CN112407277A - Bionic flapping wing aircraft - Google Patents
Bionic flapping wing aircraft Download PDFInfo
- Publication number
- CN112407277A CN112407277A CN202011372473.6A CN202011372473A CN112407277A CN 112407277 A CN112407277 A CN 112407277A CN 202011372473 A CN202011372473 A CN 202011372473A CN 112407277 A CN112407277 A CN 112407277A
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- wing
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- worm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Abstract
The invention provides a bionic flapping wing air vehicle, which comprises: the flapping wing aircraft comprises a rack, flapping wings arranged on two sides of the rack, a flapping wing driving mechanism arranged in the middle of the rack and a tail wing mechanism arranged at the tail of the rack; the flapping wing driving mechanism comprises: the device comprises a worm vertically arranged, a driving motor for driving the worm to rotate, worm wheels arranged on two sides of the worm and two rocker arms fixedly connected with the centers of the two worm wheels; the flapping wing comprises: a swing rod and an inner wing; the inner wing includes: the inner wing frame comprises a plurality of inner wing frames, an upper rod and a lower rod, wherein the upper rod and the lower rod penetrate through the inner wing frames; the inner wing framework is fixedly connected with an upper rod, the upper rod is rotatably supported on the rack, and one ends of the upper rod and the lower rod are respectively hinged to the upper end and the middle part of the swing rod; the lower ends of the two swing rods are respectively hinged to the rocker arms; the tail part of the frame is fixedly connected with the tail wing mechanism through a connecting rod. The bionic flapping wing aircraft can effectively reduce the volume of the bionic flapping wing aircraft, and the occupied space of the bionic flapping wing aircraft is reduced and the stability is improved through a simpler structure.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and relates to a bionic flapping wing aircraft.
Background
The bionic flapping wing aircraft is a novel aircraft simulating bird flapping wing flight, generates lift force and advancing force through active movement of wings like birds, can quickly take off, accelerate and hover compared with the traditional fixed wing aircraft and the traditional rotor wing aircraft, has high maneuverability, concealment and flexibility, and has wide application prospect in the national defense field and civil aspects.
The bionic flapping wing air vehicle generally comprises two flapping wings which are symmetrically arranged on two sides of a frame and a tail wing which is arranged on the tail part of the frame, wherein a gear driving device is arranged on the head part of the frame, and the flapping wings on the two sides are driven to flap up and down through the transmission of a gear set. To achieve the proper ratio, it is often necessary to provide many sets of gears.
Therefore, the existing bionic flapping wing aircraft has the problems of large volume and heavy structure caused by a large number of gears.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a bionic flapping wing aircraft, which can effectively reduce the volume of the bionic flapping wing aircraft through a transmission structure of a worm and a worm gear, and reduce the occupied space of the bionic flapping wing aircraft and improve the stability through a simpler structure.
The technical scheme for solving the problems is as follows: a bionic ornithopter comprising: the flapping wing driving mechanism is arranged in the middle of the rack, and the tail wing mechanism is arranged at the tail of the rack;
the flapping wing driving mechanism comprises: the device comprises a worm vertically arranged, a driving motor for driving the worm to rotate, worm wheels arranged on two sides of the worm and meshed with the worm, and two rocker arms fixedly connected with the centers of the two worm wheels; the driving motor is fixed on the rack, and the two worm gears are rotatably supported on the rack;
each of the flapping wings comprises: a swing rod and an inner wing; the inner wing includes: the inner wing frame comprises a plurality of inner wing frames arranged at intervals, an upper rod penetrating through the inner wing frames and a lower rod penetrating through the inner wing frames; the inner wing framework is fixedly connected with the upper rod, the upper rod is rotatably supported on the rack, and one end of the upper rod and one end of the lower rod are respectively hinged to the upper end and the middle part of the oscillating rod; the lower ends of the two swing rods are respectively hinged to the rocker arms;
the tail part of the rack is fixedly connected with the tail wing mechanism through a connecting rod.
Preferably, the driving motor is arranged right above the worm; the worm is fixedly connected with an output shaft of the driving motor;
wherein the rotation center of the worm coincides with the output shaft of the drive motor.
