CN112937856B - Bird-like empennage unfolding mechanism - Google Patents
Bird-like empennage unfolding mechanism Download PDFInfo
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- CN112937856B CN112937856B CN202110156405.4A CN202110156405A CN112937856B CN 112937856 B CN112937856 B CN 112937856B CN 202110156405 A CN202110156405 A CN 202110156405A CN 112937856 B CN112937856 B CN 112937856B
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- supporting frame
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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 discloses a bird-like empennage unfolding mechanism, which belongs to the technical field of aviation structures and aims at the design problem of empennage structures of bird-like aircrafts, a driving device is designed to expand to push an interval adjusting device to contract, the interval adjusting device drives the bottom end of a feather shaft of a bird-like feather to generate transverse horizontal displacement, the feather shaft is limited by a support shaft to generate transverse displacement and only can rotate around the support shaft, and transverse deflection can be generated after the transverse displacement is generated at the bottom end of the feather shaft, so that the effect of unfolding the feather is achieved; when the pressure applied to the driving device is removed, the restoring force of the spring pushes the driving device to contract and drives the spacing adjusting device to restore, and the spacing adjusting device immediately drives the tail end of the feather shaft to restore to the initial position, so that the effect of closing the feathers is achieved; the invention can freely and independently unfold and fold the empennage of the bird-imitating flying vehicle, thereby realizing the functions of maintaining balance and adjusting direction.
Description
Technical Field
The invention belongs to the technical field of aviation structures, and particularly relates to a bird-like empennage unfolding mechanism.
Background
In the aviation field, the bird-like flapping wing aircraft embodies the bionics idea, realizes the functions of propelling, lifting, hovering and the like of the aircraft through a flapping wing structure, and has more excellent flexibility compared with the traditional rotor wing and fixed wing. At present, in the research of bird-like aircrafts, the design research aiming at bird-like empennage structures is relatively less, and the development prospect is considerable.
Disclosure of Invention
Aiming at the blank of the research of the bird-like aircraft in the prior art, the invention designs the bird-like empennage unfolding mechanism with the driving device, and the driving device drives a group of bird-like feathers which are arranged in parallel at equal intervals to deflect, thereby achieving the effect of unfolding the bird-like empennage and being a novel bird-like aircraft.
The invention is realized by the following steps:
a bird tail wing simulating deployment mechanism comprises a plurality of groups of feather shafts and feather pieces which are connected with the upper ends of the feather shafts in a nested manner; the feather shaft is arranged on a supporting frame, the supporting frame is arranged at the tail part of the aircraft, the supporting frame is a rectangular frame structure consisting of four fixed square plates and is used as a main bearing structure of the bird-like empennage unfolding mechanism, and other parts are arranged on the basis of the main bearing structure. The top end of the supporting frame comprises a fixed square plate and a detachable square plate of the supporting frame, a horizontal groove is formed between the fixed square plate and the detachable square plate, a plurality of supporting shafts are arranged in the horizontal groove, the plurality of supporting shafts are matched and connected with the round holes of the plurality of groups of feather shafts, the feather shafts are fixed on the supporting frame through the supporting shafts, and the feather shafts can only rotate around the supporting shafts and cannot horizontally move;
the tail part of the feather shaft is connected with the interval adjusting device, two ends of the interval adjusting device are connected with the driving device, the driving device is connected with the air inlet pipe of the driving device outside the supporting frame, the driving device is pressurized through the air inlet pipe of the driving device, the driving device is expanded to push the interval adjusting device to contract, the interval adjusting device drives the bottom end of the feather shaft of the bird-imitated feather to generate transverse horizontal displacement, the feather shaft is limited by the supporting shaft to transversely displace and only can rotate around the supporting shaft, and transverse deflection can be generated after the bottom end of the feather shaft generates transverse displacement, so that the effect of unfolding the feather is achieved; when the pressure applied to the driving device is removed, the restoring force of the spring pushes the driving device to contract and drives the spacing adjusting device to recover, and the spacing adjusting device immediately drives the tail end of the feather shaft to recover to the initial position, so that the effect of closing the feathers is achieved. The bird-like empennage unfolding mechanism enables empennages of the bird-like aircraft to be unfolded and folded freely and independently, and achieves the functions of maintaining balance and adjusting direction.
