CN112977805A - Landing device for micro-miniature flapping-wing aircraft - Google Patents
Landing device for micro-miniature flapping-wing aircraft Download PDFInfo
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- CN112977805A CN112977805A CN202110419983.2A CN202110419983A CN112977805A CN 112977805 A CN112977805 A CN 112977805A CN 202110419983 A CN202110419983 A CN 202110419983A CN 112977805 A CN112977805 A CN 112977805A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/14—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like fore-and-aft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/20—Operating mechanisms mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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Abstract
The invention discloses a landing device for a microminiature ornithopter, which comprises: the unlocking device comprises a front support leg, an unlocking module and a rear support leg; one end of the front support leg, the unlocking module and one end of the rear support leg are sequentially arranged at the bottom of the aircraft; when the aircraft is in a flying state, the unlocking module locks the other end of the folded front support leg and the other end of the folded rear support leg; when the aircraft is in the pre-landing state, the unlocking module collides with the ground, under the action of impact force, the unlocking module unlocks the front supporting leg and the rear supporting leg from a folding locking state, and the front supporting leg and the rear supporting leg are supported on the ground after being unfolded. According to the invention, the front support leg and the rear support leg are unfolded by the unlocking module during landing, so that the impact force during landing is buffered, the aircraft body is protected from stable landing, and the aircraft can land autonomously; the invention has small volume and light weight, does not influence the flight performance of the aircraft, and does not increase the energy consumption of the aircraft.
Description
Technical Field
The invention belongs to the technical field of flapping-wing aircrafts, and relates to a landing device for a microminiature flapping-wing aircraft.
Background
According to different flight principles, the microminiature aircraft is divided into a fixed wing aircraft, a rotor wing aircraft and a flapping wing aircraft. The flapping wing aircraft is most similar to the flight mode of organisms in the nature, and the micro flapping wing aircraft can perform low-speed flight, hovering, diving, hovering and other flight actions like birds and insects in the nature, so that the micro flapping wing aircraft is more and more widely applied to the fields of military use, civil use and the like. Because the miniature flapping wing aircraft has a certain speed when landing, the aircraft is easy to damage in the absence of a special landing device.
Application No.: CN202010973394.4, application date: 20200916, publication date: 20201117. the invention discloses a four-axis flapping wing aircraft without tail wings, which relates to the technical field of aircrafts and comprises a main body and four flapping wing units with the same structure, wherein the four flapping wing units are uniformly distributed along the circumferential direction of the main body and consist of a motor, a motor shaft gear, a reduction gear set, a connecting rod driving gear, a rocker arm rotating shaft, a crank, a connecting rod, a fixed plate, a rocker and flexible flapping wings; among the four flapping wing units, two flapping wing units which are positioned on the same straight line incline along the clockwise direction, and the other two flapping wing units incline along the anticlockwise direction at the same angle. The four independently driven flapping wing units can generate differential thrust similar to four rotors, and can generate pitching, rolling power and yawing moment, and the aircraft has flexible and comprehensive power types and good maneuverability; the vertical take-off and landing function is realized, and the autonomous take-off and landing can be realized; the aircraft has the advantages of simple structure, high symmetry, capability of realizing hovering flight, good wind resistance, relative easiness in control and contribution to writing and designing of control programs.
Application No.: CN201510933810.7, application date: 2015.12.14, publication (announcement) date: 2016.08.17, the invention provides a bionic landing gear system and a landing control method applied to an ornithopter, the bionic landing gear system comprises: the device comprises a visual navigation unit, a motion coordination processor, a mechanical claw unit and a full-motion V-tail actuating mechanism; the visual navigation unit comprises a left camera, a right camera and an image processor; the left camera and the right camera are symmetrically arranged in front of the abdomen of the flapping wing aircraft; the left camera and the right camera are both connected to the image processor; the motion coordination processor is arranged in the body of the flapping wing aircraft and is respectively connected with the image processor, the left gripper steering engine, the right gripper steering engine and the actuator mechanism. Has the advantages that: after the bionic landing gear system is installed, the flapping wing air vehicle can have the taking-off and landing capacity like birds, the high-efficiency maneuverability of the flapping wing air vehicle is improved, and the application range and the application capacity of the flapping wing air vehicle are expanded.
None of the above prior art addresses the effect of landing on the ground without increasing the energy consumption of the aircraft.