Further, each of the flapping wings further comprises: an outer wing; the outer wing is hinged to one end, far away from the flapping wing driving mechanism, of the inner wing;
the outer wing includes: the outer wing frame comprises a plurality of outer wing frameworks arranged at intervals, outer wing shafts penetrating through the outer wing frameworks and a hinge frame fixed at one end of each outer wing shaft;
wherein the outer wing shaft is rotationally connected with the outer wing framework; the upper end and the lower end of the hinged frame are respectively hinged to one end of the upper rod and one end of the lower rod.
Preferably, a bearing is arranged between the outer wing shaft and the outer wing framework.
Furthermore, one end of the upper rod is hinged with a first hinged rod and a second hinged rod together; the other ends of the first hinge rod and the second hinge rod are respectively hinged to the upper end of the hinge frame and one end of the lower rod.
Further, the outer wing further includes: the outer wing steering engine, the third hinge rod, the fourth hinge rod and the fifth hinge rod; the outer wing steering engine is fixed on an outer wing framework at the outer end of the outer wing shaft; one end of a third hinge rod and one end of a fifth hinge rod are respectively hinged with two ends of a fourth hinge rod, and the other end of the third hinge rod and the other end of the fifth hinge rod are respectively fixedly connected with an output shaft of the outer wing steering engine and an outer wing shaft;
wherein, the one end that the outer wing axle kept away from articulated frame is the outer end.
Furthermore, the upper rod is fixedly connected with a first fixed connecting rod arranged along the head-tail direction of the aircraft; one end of the first fixed connecting rod is fixedly connected with one end, close to the flapping wing driving mechanism, of the upper rod, the other end of the first fixed connecting rod is fixedly connected with the middle part of the second fixed connecting rod, and the second fixed connecting rod is parallel to the upper rod;
one end of the second fixed connecting rod is hinged to the rack, and the hinged position of the second fixed connecting rod is collinear with the rotating support position of the upper rod on the rack; and a third fixed connecting rod penetrating through the inner wing framework is connected between the other end of the second fixed connecting rod and one end of the upper rod, which is far away from the flapping wing driving mechanism.
Further, the tail mechanism includes: the tail wing steering engines are arranged at the tail part of the rack;
the two tail wing steering engines are respectively fixed on the left side and the right side of the tail part of the rack, and output shafts of the two tail wing steering engines are respectively and fixedly connected with a tail part connecting rod;
the rear wing includes: the tail seat, two tail swing rods and two tail rods fixed on the tail seat; a U-shaped piece with an opening facing the tail wing steering engine is fixed on the tail seat, a vertical shaft is hinged between the upper end and the lower end of the U-shaped piece, and the vertical shaft and the hinge axis of the U-shaped piece are in a vertical state; the lower part of the vertical shaft is hinged to the tail end of the rack, and the vertical shaft and the hinged axis of the tail end of the rack are in a horizontal state; one ends of the two tail swing rods are respectively hinged to the two tail connecting rods, and the other ends of the two tail swing rods are respectively hinged to the left side and the right side of the upper end of the U-shaped part;
the tail end of the rack can be fixed with a U-shaped joint, and the U-shaped joint is hinged with the vertical shaft.
Compared with the prior art, the invention has the beneficial effects that: the bionic flapping wing aircraft has the advantages that the transmission structure of the worm and the two worm gears drives the flapping wings on the two sides to flap up and down, the bionic flapping wing aircraft has the advantage of large transmission ratio, the problem that the size is large due to the fact that gears with large number are used is solved, the occupied space is small, and the structure is simple and convenient.
Drawings
FIG. 1 is a schematic structural diagram of a bionic flapping-wing aircraft provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a flapping wing driving mechanism of a bionic flapping wing aircraft provided by an embodiment of the invention;
FIG. 3 is a schematic structural diagram of an inner wing of a bionic ornithopter provided by an embodiment of the invention;
FIG. 4 is a schematic structural diagram of an outer wing steering engine in the bionic ornithopter provided by the embodiment of the invention;
fig. 5 is a schematic structural diagram of a tail wing of a bionic ornithopter provided by the embodiment of the invention.