Furthermore, the fixed square plate and the left and right vertical plates of the supporting frame are of an integrated structure; the detachable square plate is fixedly connected with the left vertical plate and the right vertical plate of the supporting frame through screws.
Furthermore, the left vertical plate and the right vertical plate of the supporting frame are provided with connecting shafts, the connecting shafts are connected with the tail of the aircraft, and the supporting frame is provided with a connecting rod connected with the motor.
Further, when the pitching of the bird-like empennage of the supporting frame needs to be realized, the motor can drive the supporting frame to rotate around the connecting shaft through the connecting rod, so that the supporting frame can pitch, and the pitching action of the bird-like empennage is realized.
Furthermore, the feather shaft and the spacing adjusting device are connected through a connecting sliding sleeve; the connecting sliding sleeve comprises a connecting belt and a shaft sleeve; the connecting band is a metal strip with a semicircular section, the shaft sleeve is a hollow round tube made of metal materials, one end of the shaft sleeve is connected with the connecting band, and the other end of the shaft sleeve is fixedly connected with the feather shaft.
Furthermore, the welding spots are adhered to the distance adjusting device and are attached to the connecting part of the connecting belt and the distance adjusting device, so that the connecting belt is prevented from sliding along the spring of the distance adjusting device and can only rotate around the spring of the distance adjusting device.
Furthermore, the other end of the shaft sleeve is provided with a section of round hole which is connected with the feather shaft, and the bottom surface of the round hole is a reference surface; before the pinna is unfolded, the shaft is in a vertical state, and the distance from the tail end of the shaft to the reference surface is minimum; when the vane is unfolded, the vane is in a deflected state, the tail end of the vane slides along the circular hole, the distance from the tail end of the vane to the reference surface is increased, but the tail end of the vane is still left in the circular hole and cannot be completely separated.
Furthermore, the driving device is a flexible driving device with a paper folding tube structure, is arranged in the supporting frame, and has two sealed ends, wherein the air inlet pipe on one end penetrates through the left vertical plate and the right vertical plate of the supporting frame and is connected with the air inlet pipe of the driving device outside the supporting frame; the other end of the driving device is connected with the distance adjusting device, and the driving device is fixed on the supporting frame by glue.
Furthermore, the distance adjusting device is a cylindrical compression spring with equal distance and made of metal materials, is arranged in the supporting frame and is connected with the driving device by glue; in the initial state, the tail end of the feather shaft is connected with the spring through the connecting sliding sleeve at the same circumferential angular position of each circle of the spring, the feather shaft is placed in parallel at the moment, and the distance between the tail ends of the feather shafts is the pitch of the spring.
The beneficial effects of the invention and the prior art are as follows:
by simulating the characteristics of birds in flying and landing, the invention can maintain balance and adjust direction by controlling the extension or the closing of the empennage pinna in different degrees; the bird-imitated empennage structure can independently control the expansion and the closing of the feathers, and the bird-imitated empennage expansion mechanism with the driving device is provided with the driving device to drive a group of bird-imitated feathers which are arranged in parallel at equal intervals to deflect, so that the expansion effect of the bird-imitated empennage is achieved;
the bird-like empennage unfolding mechanism has the advantages of small volume, light weight, simple structure, easiness in connection and convenience in installation, and the bird-like feathers on the device can deflect and pitch, so that the effects of unfolding, folding and pitching the bird-like empennages are achieved.
Drawings
FIG. 1 is a schematic view of the pinna structure of the bird tail deployment mechanism of the present invention;
FIG. 2 is a schematic view of the structure of the supporting frame of the bird tail deployment mechanism of the present invention;
FIG. 3 is a schematic diagram of an oblique structure of a supporting frame of the bird tail deployment mechanism of the present invention;
FIG. 4 is a schematic structural view of the upper end surface of the supporting frame of the bird tail deployment mechanism of the present invention;
FIG. 5 is a perspective view of a connecting sleeve of the bird tail deployment mechanism of the present invention;
the badminton racket comprises a badminton racket 1, a badminton shaft 2, a supporting shaft 3, a detachable square plate 4, a connecting shaft 5, a driving device air inlet pipe 6, a driving device 7, an interval adjusting device 8, a connecting sliding sleeve 9, a screw 10, a fixed square plate 11, a connecting belt 12, a welding spot 13 and a shaft sleeve 14.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention more clear, the present invention is further described in detail by the following examples. It should be noted that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the unfolding mechanism of the invention comprises a plurality of groups of shafts 2 and the feathers 1 which are connected with the upper ends of the shafts 2 in a nested way. The feathers 1 are arranged on the supporting frame at equal intervals and are connected with the interval adjusting device 8 through a connecting sliding sleeve 9; the driving device 7 is fixed in the supporting frame, an air inlet pipe of the driving device 7 penetrates through the left vertical plate and the right vertical plate of the supporting frame, a sealing end plate of the driving device is connected with the distance adjusting device 8, the distance adjusting device 8 can be driven to deform after being inflated, and the bird-like feathers are driven to deflect, so that the unfolding of the bird-like empennage is realized.