Disclosure of Invention
In view of the problems of the prior art, it is an object of the present invention to provide a landing gear for a micro-miniature ornithopter, which at least partially solves the above technical problems.
The embodiment of the invention provides a landing device for a microminiature ornithopter, which comprises: the unlocking device comprises a front support leg, an unlocking module and a rear support leg; one end of the front support leg, the unlocking module and one end of the rear support leg are sequentially arranged at the bottom of the aircraft;
when the aircraft is in a flying state, the unlocking module locks the other end of the folded front support leg and the other end of the folded rear support leg;
when the aircraft is in the pre-landing state, the unlocking module collides with the ground, under the action of impact force, the unlocking module unlocks the front supporting leg and the rear supporting leg from a folding locking state, and the front supporting leg and the rear supporting leg are supported on the ground after being unfolded.
Further, the unlocking module includes: the unlocking mechanism comprises a base, an unlocking slide block, an unlocking spring, a front stop block spring, a rear stop block and a rear stop block spring;
the base is hollow and is fixedly arranged at the bottom of the aircraft; the unlocking sliding block is sleeved on a hole in the lower surface of the base, and the unlocking spring is arranged between the unlocking sliding block and the base;
the front stop block and the rear stop block penetrate through the base stop block hole; the front stop spring is arranged between the front stop and the base; and the rear stop block spring is arranged between the rear stop block and the base.
Further, the front support leg and the rear support leg are identical in structure and are provided with two support assemblies; the two support assemblies are mounted in parallel at the bottom of the aircraft.
Furthermore, when the aircraft is in a flying state, the unlocking slide block is in an extension state under the action of the elastic force of the unlocking spring, and the front stop block spring and the rear stop block spring are compressed, so that the front stop block and the rear stop block respectively move towards the two ends in opposite directions and protrude out of the stop block hole; the other ends of the front support leg and the rear support leg after being folded are locked by the convex front stop block and the convex rear stop block.
Further, the support assembly includes: the first elastic plate, the second elastic plate, the third elastic plate, the elastic bottom plate, the first torsion spring, the second torsion spring and the third torsion spring; one end of the first elastic plate is mounted at the bottom of the aircraft;
the other end of the first elastic plate, the second elastic plate, the third elastic plate and the elastic bottom plate sequentially utilize the first torsion spring, the second torsion spring and the third torsion spring to be sleeved end to end.
The first elastic plate, the second elastic plate and the third elastic plate are the same in structure and are in central symmetry structures; the first elastic plate is an elastic plate with two convex ends; the connecting column is arranged on the bulge;
the elastic bottom plate is an elastic plate with one end thickened by the bulge and the other end.
Furthermore, the first elastic plate, the second elastic plate, the third elastic plate and the elastic bottom plate are all made of high-strength materials; the high-strength material comprises a carbon fiber composite material and a glass fiber composite material.
Further, the first torsion spring, the second torsion spring and the third torsion spring are made of spring steel; the diameter of the spring steel is 0.1-1 mm.
Further, when the front support leg and the rear support leg are unfolded, the distance between the tail ends of the front support leg and the rear support leg is 2-3 times of the length of the aircraft.
Further, the front support leg and the rear support leg have a height of 3 to 5 mm when folded.
Has the advantages that: compared with the prior art, the landing device for the microminiature ornithopter has the following remarkable advantages and positive effects: according to the invention, the front support leg and the rear support leg are unfolded by the unlocking module during landing, so that the impact force during landing is buffered, the collision between the aircraft body and the ground during landing is avoided, the aircraft body is protected from landing stably, and the aircraft can land autonomously; the ground impact force is utilized for unlocking, so that the energy consumption of the aircraft is not increased; the landing device can be folded and locked in a flying state, and unlocked and unfolded in the landing state, so that the landing device is small in size, light in weight and free of influence on the flying performance of an aircraft.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
FIG. 1 is a schematic diagram of an overall structure provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a folded state of the landing gear according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a flight state unlocking module of a landing device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a pre-landing state unlocking module of a landing device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a landing device support leg according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a pre-landing state of a landing gear according to an embodiment of the present invention;
FIG. 7 is a schematic landing state diagram of a landing device according to an embodiment of the present invention.
