CN112498709A - Transmission mechanism of flapping wing flying robot - Google Patents
Transmission mechanism of flapping wing flying robot Download PDFInfo
- Publication number
- CN112498709A CN112498709A CN202011370503.XA CN202011370503A CN112498709A CN 112498709 A CN112498709 A CN 112498709A CN 202011370503 A CN202011370503 A CN 202011370503A CN 112498709 A CN112498709 A CN 112498709A
- Authority
- CN
- China
- Prior art keywords
- gear
- crank
- rocker
- flapping wing
- rocker mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 86
- 230000005540 biological transmission Effects 0.000 title claims abstract description 32
- 230000009467 reduction Effects 0.000 claims abstract description 42
- 244000309464 bull Species 0.000 claims abstract description 11
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a transmission mechanism of a flapping wing flying robot, which comprises a symmetrical crank rocker mechanism, a double-layer rack and a flapping wing mechanism, wherein a reduction gear set is arranged between the double-layer rack and drives the crank rocker mechanism to drive the flapping wing mechanism to rotate; the reduction gear set comprises a main shaft gear, a large gear a and a small gear which are sleeved on a gear shaft a, a large gear b meshed with the small gear and a large gear c meshed with the large gear b; the main shaft gear rotates to drive the bull gear a and the pinion to rotate, and the pinion drives the bull gear b to rotate the bull gear c; the invention simplifies the transmission mechanism and reduces the whole size by simplifying the reduction stage number of the reduction gear set to two stages and adjusting the tooth number and the modulus of the gear.
Description
Technical Field
The invention relates to a transmission mechanism of a flapping wing flying robot, belonging to the technical field of robot transmission.
Background
A flapping wing flying robot is an aircraft which is designed and manufactured based on the bionics principle, has wings flapping up and down like wings of birds and insects and is heavier than air. The flapping wing flying robot generates lift force and thrust force through flapping wings, so that flying actions such as taking off, landing, accelerating, decelerating, jumping and rising, turning, hovering, backward flying, diving, lifting and the like are realized. Compared with fixed-wing and rotor aircraft, the flapping-wing flying robot has stronger low consumption, flexibility and maneuverability, and is a research hotspot in the field.
The flapping wing flying robot which can fly at present mainly adopts a motor as a power source, the high-speed rotating motion output by the motor is firstly reduced through a reduction gear set, and then the flapping wing mechanism is driven by a transmission mechanism to realize flapping motion. In order to reduce the weight of transmission parts and simplify the assembly process of the aircraft, most flapping wing flying robots adopt a crank rocker mechanism to drive each flapping wing, and a crank is connected with the outermost gear of a reduction gear set. The transmission mechanism realizes the low-speed rotation in the outermost gear of the speed reduction group and drives the flapping wings to flap reciprocally through the transmission of the crank rocker mechanism.
In order to obtain a larger reduction ratio and a large moment, most flapping-wing flying robots adopt three or more gear reduction stages, the space is not simple and compact enough, and the overall size is larger; and part of the gear is exposed out of the outer layer of the machine body, so that the gear is easy to damage in the process of experiment and actual use.
The existing ornithopter still has great improvement space for simplifying the whole transmission mechanism, reducing the size of the machine body, protecting the key transmission part and the like.
Disclosure of Invention
The invention aims to provide a transmission mechanism of a flapping wing flying robot, which aims to solve the problems that the prior art is not simple and compact enough in space and large in overall size; and part of the gear is exposed out of the outer layer of the machine body.
A transmission mechanism of a flapping wing flying robot comprises a symmetrical crank rocker mechanism, a double-layer rack and a flapping wing mechanism, wherein a reduction gear set is arranged between the double-layer rack and drives the crank rocker mechanism to drive the flapping wing mechanism to rotate;
the reduction gear set comprises a main shaft gear, a large gear a and a small gear which are sleeved on a gear shaft a, a large gear b meshed with the small gear and a large gear c meshed with the large gear b;
the main shaft gear rotates to drive the large gear a and the small gear to rotate, and the small gear drives the large gear b to rotate the large gear c.
Furthermore, the included angle between the axis connecting line of the main shaft gear and the large gear a and the vertical axis of the end face of the large gear a is 50-60 degrees.
Furthermore, the included angle between the connecting line of the axle center of the small gear and the axle center of the large gear b and the vertical axis of the end face of the small gear is 30-40 degrees.