The vane 1 is woven by fiber material, the outer contour is designed according to actual requirement, and the shaft 2 is inserted into the hollow part to realize nested connection. The feather shaft 2 is a solid thin round rod made of metal material, the upper end of the feather shaft is connected with the feather 1 in a nested mode, and the lower end of the feather shaft is inserted into the connecting sliding sleeve 9. The circular hole is arranged on the feather shaft and is matched and connected with the supporting shaft 3 on the supporting frame, the feather shaft 2 can rotate around the supporting shaft 3, the specific position of the circular hole is determined by the size of the feather and the distance from the supporting shaft to the distance adjusting device, and the feather shaft can be designed according to the actual requirements of different aircrafts.
As shown in fig. 2, the support frame is a rectangular frame structure made of a metal material and composed of four fixed square plates, and the rest of the components are installed on the basis of the rectangular frame structure. As shown in fig. 3, the top end of the supporting frame comprises a fixed square plate 11 and a detachable square plate 4 of the supporting frame, a horizontal groove is formed in the fixed square plate 11 of the supporting frame, and a plurality of supporting shafts 3 are arranged in the horizontal groove. The width of horizontal groove slightly is greater than the feather axle diameter, sets up back shaft 3 in horizontal groove inside, and back shaft 3 is connected with the round hole cooperation of feather axle 2 to reach the effect of fixed feather axle 2, make feather axle 2 only can take place to rotate and can not horizontal migration round back shaft 3. As shown in fig. 4, the opposite surfaces of the detachable square plate 4 and the fixed square plate are provided with round holes connected with the supporting shaft 3, and the detachable square plate is connected with the left vertical plate and the right vertical plate of the supporting frame through threads. During the installation earlier put into the round hole of fixed square plate 11 with back shaft 3, pass the back shaft with feather axle 2 again, make the back shaft other end and can dismantle the round hole of square plate 4 and cooperate, then will dismantle square plate 4 and braced frame's left and right sides riser and be connected. The left vertical plate and the right vertical plate of the supporting frame are provided with connecting shafts 5 which are connected with the tail of the aircraft, and the supporting frame is provided with a connecting rod which is connected with a motor. When the pitching of the bird-imitated empennage is needed to be realized, the motor can drive the supporting frame to rotate around the connecting shaft 5 through the connecting rod, so that the supporting frame can pitch, and the effect of pitching the bird-imitated empennage is achieved.
The feather shaft 2 and the spacing adjusting device 8 are connected through a connecting sliding sleeve 9; the connecting sliding sleeve 9 comprises a connecting belt 12 and a shaft sleeve 14, and the structure of the connecting sliding sleeve 9 is shown in figure 5. The connecting band 12 is a metal strip with a semicircular section, and the shaft sleeve 14 is a hollow round tube made of metal material. When the connecting band is installed, the connecting band firstly winds around the spring of the distance adjusting device for one circle, then two ends of the connecting band 12 are pasted together to form a thin round rod, then the thin round rod is inserted into the shaft sleeve 14, and glue is coated on the corresponding position in the shaft sleeve to fix the connecting band 12. As shown in fig. 5, the welding spots 3 are adhered to the distance adjusting means 8, and the welding spots 3 are adhered to the joints of the connection strips 12 and the distance adjusting means 8 to prevent the connection strips 12 from sliding along the springs of the distance adjusting means 8 and only rotating around the springs of the distance adjusting means 8. The other end of the shaft sleeve 14 is provided with a round hole with enough length to be connected with the feather shaft 2 of the bird-like feather, and the bottom surface of the round hole is called as a reference surface. Before the pinna 1 is unfolded, the shaft 2 is in a vertical state, and the distance from the tail end of the shaft 2 to the reference surface is minimum. When the vane 1 is unfolded, the vane 2 is in a deflected state, the tip of the vane 2 slides along the circular hole, the distance from the tip of the vane 2 to the reference surface increases, but the tip of the vane 2 remains in the circular hole and does not completely separate. The reason for arranging the connecting sliding sleeve 9 is that the vertical distance between the supporting shaft 3 and the spacing adjusting device 8 is fixed, and the tail end of the feather shaft 2 generates horizontal displacement after the feather 1 is unfolded, at the moment, the distance from the tail end of the feather shaft in a deflection state to the supporting shaft is increased compared with the vertical state, and the difference of the two distances can be coordinated by the difference of the distances from the tail end of the feather shaft to the reference surface before and after deflection.
