CN111137436A - Aerocar wing tilting mechanism and aerocar comprising same - Google Patents
Aerocar wing tilting mechanism and aerocar comprising same Download PDFInfo
- Publication number
- CN111137436A CN111137436A CN202010058233.2A CN202010058233A CN111137436A CN 111137436 A CN111137436 A CN 111137436A CN 202010058233 A CN202010058233 A CN 202010058233A CN 111137436 A CN111137436 A CN 111137436A
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- isolation
- disc
- support frame
- circular ring
- ring gap
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a flying automobile wing tilting mechanism and a flying automobile comprising the same, wherein the flying automobile wing tilting mechanism comprises a universal joint mechanism, an input end and an output end, wherein the input end is introduced into a first power source; the rotary isolating mechanism comprises an upper isolating outer disc, an upper isolating inner disc, a lower isolating outer disc and a lower isolating inner disc, a first circular ring gap is formed between the upper isolating outer disc and the upper isolating inner disc, and a second circular ring gap is formed between the lower isolating outer disc and the lower isolating inner disc; the upper end part of the isolation disc connecting piece is inserted into the first circular ring gap, and the lower end part of the isolation disc connecting piece is inserted into the second circular ring gap; the top of the upper support frame is fixedly connected with the lower isolation outer disc and the lower isolation inner disc, and a second power source is introduced into the upper support frame; the output end of the universal joint mechanism is fixedly connected with the upper isolation outer disc and the upper isolation inner disc, and the second power source drives the upper support frame to rotate around the bottom of the upper support frame, so that the rotary isolation mechanism is driven to swing integrally. The wing can rotate in two dimensions by using the tilting mechanism, and mechanism interference cannot be generated.
Description
Technical Field
The invention relates to the technical field of ground-air amphibious vehicles, in particular to a flying automobile wing tilting mechanism and a flying automobile comprising the same.
Background
With the continuous development of scientific technology and the continuous improvement of national economic level, more and more families have the ability to buy domestic automobiles, so that the quantity of automobiles in China is more than 3.25 hundred million, and the increasingly serious traffic jam phenomenon is accompanied, so that the flying automobiles are paid more and more attention as an effective scheme for solving the traffic jam.
In order to ensure that the wings of the hovercar cannot collide with or be influenced by external factors such as vehicles, pedestrians, buildings and the like on the road when the hovercar runs on the ground, the wings of the hovercar need to be folded and inclined above the hovercar body, so that the safety of the hovercar when the hovercar runs on the road is ensured. In addition, in order to improve the tilting speed of the wings and facilitate the control of the flying automobile control system on the flying and driving postures, the wings can synchronously rotate around two crossed axes in the space, so that the tilting mechanism of the wings has higher requirements, and the wings can be ensured to rotate in the space with two different degrees of freedom.
Therefore, how to design a tilting mechanism of a flying car wing, which meets the above requirements, becomes a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a wing tilting mechanism of a flying automobile, which can enable a target tilting wing to synchronously rotate around two crossed axes in a space at the same time, does not generate the problem of mechanism interference, and ensures the safety.
The technical scheme adopted by the invention is as follows: a hovercar wing tilting mechanism comprising:
the universal joint mechanism is provided with an input end and an output end, and the input end is introduced with a first power source;
the rotary isolation mechanism comprises an upper isolation outer disc, an upper isolation inner disc, a lower isolation outer disc and a lower isolation inner disc, wherein the upper isolation outer disc and the upper isolation inner disc are respectively and correspondingly arranged above the lower isolation outer disc and the lower isolation inner disc, a first circular ring gap is formed between the upper isolation outer disc and the upper isolation inner disc, and a second circular ring gap is formed between the lower isolation outer disc and the lower isolation inner disc;
the upper end parts of the plurality of isolation disc connecting pieces are inserted into the first circular ring gap, the lower end parts of the plurality of isolation disc connecting pieces are inserted into the second circular ring gap, and the isolation disc connecting pieces can do circular motion in the first circular ring gap and the second circular ring gap; and
the top of the upper support frame is fixedly connected with the lower isolation outer disc and the lower isolation inner disc, and a second power source is introduced into the upper support frame;
the output of universal joint mechanism with go up keep apart outer disc and go up and keep apart inner disc fixed connection, the second power supply can drive go up the support frame rotates around the bottom of self, the top of going up the support frame drives rotate isolation mechanism swing as a whole.