Further, the double-layer rack comprises a first-layer rack and a second-layer rack;
the gear shaft a is movably connected to the second layer of rack, and the large gear c and the large gear b are respectively movably connected to the first layer of rack through the gear shaft c and the gear shaft b.
Furthermore, the symmetrical crank and rocker mechanisms comprise a single-crank single-rocker mechanism I and a single-crank single-rocker mechanism II; one end of the single-crank single-rocker mechanism is connected with the gear shaft c, and the other end of the single-crank single-rocker mechanism is connected with one flapping wing mechanism;
one end of the single-crank single-rocker mechanism II is connected with the gear shaft b, and the other end of the single-crank single-rocker mechanism II is connected with the other flapping wing mechanism.
Furthermore, the single-crank single-rocker mechanism I and the single-crank single-rocker mechanism II are respectively composed of a single-crank single-rocker mechanism I consisting of a crank a and a rocker a and a single-crank single-rocker mechanism II consisting of a crank b and a rocker b.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the relative position relationship between the double-layer rack and the reduction gear set is set, so that the reduction gear set is positioned in the middle of the double-layer rack, the reduction gear set is protected, and the possibility that a transmission mechanism is damaged by external impact is reduced.
The invention simplifies the transmission mechanism and reduces the whole size by simplifying the reduction stage number of the reduction gear set to two stages and adjusting the tooth number and the modulus of the gear.
Drawings
FIG. 1 is a schematic view of the overall structure of the transmission mechanism of the present invention;
FIG. 2 is a schematic view of a transmission reduction gear set of the transmission of the present invention;
FIG. 3 is an elevational view of the reduction gear set of the transmission of the present invention;
FIG. 4 is a schematic view of a symmetrical crank and rocker mechanism of the transmission of the present invention;
FIG. 5 is a schematic view of a dual-deck rack structure according to the present invention;
FIG. 6 is a schematic view of a first tier rack of the present invention;
FIG. 7 is a schematic view of a second tier rack of the present invention;
fig. 8 is a partially enlarged view illustrating the present invention.
In the figure: 1-a reduction gear set; 2-symmetrical crank and rocker mechanisms; 3-a double-layer frame; 31-first tier rack; 32-a second tier rack; 311-gear shaft c mounting hole; 312-gear shaft a mounting hole I; 313-gear shaft b mounting hole; 321-motor mounting holes; 322-gear shaft a mounting hole II; 4-flapping wing mechanism; 11-a main shaft gear; 12-gear axis a; 13-gearwheel a; 14-pinion gear; 15-gearwheel b; 16-gear shaft b; 17-gear shaft c; 18-bull gear c; 21-crank a; 22-crank b; 23-rocker a; 24-rocker b; 25-hinge point A; 26-hinge point B; 27-hinge point C; 28-hinge point D.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in figure 1, the transmission mechanism of the flapping wing robot comprises a reduction gear set 1, a symmetrical crank rocker mechanism 2, a double-layer rack 3 and a flapping wing mechanism 4. The speed reduction gear set 1 is connected with the double-layer rack and fixed in the middle of the double-layer rack 3, and the symmetrical crank rocker mechanism 2 is connected with the speed reduction gear set 1.
As shown in fig. 2 and 3, the reduction gear set 1 is composed of a main shaft gear 11, a gear shaft a12, a large gear a13, a small gear 14, a large gear b15, a gear shaft b16, a gear shaft c17 and a large gear c 18. The main shaft gear 11, the big gear a13, the small gear 14, the big gear b15 and the big gear c18 can be made of nylon or aluminum alloy, and the gear shaft a12, the gear shaft b16 and the gear shaft c17 can be made of aluminum columns for aeromodelling.
As shown in FIG. 4, the symmetrical crank-rocker mechanism is composed of a crank a21, a crank b22, a rocker a23 and a rocker b24, wherein the crank a21 and the crank b22 can be made of plastic or aluminum alloy. Rocker a23, rocker b24 select for use rod end joint bearing, and rod end joint bearing divide into internal thread part and external screw thread part, through adjusting pole end joint bearing model and the partial length of thread engagement, can freely adjust rocker length.