The driving device 7 is a flexible driving device with a paper folding tube structure and is arranged inside the supporting frame. The two ends of the driving device are sealed, the air inlet pipe on one end penetrates through the left vertical plate and the right vertical plate of the supporting frame, the other end of the air inlet pipe is connected with the distance adjusting device, and the driving device is fixed on the supporting frame through glue.
The spacing adjusting device 8 is a cylindrical compression spring with equal spacing made of metal materials, is arranged in the supporting frame and is connected with the driving device by glue. In the initial state, the tail end of the feather shaft is connected with the spring through the connecting sliding sleeve at the same circumferential angular position of each circle of the spring, the feather shaft is placed in parallel at the moment, and the distance between the tail ends of the feather shafts is the pitch of the spring.
When the bird-like empennage unfolding mechanism works, the driving device is pressurized through the air inlet pipe, the driving device pushes the spacing adjusting device to contract after expanding, and the spacing adjusting device drives the bottom end of the feather shaft of the bird-like feather to generate transverse horizontal displacement. Because the lateral displacement of the feather shaft is limited by the support shaft (only can rotate around the support shaft), the bottom end of the feather shaft can deflect laterally after the lateral displacement is generated, and the effect of unfolding the bird-like tail wing is achieved. When the pressure applied to the driving device is removed, the restoring force of the spring pushes the driving device to contract and drives the spacing adjusting device to recover, and the spacing adjusting device immediately drives the tail end of the feather shaft to recover to the initial position, so that the effect of gathering the simulated bird empennages is achieved. If the up-down pitching angle needs to be adjusted, the motor can drive the supporting frame to rotate around the connecting shaft through the connecting rod, so that the supporting frame can pitch, and the effect of simulating the pitching of the bird tail wing is achieved.
The following are described by way of specific examples:
assuming that the space of the tail of the bird-like aircraft is 100mm long, 100mm wide and 60mm high, the bird-like empennage unfolding mechanism provided by the invention is arranged at the tail of the bird-like aircraft (the axis of the bird-like feather is parallel to the longitudinal axis of the aircraft). The supporting frame is 60mm long, 20mm wide and 27mm high. The diameter of the connecting shaft on the left vertical plate and the right vertical plate is 5mm, the length of the connecting shaft is 5mm, and the supporting frame is provided with a connecting rod which is connected with a motor arranged in the aircraft. The middle plane of the upper end surface of the supporting frame is provided with a horizontal groove with the length of 50mm and the width of 2.5 mm. The diameter of the shaft 2 is 1.5mm, the length is 28mm, the distance between the round hole on the shaft and the top end of the shaft is 20mm, the diameter of the round hole is 1mm, the diameter of the supporting shaft matched with the round hole is 0.9mm, the length is 6.5mm, the diameter of the round hole corresponding to the supporting shaft is 0.9mm at the fixed square plate and the detachable square plate, and the depth of the round hole is 2mm so as to install the supporting shaft 3.
The original length of the spring of the spacing adjusting device 8 is 50mm, the pitch diameter is 12mm, the wire diameter is 1mm, the distance between the central axis of the spring and the bottom plate is 8mm, and the material is G =7000kg/mm2The spring steel has the spring coefficient of k =63.3g/mm, the effective number of turns is 8, the spring steel is connected with eight shafts through the connecting sliding sleeve, the distance between the tail ends of the adjacent shafts is 5mm in the initial state, the distance between the tail end of the shaft and the spring is 4.5mm, and the distance between the tail end of the shaft and the supporting shaft is 8 mm.