The power supply device further comprises a bevel gear transmission mechanism, wherein the bevel gear transmission mechanism comprises a first bevel gear and a second bevel gear, the first bevel gear and the second bevel gear are meshed with each other, the second bevel gear is fixedly arranged on the upper support frame, and the second power source is led in through the first bevel gear.
The universal joint mechanism comprises a rotating isolation mechanism, a universal joint mechanism and a connecting plate, and is characterized by further comprising a lower support frame and a connecting plate, wherein the two upper support frames are symmetrically arranged on two sides of the rotating isolation mechanism, the input end of the universal joint mechanism and the bottom end of the connecting plate are fixedly assembled on the lower support frame, the top end of the connecting plate is rotatably connected with the bottom of the upper support frame, a first bevel gear is rotatably arranged on the connecting plate, and the rotating center of a second bevel gear is coincided with the swinging center of the bottom of the upper support frame.
Furthermore, the separation disc connecting piece comprises a first connecting block and a second connecting block, a threaded column is arranged at the bottom of the first connecting block, a threaded hole is correspondingly formed in the top of the second connecting block, and the threaded column is detachably screwed in the threaded hole.
Further, a strip-shaped groove is formed in the top of the first connecting block.
Further, the first ring gap and the second ring gap are both set to be step gaps, and the first ring gap and the second ring gap are butted to form a containing space with a narrow middle part and wide two ends.
Further, still include output shaft coupling, output shaft coupling fixed mounting in go up the top of keeping apart the inner disc.
A flying automobile comprising:
a vehicle body providing a first power source and a second power source;
the number of the wings is two, and the wings are respectively arranged on two sides of the vehicle body; and
the aircraft wing tilting mechanism comprises an input end and an automobile body fixed connection of a universal joint mechanism of the aircraft wing tilting mechanism, an upper isolation outer disc and/or an upper isolation inner disc of a rotary isolation mechanism and the wing fixed connection.
Has the advantages that: according to the invention, a first power source is input through the input end of the universal joint mechanism, power is transmitted to the output end through the universal joint mechanism, the output end is fixedly connected with the upper isolation outer disc and the upper isolation inner disc, and the upper isolation outer disc or the upper isolation inner disc can be fixedly installed with the wing, so that the rotation of the wing in one dimension can be realized. Because the isolating disc connecting piece connected between the first circular ring gap and the second circular ring gap can freely do circular motion in the first circular ring gap and the second circular ring gap, the lower isolating outer disc and the lower isolating inner disc can keep relatively static, and interference of the first power source is avoided. Meanwhile, a second power source is applied to the upper support frame, so that the upper support frame swings, and the upper support frame drives the lower isolation outer disc and the lower isolation inner disc to swing together. At the moment, the lower isolation outer disc and the lower isolation disc transmit torque to the upper isolation outer disc and the upper isolation inner disc through the isolation disc connecting piece, and then the wing is driven to rotate in the other dimension. The use of the tilting mechanism can simultaneously realize the rotation of the wings in two dimensions, and simultaneously, the problem of mechanism interference can not be generated.
Drawings
The invention is further illustrated with reference to the following figures and examples:
fig. 1 is a schematic overall structure diagram of a flying vehicle wing tilting mechanism according to an embodiment of the present invention;
FIG. 2 is a partial schematic structural view of a flying vehicle including a tilting mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic partial cross-sectional view of the spacer disk connection with the rotational spacer mechanism;
FIG. 4 is a schematic view of the assembly of the spacer disk connector;
fig. 5 is a top view of fig. 1.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 5, the present embodiment provides a flying automobile including a tilting mechanism, and the flying automobile includes a body 21, two wings 19, and two tilting mechanisms 20. The wing 19 is connected to a vehicle body 21 via a tilt mechanism 20, and a first power source and a second power source are provided in the vehicle body 21. The input end of the universal joint mechanism 7 of the tilting mechanism 20 is fixedly mounted with a vehicle body 21, and the upper isolation outer disc 12 and the upper isolation inner disc 14 of the rotation isolation mechanism are fixedly mounted with the wing 19. The tilting mechanism 20 can simultaneously realize the transmission of two kinds of power, thereby realizing the rotation of the wing 19 in two dimensions without interference.
Specifically, the tilting mechanism 20 mainly includes a gimbal mechanism 7, a rotation isolation mechanism, a plurality of isolation disc connectors 13, and an upper support frame 10. Wherein universal joint mechanism 7 includes input and output, and input shaft coupling 8 is installed to the input, and the input is through the leading-in first power supply that sets up in automobile body 21 of input shaft coupling 8. The first power source drives the input end of the universal joint mechanism 7 to rotate, and the input end transmits the rotation to the output end.