As shown in fig. 5, the double-deck chassis 3 is composed of a first-deck chassis 31 and a second-deck chassis 32. The material and processing method of the first layer frame 31 and the second layer frame 32 are not particularly limited in the present invention, and for example, photosensitive resin may be manufactured by 3D printing or CNC processing of carbon fiber plate. A gear shaft c mounting hole 311, a gear shaft a mounting hole 312 and a gear shaft b mounting hole 313 are reserved in the first layer of rack 31; and a motor mounting hole 321 and a gear shaft a mounting hole 322 are formed in the second-layer frame.
As shown in fig. 2, the spindle gear 11 is fixed on the output shaft of the dc brushless motor, the dc brushless motor is fixed in the corresponding motor mounting hole 321 of the second-layer body, the pinion gear 14 and the bull gear a13 are fixed on the gear shaft a12, and the gear shaft a12 is fixed on the double-layer body through a bearing and a bearing seat. The spindle gear 11 meshes with the large gear a13 in the same plane, and the plane is close to and parallel to the second-tier body 32. The gearwheel a13 and the pinion 14 are fixed on the gearwheel shaft b16, the pinion 14 and the gearwheel b16 mesh in the same plane, which is close to and parallel to the first tier fuselage 31, and the gearwheel shaft b16 is fixed on the double tier fuselage by means of bearings and bearing blocks. The large gear c18 is fixed on the gear shaft c17 and fixed on the gear shaft c17 and is meshed with the large gear b16, and the meshing position is on the first layer of rack; the bull gear b16 and the bull gear c18 are identical in size and their relative positions are symmetrical about the vertical axis of the first tier fuselage 31. In the entire reduction gear set 1, the main shaft gear 11 and the large gear a13 together form a gear set first-stage reduction, and the small gear 14 and the large gear b16 together form a gear set second-stage reduction.
As shown in fig. 2 and 3, an included angle between a connecting line of the axes of the spindle gear 11 and the large gear a13 and a vertical axis of the end face of the large gear a13 is 50-60 °. The included angle between the connecting line of the axle center of the small gear 14 and the axle center of the big gear b15 and the vertical axis of the end face of the small gear 14 is 30-40 degrees. The angles of the two types of included angles are not particularly limited, and may be, for example, 55 °, 35 ° in one group or 50 °, 40 ° in one group.
As shown in fig. 1, the reduction gear set 1 is located in the middle of the double-deck rack 3, i.e., the main shaft gear 11 and the large gear a13 in the first reduction stage and the small gear 14 and the large gear b15 and the large gear c18 in the second reduction stage are located on the inner side of the first-deck rack 31 and the outer side of the second-deck rack 32. And the projection of the main shaft gear 11 and the large gear a13 in the first stage of deceleration in the axial direction of the gear shaft a12 is within the projection area of the double-deck body 3 in the axial direction of the gear shaft a 12.
As shown in fig. 4, the symmetrical crank-rocker mechanism 2 consists of two sets of single crank-single rocker mechanisms, namely a single crank-single rocker mechanism one and a single crank-single rocker mechanism two; namely a single-crank single-rocker mechanism I consisting of a crank a21 and a rocker a23 and a single-crank single-rocker mechanism II consisting of a crank b22 and a rocker b 24.
Specifically, the first single-crank single-rocker mechanism and the second single-crank single-rocker mechanism are connected with the reduction gear set 1 and used for driving the wings on one side to move, two sets of single-crank single-rocker mechanisms are adopted in the flapping-wing flying robot to respectively and synchronously drive the two wings on the left side and the right side, and the two sets of mechanisms are symmetrical about a vertical axis of the first layer of rack 31 to jointly form a symmetrical crank-rocker mechanism. The crank a21 and the crank b22 are located on the outer side of the first layer frame 31, the crank a21 is fixed on the gear shaft c17 through a lower round hole and the large gear c18 at the same time, and the crank b22 is fixed on the gear shaft b16 through a lower round hole and the large gear b16 at the same time. The upper end of crank a21 is hinged with the lower end of rocker a23 through a hinge point A25, and the upper end of crank B22 is hinged with the lower end of rocker B24 through a threaded hole of a hinge point B26; the upper end of rocker a23 is hinged to flapping wing structure 4 via hinge point C27, and the upper end of rocker b24 is hinged to flapping wing structure 4 via hinge point D28. The symmetric crank rocker mechanism 2 drives the flapping wing mechanism 4 to realize flapping amplitude of 45-60 degrees so as to increase the lift force as much as possible. The amplitude of the flapping mechanism can be adjusted by adjusting the lengths of the rocker a23 and the rocker b 24.