Reference numerals: 1-a frame; 2-a flapping wing driving mechanism; 3-inner wing; 4-outer wing; 5-oscillating bar; 6-worm; 7-a worm gear; 8-rocker arm; 9-driving a motor; 10-inner wing skeleton; 11-upper rod; 12-lower beam; 13-exoskeletal; 14-outer wing shaft; 15-a hinged frame; 16-a first articulation lever; 17-a second articulation bar; 18-outer wing steering engines; 19-a third hinge bar; 20-a fourth articulation bar; 21-a fifth articulation bar; 22-a first fixed extension bar; 23-a second stationary extension bar; 24-a third stationary extension bar; 25-tail fin; 26-tail steering engine; 27-tail extension bar; 28-tailstock; 29-tail swing link; 30-a tail rod; 31-U-shaped piece; 32-vertical axis; 33-U type joint.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention. It is to be understood that the drawings are provided solely for the purposes of reference and illustration and are not intended as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.
An embodiment of the present invention provides a bionic flapping wing aircraft, referring to fig. 1, including: the flapping wing air conditioner comprises a rack 1, two flapping wings symmetrically arranged on two sides of the rack, a flapping wing driving mechanism 2 arranged in the middle of the rack and a tail wing mechanism arranged at the tail of the rack; the tail part of the frame 1 is fixedly connected with the tail wing mechanism through a connecting rod.
Wherein each flapping wing comprises: the outer wing 4, the swing rod 5 and the inner wing 3; the fin mechanism includes: a tail wing 25 arranged at the tail part of the stander and two tail wing steering engines 26.
Referring to fig. 2, the flapping wing driving mechanism 2 in the present embodiment includes: the device comprises a vertically arranged worm 6, a driving motor 9 for driving the worm to rotate, two worm wheels 7 symmetrically arranged on two sides of the worm and two rocker arms 8 fixedly connected with the centers of the two worm wheels;
wherein both worm wheels 7 are meshed with the worm 6.
The driving motor 9 is fixed on the frame 1, and the two worm wheels 7 are rotatably supported on the frame 1.
Referring to fig. 3, the inner wing 3 in the present embodiment includes: a plurality of inner wing frames 10 arranged at intervals, an upper rod 11 penetrating through the inner wing frames and a lower rod 12 penetrating through the inner wing frames; the inner wing framework 10 is fixedly connected with an upper rod 11, the upper rod 11 is rotatably supported on the rack 1, and one end of the upper rod 11 and one end of a lower rod 12 are respectively hinged to the upper end and the middle part of the swing rod 5; the lower ends of the two swing rods 5 are respectively hinged to rocker arms 8 of two worm gears 7.
Preferably, a driving motor 9 is arranged right above the worm 6; the worm 6 is fixedly connected with an output shaft of a driving motor 9; namely, the rotation center of the worm 6 is overlapped with the output shaft of the driving motor 9, so that the torque output by the driving motor 9 is rapidly transmitted to the worm, and the energy loss is reduced.
In this embodiment, the driving motor 9 drives the worm 6 to rotate, and the worm 6 drives the worm wheel 7 and the rocker arm 8 on both sides to rotate, and further drives the swing rods 5 of the flapping wings on both sides to move up and down, so as to drive the upper rod 11, the lower rod 12 and the inner wing framework 10 to flap up and down around the rotation support of the upper rod 11. The skin on the inner wing 3 is fixed on the inner wing frameworks 10 and moves up and down along with the flapping, so that the lifting force and the advancing force are generated through the active movement of the flapping wings.
Referring to fig. 4, each of the flapping wings in the present embodiment further comprises: an outer wing 4 hinged at the outer end of the inner wing 3. It should be noted that the outer end of the inner wing 3 refers to the end of the inner wing far from the flapping wing driving mechanism.
The outer wing 4 includes: the aircraft comprises a plurality of outer wing frameworks 13 arranged at intervals, outer wing shafts 14 sequentially penetrating through the outer wing frameworks, and a hinge frame 15 fixed at one end of each outer wing shaft. The outer wing shaft 14 is rotatably connected to the outer wing frame 13, and in the present embodiment, a bearing is provided between the outer wing shaft 14 and the outer wing frame 13.