The rotary isolating mechanism comprises an upper isolating outer disc 12, an upper isolating inner disc 14, a lower isolating outer disc 11 and a lower isolating inner disc 16, the upper isolating outer disc 12 and the upper isolating inner disc 14 are correspondingly arranged above the lower isolating outer disc 11 and the lower isolating inner disc 16 respectively, the upper isolating outer disc 12 is aligned with the lower isolating outer disc 11, and the upper isolating inner disc 14 is aligned with the lower isolating inner disc 16. A first annular gap is formed between the upper isolating outer disc 12 and the upper isolating inner disc 14, and a second annular gap is formed between the lower isolating outer disc 11 and the lower isolating inner disc 16. The first annular gap is located above the second annular gap.
In order to realize the up-and-down connection of the upper isolation outer disc 12, the upper isolation inner disc 14, the lower isolation outer disc 11 and the lower isolation inner disc 16, a plurality of isolation disc connecting pieces 13 are arranged among the upper isolation outer disc 12, the upper isolation inner disc 14, the lower isolation outer disc 11 and the lower isolation inner disc 16. The upper end of the spacer disc connector 13 is inserted into the first annular gap, and the lower end is inserted into the second annular gap. The upper and upper insulating outer discs 12 and 14 and the lower and lower insulating outer discs 11 and 16 cannot move relative to or toward each other in the vertical direction under the connection of the insulating disc connection 13. The isolation disc connecting piece 13 can do circular motion in the first circular ring gap and the second circular ring gap, so that the lower isolation outer disc 11 and the lower isolation inner disc 16 cannot rotate along with the rotation of the upper isolation outer disc 12 and the upper isolation inner disc 14.
Meanwhile, the lower isolation outer disc 11 and the lower isolation inner disc 16 are fixedly mounted at the top of the upper support frame 10, a second power source is guided into the upper support frame 10 and acts on the bottom of the upper support frame 10, the second power source provides torque to enable the upper support frame 10 to swing, and then the lower isolation outer disc 11 and the lower isolation inner disc 16 are driven to swing along with the upper support frame 10.
A first power source is input through an input end of the universal joint mechanism 7, power is transmitted to an output end through the universal joint mechanism 7, the output end is fixedly connected with the upper isolation outer disc 12 and the upper isolation inner disc 14, the upper isolation outer disc 12 or the upper isolation inner disc 14 is fixedly installed with the wing 19, and then rotation of the wing 19 in one dimension can be achieved. Because the isolation disc connecting pieces 13 connected between the first circular ring gap and the second circular ring gap can freely do circular motion in the first circular ring gap and the second circular ring gap, the lower isolation outer disc 11 and the lower isolation inner disc 16 can keep relatively static, and interference of a first power source is avoided. Meanwhile, a second power source is applied to the upper support frame 10, so that the upper support frame 10 swings, and the upper support frame 10 drives the lower insulating outer disc 11 and the lower insulating inner disc 16 to swing together. At this time, the lower isolation outer disk 11 and the lower isolation disk transmit torque to the upper isolation outer disk 12 and the upper isolation inner disk 14 through the isolation disk connecting piece 13, and further the wing 19 is driven to rotate in another dimension. The use of the tilting mechanism 20 can simultaneously realize the rotation of the wing 19 in two dimensions without generating the problem of mechanism interference.
Preferably, the device further comprises a bevel gear transmission mechanism, the bevel gear transmission mechanism comprises a first bevel gear 2 and a second bevel gear 1, the first bevel gear 2 and the second bevel gear 1 are meshed with each other, the second bevel gear 1 is fixedly arranged on the upper support frame 10, and a second power source is led in through the first bevel gear 2. The bevel gear transmission realizes the vertical conversion of power in space, so that the first power source and the second power source can be arranged in parallel. And the bevel gear transmission can make the overall tilt mechanism 20 layout more compact.
Further preferably, still include lower carriage 6 and connecting plate, the quantity of upper bracket 10 is two and the setting of symmetry is in the both sides that rotate isolation mechanism, and the input of universal joint mechanism 7 and the bottom of connecting plate are all fixed assembly on lower carriage 6, and the top of connecting plate is connected with the bottom of upper bracket 10 is rotated. The lower support frame 6, the connecting plate and the upper support frame 10 realize the integrated installation of the whole tilting mechanism 20. A supporting transverse plate 4 is transversely and fixedly installed on the connecting plate, the first bevel gear 2 is rotatably installed on the supporting transverse plate 4 through a sliding bearing 3, and the rotating center of the second bevel gear 1 is overlapped with the swinging center at the bottom of the upper supporting frame 10. An input shaft 5 is installed on the first bevel gear 2, and the second power source drives the first bevel gear 2 to rotate through the input shaft 5, so as to drive the second bevel gear 1 to rotate. Because the second bevel gear 1 is fixedly arranged on the upper support frame 10, the upper support frame 10 swings along with the second bevel gear, and then the whole rotation isolation mechanism is driven to swing.