The connecting belt 12 of the connecting sliding sleeve 9 is a metal strip with the length of 7mm and the section of a semicircle with the radius of 0.5 mm. The shaft sleeve 14 of the connecting sliding sleeve is a hollow round pipe made of metal material, the outer diameter is 3mm, and the hollow round pipe is divided into two sections with different lengths and different inner diameters by taking a reference surface as an interface. Wherein the length of the part which is matched and connected with the connecting belt is 3mm, the inner diameter is 1mm, the length of the part which is matched and connected with the feather shaft is 5.5mm, the inner diameter is 2mm, and the distance from the tail end of the feather shaft to the datum plane is 0.5mm in the initial state.
The driving device is a square paper folding tube structure with the inner ring size of 16mm wide, and the length of the single-side driving device in an initial state is 5 mm.
When the bird-like empennage needs to be unfolded, the driving device is pressurized through the air inlet pipe, the driving spring is compressed to 40mm, the distance between the tail ends of the adjacent shafts becomes 4mm, and the shaft on the outermost side deflects by 32 degrees; continuously pressurizing, compressing the driving spring to 30mm, changing the distance between the tail ends of the adjacent shafts to 3mm, and deflecting the outermost shaft by 51.3 degrees; the unfolding of the bird-like empennage at different degrees can be realized by applying pressure at different degrees.
When the bird-imitated empennage is required to be folded, the pressure applied to the driving device is removed, and then the distance adjusting device can be restored, so that the feather shaft is restored to be in a vertical state, and the bird-imitated empennage is folded.
When the pitching of the bird-imitated empennage is needed to be realized, the motor can drive the supporting frame to rotate around the connecting shaft through the connecting rod, so that the supporting frame can pitch, and the effect of pitching the bird-imitated empennage is achieved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (7)
1. A bird tail wing simulating deployment mechanism is characterized by comprising a plurality of groups of feather shafts (2) and feather pieces (1) which are connected with the upper ends of the feather shafts (2) in a nested manner; the feather shaft (2) is arranged on the supporting frame; the top end of the supporting frame comprises a fixed square plate (11) and a detachable square plate (4) of the supporting frame, a horizontal groove is formed between the fixed square plate (11) and the detachable square plate (4), a plurality of supporting shafts (3) are arranged in the horizontal groove, the supporting shafts (3) are matched and connected with round holes of a plurality of groups of the feather shafts (2), the feather shafts (2) are fixed on the supporting frame through the supporting shafts (3), and the feather shafts (2) can only rotate around the supporting shafts (3) and cannot move horizontally;
the tail of the feather shaft (2) is connected with a spacing adjusting device (8), two ends of the spacing adjusting device (8) are connected with a driving device (7), the driving device (7) is connected with a driving device air inlet pipe (6) outside the supporting frame, the driving device (7) is pressurized through the driving device air inlet pipe (6), the driving device pushes the spacing adjusting device to contract after expanding, the spacing adjusting device drives the bottom end of the feather shaft of the bird-imitated feather to generate transverse horizontal displacement, the feather shaft (2) is limited by the supporting shaft (3) to generate transverse displacement and only can rotate around the supporting shaft (3), and transverse deflection can be generated after the bottom end of the feather shaft (2) generates transverse displacement, so that the effect of unfolding the feather (1) is achieved; when the pressure applied to the driving device (7) is removed, the restoring force of the spring pushes the driving device (7) to contract and drives the spacing adjusting device (8) to recover, and the spacing adjusting device (8) immediately drives the tail end of the feather shaft (2) to recover to the initial position, so that the effect of closing the feathers (1) is achieved;
the feather shaft (2) and the spacing adjusting device (8) are connected through a connecting sliding sleeve (9); the connecting sliding sleeve (9) comprises a connecting belt (12) and a shaft sleeve (14); the connecting band (12) is a metal strip with a semicircular section, the shaft sleeve (14) is a hollow round tube made of metal materials, one end of the shaft sleeve (14) is connected with the connecting band (12), and the other end is fixedly connected with the feather shaft (2);
the welding points (13) are adhered to the spacing adjusting device (8), and the welding points (13) are attached to the joint of the connecting belt (12) and the spacing adjusting device (8) so as to prevent the connecting belt (12) from sliding along the spring of the spacing adjusting device (8) and only rotating around the spring of the spacing adjusting device (8).