Referring to fig. 3, the upper and lower ends of the hinge bracket 15 are respectively hinged to one end of the upper rod 11 and one end of the lower rod 12. In this embodiment, the hinge frame 15 is triangular, and one corner thereof is connected to one end of the outer wing shaft, and the other two corners are connected to the upper rod 11 and the lower rod 12, respectively.
In the embodiment, each flapping wing comprises an inner wing and an outer wing to form a two-section flapping wing structure, flapping and bending are realized, the movement of wings of birds during flying is better simulated, and the lift force of the aircraft is improved.
Referring to fig. 3, in the present embodiment, when the hinge bracket 15 connects the outer wing 4 and the inner wing 3, a first hinge lever 16 and a second hinge lever 17 are further provided between the outer wing 4 and the inner wing 3 in order to enhance the stability of the aircraft.
Wherein, the outer end of the upper rod 11 is hinged with one end of a first hinged rod 16 and one end of a second hinged rod 17, and the other end of the first hinged rod 16 and the other end of the second hinged rod 17 are respectively hinged with the upper end of the hinged frame 15 and the outer end of the lower rod 12. In the embodiment, the hinge points of the first hinge rod 16 and the second hinge rod 17 on the upper rod 11 are overlapped, and a parallelogram is formed between the hinge frame 15 and the lower rod 12 as well as between the first hinge rod 16 and the second hinge rod 17, so that the stability of the aircraft is enhanced.
It should be noted that the outer end of the upper rod 11 and the outer end of the lower rod 12 are both ends far away from the flapping wing driving mechanism.
Referring to fig. 4, the outer wing 4 in the present embodiment further includes: an outer wing steering engine 18, a third hinge rod 19, a fourth hinge rod 20 and a fifth hinge rod 21; the outer wing steering engine 18 is fixed on an outer wing framework 13 at the outer end of the outer wing shaft 14;
one end of a third hinged rod 19 and one end of a fifth hinged rod 21 are respectively hinged with two ends of a fourth hinged rod 20, and the other end of the third hinged rod 19 and the other end of the fifth hinged rod 21 are respectively fixedly connected with an output shaft of an outer wing steering engine 18 and an outer wing shaft 14;
it should be noted that the outer end of the outer wing shaft refers to the end away from the hinge bracket.
In this embodiment, the skin on the outer wing 4 is fixed on the outer wing frameworks 13, the outer wing steering engine 18 drives the third hinge rod 19 to rotate, and further drives the fourth hinge rod 20 to swing, and the fifth hinge rod 21 is fixed with the outer wing shaft 14, so that the outer wing frameworks 13 provided with the outer wing steering engines 18 are twisted up and down relative to the outer wing shaft 14 through the swing of the fourth hinge rod 20, and therefore the skin and all the outer wing frameworks 13 are twisted up and down relative to the outer wing shaft 14, the adjustment of the attack angle of the aircraft is achieved, and the aircraft has the characteristic of being simple and convenient in structure.
In order to improve the structural rigidity and stability of the inner wing 3, referring to fig. 4, a first fixed connecting rod 22 is fixedly connected to the upper rod 11 and arranged along the head-tail direction of the aircraft, one end of the first fixed connecting rod 22 close to the head of the aircraft is fixedly connected to one end of the upper rod 11 close to the flapping wing driving mechanism, and one end of the first fixed connecting rod 22 close to the tail of the aircraft is fixedly connected to a second fixed connecting rod 23 parallel to the upper rod 11 and connected to the middle of the second fixed connecting rod 23.
One end of the second fixed connecting rod 23 is hinged to the rack 1, and the hinged position is collinear with the rotary supporting position of the upper rod 11 on the rack 1; a third fixed connecting rod 24 penetrating through the inner wing frame 10 is connected between the other end of the second fixed connecting rod 23 and the outer end of the upper rod 11. The structural rigidity and stability of the inner wing 3 is improved by the first, second and third fixed extension bars 22, 23, 24.
Referring to fig. 5, in this embodiment, the tail portion of the frame 1 is fixedly connected to the tail mechanism through a connecting rod, and the tail mechanism includes: a tail wing 25 arranged at the tail part of the stander and two tail wing steering engines 26.
Wherein, two empennage steering engines 26 are respectively fixed at the left and right sides of the tail part of the frame 1, and the output shafts of the two empennage steering engines 26 are respectively and fixedly connected with two tail connecting rods 27;
the tail wing 25 includes: a tail seat 28, two tail swing rods 29 and two tail rods 30 fixed on the tail seat; a U-shaped part 31 with an opening facing the tail steering engine 26 is fixed on the tail seat 28, a vertical shaft 32 is hinged between the upper end and the lower end of the U-shaped part 31, and the hinge axis of the vertical shaft 32 and the U-shaped part 31 is in a vertical state; the lower part of the vertical shaft 32 is hinged at the tail end of the frame 1, and the vertical shaft 32 and the hinged axis at the tail end of the frame 1 are in a horizontal state; one end of each of the two tail swing rods 29 is hinged to the two tail connecting rods 27, and the other end of each of the two tail swing rods is hinged to the left side and the right side of the upper end of the U-shaped member 31;
the tail end of the frame 1 can be fixed with a U-shaped joint 33, and the U-shaped joint 33 is hinged with the vertical shaft 32.
In this embodiment, the rotation of the two tail actuators 26 in the same direction makes the tail stock 28 rotate left and right relative to the vertical shaft 32, i.e. the tail stock 28 swings left and right relative to the frame 1; the opposite rotation of the two tail wing steering engines 26 enables the vertical shaft 32 of the tail seat 28 to swing up and down relative to the tail end of the frame 1, namely the tail seat 28 swings up and down relative to the frame 1, thereby realizing the pitching and swinging of the tail rod 30 and changing the flight direction of the aircraft.
According to the bionic flapping wing aircraft, the transmission structure of the worm and the two worm gears drives the flapping wings on the two sides to flap up and down, so that the bionic flapping wing aircraft has the advantage of large transmission ratio, the problem of large volume caused by the use of a large number of gears is solved, and the bionic flapping wing aircraft has the advantages of small occupied space and simpler and more convenient structure.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (9)
1. A bionic ornithopter comprising: the flapping wing driving mechanism is arranged in the middle of the rack, and the tail wing mechanism is arranged at the tail of the rack; it is characterized in that the preparation method is characterized in that,
the flapping wing driving mechanism comprises: the device comprises a worm vertically arranged, a driving motor for driving the worm to rotate, worm wheels arranged on two sides of the worm and meshed with the worm, and two rocker arms fixedly connected with the centers of the two worm wheels; the driving motor is fixed on the rack, and the two worm gears are rotatably supported on the rack;
each of the flapping wings comprises: a swing rod and an inner wing; the inner wing includes: the inner wing frame comprises a plurality of inner wing frames arranged at intervals, an upper rod penetrating through the inner wing frames and a lower rod penetrating through the inner wing frames; the inner wing framework is fixedly connected with the upper rod, the upper rod is rotatably supported on the rack, and one end of the upper rod and one end of the lower rod are respectively hinged to the upper end and the middle part of the oscillating rod; the lower ends of the two swing rods are respectively hinged to the rocker arms;
the tail part of the rack is fixedly connected with the tail wing mechanism through a connecting rod.
2. The bionic ornithopter as claimed in claim 1, wherein the drive motor is arranged right above the worm; the worm is fixedly connected with an output shaft of the driving motor;
wherein the rotation center of the worm coincides with the output shaft of the drive motor.
3. The biomimetic ornithopter of claim 1, wherein each of the ornithopters further comprises: an outer wing; the outer wing is hinged to one end, far away from the flapping wing driving mechanism, of the inner wing;
the outer wing includes: the outer wing frame comprises a plurality of outer wing frameworks arranged at intervals, outer wing shafts penetrating through the outer wing frameworks and a hinge frame fixed at one end of each outer wing shaft;
wherein the outer wing shaft is rotationally connected with the outer wing framework; the upper end and the lower end of the hinged frame are respectively hinged to one end of the upper rod and one end of the lower rod.
4. The bionic ornithopter as claimed in claim 3, wherein a bearing is provided between the outer wing shaft and the outer wing skeleton.
5. The bionic ornithopter as claimed in claim 3, wherein the upper rod has one end hinged to a first hinge rod and a second hinge rod; the other ends of the first hinge rod and the second hinge rod are respectively hinged to the upper end of the hinge frame and one end of the lower rod.
6. The bionic ornithopter of claim 3, wherein the outer wing further comprises: the outer wing steering engine, the third hinge rod, the fourth hinge rod and the fifth hinge rod; the outer wing steering engine is fixed on an outer wing framework at the outer end of the outer wing shaft; one end of a third hinge rod and one end of a fifth hinge rod are respectively hinged with two ends of a fourth hinge rod, and the other end of the third hinge rod and the other end of the fifth hinge rod are respectively fixedly connected with an output shaft of the outer wing steering engine and an outer wing shaft;
wherein, the one end that the outer wing axle kept away from articulated frame is the outer end.
7. The bionic ornithopter as claimed in claim 1, wherein the upper rod is fixedly connected with a first fixed connecting rod arranged along the head-tail direction of the ornithopter; one end of the first fixed connecting rod is fixedly connected with one end, close to the flapping wing driving mechanism, of the upper rod, the other end of the first fixed connecting rod is fixedly connected with the middle part of the second fixed connecting rod, and the second fixed connecting rod is parallel to the upper rod;
one end of the second fixed connecting rod is hinged to the rack; and a third fixed connecting rod penetrating through the inner wing framework is connected between the other end of the second fixed connecting rod and one end of the upper rod, which is far away from the flapping wing driving mechanism.
8. The bionic ornithopter of claim 7, wherein the articulation of the second stationary extension bar to the frame is collinear with the rotational support of the upper bar on the frame.
9. The biomimetic ornithopter of claim 1, wherein the tail mechanism comprises: the tail wing steering engines are arranged at the tail part of the rack;
the two tail wing steering engines are respectively fixed on the left side and the right side of the tail part of the rack, and output shafts of the two tail wing steering engines are respectively and fixedly connected with a tail part connecting rod;
the rear wing includes: the tail seat, two tail swing rods and two tail rods fixed on the tail seat; a U-shaped piece with an opening facing the tail wing steering engine is fixed on the tail seat, a vertical shaft is hinged between the upper end and the lower end of the U-shaped piece, and the vertical shaft and the hinge axis of the U-shaped piece are in a vertical state; the lower part of the vertical shaft is hinged to the tail end of the rack, and the vertical shaft and the hinged axis of the tail end of the rack are in a horizontal state; one ends of the two tail swing rods are respectively hinged to the two tail connecting rods, and the other ends of the two tail swing rods are respectively hinged to the left side and the right side of the upper end of the U-shaped part;
the tail end of the rack can be fixed with a U-shaped joint, and the U-shaped joint is hinged with the vertical shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011372473.6A CN112407277A (en) | 2020-11-30 | 2020-11-30 | Bionic flapping wing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011372473.6A CN112407277A (en) | 2020-11-30 | 2020-11-30 | Bionic flapping wing aircraft |
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| CN112407277A true CN112407277A (en) | 2021-02-26 |
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| CN202011372473.6A Pending CN112407277A (en) | 2020-11-30 | 2020-11-30 | Bionic flapping wing aircraft |
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| CN116176836A (en) * | 2023-02-17 | 2023-05-30 | 北京科技大学 | Bionic ornithopter steering mechanism based on cambered surface wings |
| CN116674747A (en) * | 2023-08-03 | 2023-09-01 | 西南石油大学 | Flexible flapping wing and ducted propeller hybrid-driven simulated baton floating aircraft |
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| CN114435590B (en) * | 2022-01-14 | 2024-01-09 | 重庆理工大学 | Variable-incidence-angle ornithopter with wing rotation function |
| CN114735211A (en) * | 2022-03-24 | 2022-07-12 | 上海工程技术大学 | Deformable flexible deformation wing aircraft |
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