Generally speaking, in the flapping wing robot, a symmetrical crank rocker mechanism 2 and a reduction gear set 1 are connected together through a double-layer fuselage 3 to jointly form a total transmission mechanism of an aircraft.
Specifically, by setting the relative position relationship between the reduction gear set 1 and the double-layer rack 3, the first-layer rack 31 and the second-layer rack 31 surround the reduction gear set 1 in a front-back manner, so that the reduction gear set 1 is protected to a certain extent, and the possibility that the transmission mechanism is damaged by external impact is reduced. And the reduction stage number of the reduction gear set 1 is simplified to two-stage reduction transmission, and the number and modulus of the teeth of the gears and the included angle between the axis connecting line of the meshing gears of the first-stage reduction gear set and the second-stage reduction gear set and the vertical axis are adjusted, so that the structure of the transmission mechanism is simpler and more compact, and the overall size is reduced.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A transmission mechanism of a flapping wing flying robot comprises a symmetrical crank rocker mechanism (2), a double-layer rack (3) and a flapping wing mechanism (4), and is characterized in that a reduction gear set (1) is arranged between the double-layer rack (3), and the reduction gear set (1) drives the crank rocker mechanism (2) to drive the flapping wing mechanism (4) to rotate;
the reduction gear set (1) comprises a main shaft gear (11), a large gear a (13) and a small gear (14) which are sleeved on a gear shaft a (12), a large gear b (15) which is meshed with the small gear (14) and a large gear c (18) which is meshed with the large gear b (15);
the main shaft gear (11) rotates to drive the bull gear a (13) and the pinion (14) to rotate, and the pinion (14) drives the bull gear b (15) to drive the bull gear c (18) to rotate.
2. The transmission mechanism of flapping wing flying robot of claim 1, wherein the angle between the axis connecting line of the main shaft gear (11) and the bull gear a (13) and the vertical axis of the end face of the bull gear a (13) is 50-60 °.
3. The transmission mechanism of flapping wing flying robot of claim 1, wherein the angle between the line of the axis of the small gear (14) and the axis of the large gear b (15) and the vertical axis of the end face of the small gear (14) is 30-40 °.
4. The transmission mechanism of an ornithopter flight robot according to claim 1, characterized in that the double-deck frame (3) comprises a first-deck frame (31) and a second-deck frame (32);
the gear shaft a (12) is movably connected to the second layer of rack (32), and the large gear c (18) and the large gear b (15) are respectively movably connected to the first layer of rack (31) through a gear shaft c (17) and a gear shaft b (16).
5. The transmission mechanism of the ornithopter-based flying robot as claimed in claim 4, wherein the symmetrical crank-rocker mechanism (2) comprises a first single-crank single-rocker mechanism and a second single-crank single-rocker mechanism; one end of the single-crank single-rocker mechanism is connected with the gear shaft c (17), and the other end of the single-crank single-rocker mechanism is connected with one flapping wing mechanism (4);
one end of the single-crank single-rocker mechanism II is connected with the gear shaft b (16), and the other end of the single-crank single-rocker mechanism II is connected with the other flapping wing mechanism (4).
6. The transmission mechanism of flapping wing flying robot of claim 4, wherein the first single-crank single-rocker mechanism and the second single-crank single-rocker mechanism are respectively composed of a first single-crank single-rocker mechanism composed of crank a (21) and rocker a (23) and a second single-crank single-rocker mechanism composed of crank b (22) and rocker b (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011370503.XA CN112498709B (en) | 2020-11-30 | 2020-11-30 | Transmission mechanism of flapping wing flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011370503.XA CN112498709B (en) | 2020-11-30 | 2020-11-30 | Transmission mechanism of flapping wing flying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112498709A true CN112498709A (en) | 2021-03-16 |
| CN112498709B CN112498709B (en) | 2024-07-02 |
Family