Preferably, the separation disc connecting member 13 includes a first connecting block 17 and a second connecting block 18, a threaded post is provided at the bottom of the first connecting block 17, and a threaded hole is correspondingly provided at the top of the second connecting block 18, and the threaded post is detachably screwed in the threaded hole. The bodies of the first connecting block 17 and the second connecting block 18 are both processed into cylinders so as to smoothly perform circular motion in the first circular gap and the second circular gap. The first circular ring gap and the second circular ring gap are both set to be step gaps, and the size of the bodies of the first connecting block 17 and the second connecting block 18 is slightly smaller than the size of the wider part of the first circular ring gap and the second circular ring gap. The first circular ring gap and the second circular ring gap are butted to form a containing space with narrow middle and wide two ends, and the fixed connection of the upper part and the lower part of the rotary isolating mechanism can be realized after the first connecting block 17 and the second connecting block 18 are connected.
When the rotary isolation mechanism is assembled, the lower isolation inner disc 16 is fixedly connected to the upper surface of the upper support frame 10, and then the plurality of second connecting blocks 18 are embedded on the outer side of the lower isolation inner disc 16; then, fixedly connecting the lower isolation outer disc 11 on the upper support frame 10 and abutting against one side of the outer surface of the second connecting block 18; then the upper isolation inner disc 14 is horizontally placed on the lower isolation inner disc 16 and is kept level; horizontally placing the upper isolation outer disc 12 on the lower isolation outer disc 11 and ensuring the upper isolation outer disc is level; finally, a plurality of first connecting blocks 17 are embedded into the corresponding second connecting blocks 18 by using threads.
In order to facilitate the installation, the top of the first connecting block 17 is provided with a strip-shaped groove, and a linear screwdriver is inserted into the strip-shaped groove to screw the first connecting block 17 into the second connecting block 18.
Preferably, the output coupling 15 is mounted on the top of the isolating inner disc, and the entire tilting mechanism 20 is fixedly mounted with the wing 19 through the output coupling 15.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a hovercar wing tilting mechanism which characterized in that includes:
the universal joint mechanism is provided with an input end and an output end, and the input end is introduced with a first power source;
the rotary isolation mechanism comprises an upper isolation outer disc, an upper isolation inner disc, a lower isolation outer disc and a lower isolation inner disc, wherein the upper isolation outer disc and the upper isolation inner disc are respectively and correspondingly arranged above the lower isolation outer disc and the lower isolation inner disc, a first circular ring gap is formed between the upper isolation outer disc and the upper isolation inner disc, and a second circular ring gap is formed between the lower isolation outer disc and the lower isolation inner disc;
the upper end parts of the plurality of isolation disc connecting pieces are inserted into the first circular ring gap, the lower end parts of the plurality of isolation disc connecting pieces are inserted into the second circular ring gap, and the isolation disc connecting pieces can do circular motion in the first circular ring gap and the second circular ring gap; and
the top of the upper support frame is fixedly connected with the lower isolation outer disc and the lower isolation inner disc, and a second power source is introduced into the upper support frame;
the output of universal joint mechanism with go up keep apart outer disc and go up and keep apart inner disc fixed connection, the second power supply can drive go up the support frame rotates around the bottom of self, the top of going up the support frame drives rotate isolation mechanism swing as a whole.
2. A flying vehicle wing tilting mechanism according to claim 1 and also comprising: the automatic feeding device is characterized by further comprising a bevel gear transmission mechanism, wherein the bevel gear transmission mechanism comprises a first bevel gear and a second bevel gear, the first bevel gear and the second bevel gear are meshed with each other, the second bevel gear is fixedly arranged on the upper supporting frame, and the second power source is guided in through the first bevel gear.
3. A flying vehicle wing tilting mechanism according to claim 2 and further characterised in that: the universal joint mechanism comprises a lower support frame and a connecting plate, the number of the upper support frame is two, the upper support frame is symmetrically arranged on two sides of the rotary isolation mechanism, the input end of the universal joint mechanism and the bottom end of the connecting plate are fixedly assembled on the lower support frame, the top end of the connecting plate is rotatably connected with the bottom of the upper support frame, a first bevel gear is rotatably installed on the connecting plate, and the rotating center of a second bevel gear is coincided with the swinging center of the bottom of the upper support frame.
4. A flying vehicle wing tilting mechanism according to claim 1 and also comprising: the isolation disc connecting piece comprises a first connecting block and a second connecting block, a threaded column is arranged at the bottom of the first connecting block, a threaded hole is correspondingly formed in the top of the second connecting block, and the threaded column is detachably screwed in the threaded hole.
5. The hovercar wing tilting mechanism of claim 4 wherein: and a strip-shaped groove is formed in the top of the first connecting block.
6. The hovercar wing tilting mechanism of claim 4 wherein: the first circular ring gap and the second circular ring gap are both set to be step gaps, and the first circular ring gap and the second circular ring gap are butted to form a containing space with a narrow middle part and wide two ends.
7. A flying vehicle wing tilting mechanism according to claim 1 and also comprising: the device further comprises an output coupler, and the output coupler is fixedly installed at the top of the upper isolation inner disc.
8. A flying automobile, comprising:
a vehicle body providing a first power source and a second power source;
the number of the wings is two, and the wings are respectively arranged on two sides of the vehicle body; and
the hovercar wing tilting mechanism of any one of claims 1 to 7, wherein the input end of the gimbal mechanism of the hovercar wing tilting mechanism is fixedly connected with the body, and the upper isolating outer disk and/or the upper isolating inner disk of the rotation isolating mechanism is fixedly connected with the wing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010058233.2A CN111137436B (en) | 2020-01-19 | 2020-01-19 | Wing tilting mechanism of aerocar and aerocar comprising wing tilting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010058233.2A CN111137436B (en) | 2020-01-19 | 2020-01-19 | Wing tilting mechanism of aerocar and aerocar comprising wing tilting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111137436A true CN111137436A (en) | 2020-05-12 |
| CN111137436B CN111137436B (en) | 2023-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010058233.2A Active CN111137436B (en) | 2020-01-19 | 2020-01-19 | Wing tilting mechanism of aerocar and aerocar comprising wing tilting mechanism |
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|---|---|---|---|---|
| JPH02186197A (en) * | 1989-01-12 | 1990-07-20 | Tamagawa Seiki Co Ltd | Image pick-up gimbal mechanism |
| CN206623639U (en) * | 2017-03-31 | 2017-11-10 | 厦门理工学院 | A kind of hovercar provided with tilting rotor |
| CN108545178A (en) * | 2018-06-12 | 2018-09-18 | 西北工业大学 | Coaxial double-rotary wing unmanned plane based on vector mechanism |
| CN108791857A (en) * | 2018-06-27 | 2018-11-13 | 盛利元 | Universal shaft type full rigidity twin-rotor helicopter altogether |
| CN108909384A (en) * | 2018-07-04 | 2018-11-30 | 天津超算科技有限公司 | Automobile aerocraft |
| CN109760810A (en) * | 2019-01-08 | 2019-05-17 | 东南大学 | The dolphin pectoral fin butterfly stroke formula flapping mechanism of elliptical orbit can be achieved |
| CN209426502U (en) * | 2018-10-25 | 2019-09-24 | 长城汽车股份有限公司 | A kind of hovercar |
-
2020
- 2020-01-19 CN CN202010058233.2A patent/CN111137436B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02186197A (en) * | 1989-01-12 | 1990-07-20 | Tamagawa Seiki Co Ltd | Image pick-up gimbal mechanism |
| CN206623639U (en) * | 2017-03-31 | 2017-11-10 | 厦门理工学院 | A kind of hovercar provided with tilting rotor |
| CN108545178A (en) * | 2018-06-12 | 2018-09-18 | 西北工业大学 | Coaxial double-rotary wing unmanned plane based on vector mechanism |
| CN108791857A (en) * | 2018-06-27 | 2018-11-13 | 盛利元 | Universal shaft type full rigidity twin-rotor helicopter altogether |
| CN108909384A (en) * | 2018-07-04 | 2018-11-30 | 天津超算科技有限公司 | Automobile aerocraft |
| CN209426502U (en) * | 2018-10-25 | 2019-09-24 | 长城汽车股份有限公司 | A kind of hovercar |
| CN109760810A (en) * | 2019-01-08 | 2019-05-17 | 东南大学 | The dolphin pectoral fin butterfly stroke formula flapping mechanism of elliptical orbit can be achieved |
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| CN111137436B (en) | 2023-05-23 |
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