2. The bird tail spreading mechanism as claimed in claim 1, wherein the fixed square plate (11) and the left and right vertical plates of the support frame are of an integral structure; the detachable square plate (4) is fixedly connected with the left vertical plate and the right vertical plate of the supporting frame through screws (10).
3. The unfolding mechanism of the bird-like empennage as claimed in claim 1, wherein the left and right vertical plates of the supporting frame are provided with connecting shafts (5) which are connected with the tail of the aircraft through the connecting shafts (5), and the supporting frame is provided with a connecting rod which is connected with a motor.
4. The bird-like tail wing unfolding mechanism according to claim 3, wherein when the supporting frame needs to realize the pitching of the bird-like tail wing, the motor can drive the supporting frame to rotate around the connecting shaft through the connecting rod, so that the supporting frame can pitch, and the pitching action of the bird-like tail wing is realized.
5. The bird-like empennage unfolding mechanism as claimed in claim 1, wherein a section of round hole is arranged at the other end of the shaft sleeve and connected with the feather shaft (2), and the bottom surface of the round hole is a datum plane; before the pinna (1) is unfolded, the pinna shaft (2) is in a vertical state, and the distance from the tail end of the pinna shaft (2) to the reference surface is minimum; when the vane (1) is unfolded, the vane shaft (2) is in a deflection state, the tail end of the vane shaft (2) slides along the circular hole, the distance from the tail end of the vane shaft to the reference surface is increased, but the tail end of the vane shaft (2) is still left in the circular hole and cannot be completely separated.
6. The bird tail unfolding mechanism as claimed in claim 1, wherein the driving device (7) is a flexible driving device with a paper folding pipe structure, and is installed inside the supporting frame, two ends of the driving device (7) are sealed, and an air inlet pipe at one end penetrates through the left and right vertical plates of the supporting frame and is connected with an air inlet pipe (6) of the driving device outside the supporting frame; the other end of the driving device (7) is connected with the distance adjusting device, and the driving device is fixed on the supporting frame by glue.
7. A bird tail spreading mechanism as claimed in claim 1, wherein the spacing adjustment means (8) is a cylindrical compression spring of equal spacing made of metal material, mounted inside the supporting frame and connected to the driving means (7) by glue; in the initial state, the tail end of the feather shaft (2) is connected with the spring through the connecting sliding sleeve at the same circumferential angular position of each circle of the spring, the feather shaft is placed in parallel at the moment, and the distance between the tail ends of the feather shafts is the pitch of the spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110156405.4A CN112937856B (en) | 2021-02-04 | 2021-02-04 | Bird-like empennage unfolding mechanism |
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| CN202110156405.4A CN112937856B (en) | 2021-02-04 | 2021-02-04 | Bird-like empennage unfolding mechanism |
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| CN112937856B true CN112937856B (en) | 2022-04-22 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804864A (en) * | 2010-03-31 | 2010-08-18 | 杨绍河 | Bionic wing of flapping-wing aircraft |
| CN201633923U (en) * | 2010-03-31 | 2010-11-17 | 杨绍河 | Ornithopter bionic wing |
| CN202400286U (en) * | 2011-11-11 | 2012-08-29 | 刘龙生 | Imitating bird human flapping wing flying device |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
-
2021
- 2021-02-04 CN CN202110156405.4A patent/CN112937856B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804864A (en) * | 2010-03-31 | 2010-08-18 | 杨绍河 | Bionic wing of flapping-wing aircraft |
| CN201633923U (en) * | 2010-03-31 | 2010-11-17 | 杨绍河 | Ornithopter bionic wing |
| CN202400286U (en) * | 2011-11-11 | 2012-08-29 | 刘龙生 | Imitating bird human flapping wing flying device |
| CN110466756A (en) * | 2019-08-29 | 2019-11-19 | 河海大学常州校区 | A kind of small-sized flapping flight robot of imitative bird |
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