ID=74967576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011370503.XA Active CN112498709B (en) | 2020-11-30 | 2020-11-30 | Transmission mechanism of flapping wing flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112498709B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070262194A1 (en) * | 2005-11-08 | 2007-11-15 | Agrawal Sunil K | Mechanism for biaxial rotation of a wing and vehicle containing such mechanism |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN204952265U (en) * | 2015-09-15 | 2016-01-13 | 季善真 | Electric capacity drive flapping wing device |
| CN107416202A (en) * | 2017-07-05 | 2017-12-01 | 北京航空航天大学 | Micro flapping wing air vehicle |
| CN109969394A (en) * | 2019-05-24 | 2019-07-05 | 绵阳空天科技有限公司 | A method of the flapping wing structure and its flapping mode switching of changeable state of fluttering and glide |
| CN210008448U (en) * | 2019-05-28 | 2020-02-04 | 中国农业大学 | Rocking arm formula "V" font dual spray mechanism of giving medicine to poor free of charge with adjustable angle |
-
2020
- 2020-11-30 CN CN202011370503.XA patent/CN112498709B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070262194A1 (en) * | 2005-11-08 | 2007-11-15 | Agrawal Sunil K | Mechanism for biaxial rotation of a wing and vehicle containing such mechanism |
| CN102874409A (en) * | 2012-10-30 | 2013-01-16 | 东南大学 | Flapping wing and turning device of micro aerial vehicle |
| CN204952265U (en) * | 2015-09-15 | 2016-01-13 | 季善真 | Electric capacity drive flapping wing device |
| CN107416202A (en) * | 2017-07-05 | 2017-12-01 | 北京航空航天大学 | Micro flapping wing air vehicle |
| CN109969394A (en) * | 2019-05-24 | 2019-07-05 | 绵阳空天科技有限公司 | A method of the flapping wing structure and its flapping mode switching of changeable state of fluttering and glide |
| CN210008448U (en) * | 2019-05-28 | 2020-02-04 | 中国农业大学 | Rocking arm formula "V" font dual spray mechanism of giving medicine to poor free of charge with adjustable angle |
Non-Patent Citations (2)
| Title |
|---|
| 王超;屈方杰;黄恒敬;仲军;: "多自由度仿生扑翼飞行机器人结构设计与分析", 宇航总体技术, no. 01, 15 January 2020 (2020-01-15), pages 39 - 46 * |
| 袁冰等: "大齿宽齿轮耦合转子系统准静态接触分析及动态特性", 机械工程学报, vol. 56, no. 3, 29 February 2020 (2020-02-29), pages 96 - 105 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112498709B (en) | 2024-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020233608A1 (en) | Dragonfly-like miniature four-winged ornithopter | |
| CN108438220B (en) | Multi-degree-of-freedom dragonfly-imitating flapping-wing aircraft and control method thereof | |
| CN109606675A (en) | A kind of bionic flying micro-robot based on single crank double rocker mechanism | |
| CN106585976A (en) | Aircraft layout of tilt rotors/lift fan during high-speed long endurance | |
| CN110525647B (en) | Transmission mechanism suitable for miniature four-flapping-wing aircraft | |
| CN106945833B (en) | A kind of microminiature multiple wing bionic flapping-wing flying vehicle | |
| CN107021223A (en) | A kind of imitative birds multiple degrees of freedom flapping wing aircraft | |
| TWI739354B (en) | Rotating wing structure of flapping micro air vehicle | |
| CN212401546U (en) | Bionic aircraft | |
| CN106379532A (en) | Flapping-wing flapping angle changing mechanism | |
| CN110127049B (en) | Miniature bionic ornithopter with 8-shaped wingtip track | |
| CN110435888A (en) | A kind of flapping wing aircraft | |
| CN208412092U (en) | A kind of more power fixed wing aircrafts | |
| CN110371288A (en) | One kind is fluttered the adjustable bionic flapping-wing flying vehicle in amplitude angle | |
| CN112141332A (en) | Five pole flapping wing aircraft in space based on just gentle coupling | |
| CN109911197A (en) | A kind of four-degree-of-freedom flapping wing aircraft device | |
| CN112498709A (en) | Transmission mechanism of flapping wing flying robot | |
| CN212195899U (en) | Miniature flapping wing device capable of realizing large flapping amplitude | |
| CN211869691U (en) | Eight-wing flapping wing aircraft capable of hovering | |
| CN114435590B (en) | Variable-incidence-angle ornithopter with wing rotation function | |
| CN109823536B (en) | Sliding pair flapping wing driving mechanism based on external meshing planetary gear reducer | |
| CN214267957U (en) | Five pole flapping wing aircraft in space based on just gentle coupling | |
| CN108382582B (en) | Electromechanical device capable of realizing conversion of flapping-fixing wing structure and aircraft | |
| CN212195887U (en) | Multi-motor-driven tail rotor helicopter | |
| CN209142387U (en) | Vert rotor aircraft for a kind of dismountable tail portion of wing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |