanism, a wing (7), a fuselage (8) and a tail (9), wherein the flapping wing mechanism is as claimed in any one of claims 1 to 4, and the wing (7) is connected to a wing support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910893029.XA CN110615099B (en) | 2019-09-20 | 2019-09-20 | Flapping torsion amplitude-variable two-degree-of-freedom flapping wing mechanism and aircraft thereof |
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| CN201910893029.XA CN110615099B (en) | 2019-09-20 | 2019-09-20 | Flapping torsion amplitude-variable two-degree-of-freedom flapping wing mechanism and aircraft thereof |
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| CN110615099B true CN110615099B (en) | 2024-05-03 |
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| CN112793779B (en) * | 2021-02-25 | 2022-11-18 | 合肥森岑汽车用品有限公司 | Amplitude transformer and aircraft using same |
| CN116853547B (en) * | 2023-07-21 | 2024-04-05 | 北京科技大学 | Miniature ornithopter based on double rudder turns to |
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| CN108146633A (en) * | 2017-12-21 | 2018-06-12 | 西北工业大学 | Variable zero amplitude driving mechanism for flapping wing and flapping wing driving method |
| CN108945430A (en) * | 2018-07-16 | 2018-12-07 | 武汉科技大学 | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold |
| CN108945432A (en) * | 2018-07-23 | 2018-12-07 | 西北工业大学 | Bionic three-dimensional based on cross pivot hinge is fluttered flapping wing aircraft and driving method |
| CN210681153U (en) * | 2019-09-20 | 2020-06-05 | 长安大学 | Flapping wing mechanism with two variable flapping torsion amplitude degrees and aircraft thereof |
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