In the figure: 1-aircraft, 2-front support leg; 3-an unlocking module; 4-rear support leg; 201-a first elastic plate; 202-a first torsion spring; 203-a second elastic plate; 204-a second torsion spring; 205-a third resilient plate; 206-a third torsion spring; 207-resilient sole plate; 301-a base; 302-unlocking the slider; 303-unlocking a spring; 304-a positive stop; 305-a front stop spring; 306-a rear stop block; 307-back stop spring.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "inscribed," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
An embodiment of the present invention provides a landing device for a micro-miniature ornithopter, as shown in fig. 1 and 2, including: the locking device comprises a front support leg 2, an unlocking module 3 and a rear support leg 4; one end of the front support leg 2, one end of the unlocking module 3 and one end of the rear support leg 4 are sequentially arranged at the bottom of the aircraft 1;
when the aircraft 1 is in a flying state, the unlocking module 3 locks the other ends of the folded front support legs 2 and the folded rear support legs 3;
when the aircraft 1 is in a pre-landing state, the unlocking module 3 collides with the ground, under the action of impact force, the unlocking module 3 unlocks the front support leg 2 and the rear support leg 4 from a folding locking state, and the front support leg 2 and the rear support leg 3 are unfolded and then supported on the ground.
The unlocking module 3 includes: a base 301, an unlocking slider 302, an unlocking spring 303, a front stopper 304, a front stopper spring 305, a rear stopper 306, a rear stopper spring 307;
the base 301 is hollow and is fixedly arranged at the bottom of the aircraft; the unlocking slide block 302 is sleeved on a hole in the lower surface of the base 301, and an unlocking spring 303 is arranged between the unlocking slide block 302 and the base 301;
the front stop block 304 and the rear stop block 306 pass through the stop block holes of the base 301; a front block spring 305 is arranged between the front block 304 and the base 301; a back stop spring 307 is installed between the back stop 306 and the base 301.
The front supporting leg and the rear supporting leg have the same structure and are provided with two supporting components; the two support assemblies are mounted in parallel at the bottom of the aircraft. For increasing the contact area with the ground and for achieving a faster speed of the support and stabilization of the aircraft 1.
In a specific embodiment, when the front supporting leg and the rear supporting leg are both provided with two supporting components, the front and rear stop block devices can be set into one group or two groups, and the technical effect of controlling the front and rear supporting legs can be achieved.
For example, when two sets of front and rear stopper devices are provided, as shown in fig. 3 and 4, the upper surface of the base 301 of the unlocking module 3 is mounted at the bottom of the aircraft 1; the opposing surfaces of the base 301 are identical in structure. The center of the upper surface and the opposite lower surface of the base 301 is provided with a sliding block hole; as shown in fig. 3, two stopper holes are provided on both left and right sides of the base 301. Meanwhile, the devices arranged as two are: a front block 304, a front block spring 305, a rear block 306 and a rear block spring 307, wherein the front block device and the rear block device correspond to the front support assembly and the rear support assembly respectively.
The unlocking slide block 302 penetrates through a slide block hole in the lower surface of the base 301 and is sleeved inside the base 301; the unlocking slider 302 is composed of a first support plate and a second support plate; the center of the first supporting plate is connected with an unlocking spring 303 and is arranged in the base 301; the second supporting plate is of a T-shaped structure facing the left side surface and the right side surface; the upper end of the second supporting plate is connected with the first supporting plate, and the lower end of the second supporting plate penetrates through a sliding block hole on the lower surface of the base 301 to protrude.
The circumference area of the spring ring of the unlocking spring 303 is larger than that of the sliding block hole, so that the spring ring of the unlocking spring 303 cannot be ejected out of the sliding block hole when the spring ring is subjected to an upward compression force.
The front block spring 305 is sleeved between the front block 304 and the second support plate; the rear stop spring 307 is sleeved between the rear stop 306 and the second support plate; the front block 304 and the rear block 306 are symmetrically sleeved on the base 301 through the block holes by taking the second support plate as an axis.
When the aircraft 1 is in the flight state, as shown in fig. 3, the second support plate of the unlocking slider 302 compresses the forward stopper spring 305 and the backward stopper spring 307, respectively, to project the forward stopper 304 and the backward stopper 306.
When the aircraft 1 is in the pre-landing state, as shown in fig. 4, the unlocking slider 302 moves upward, the second support plate no longer compresses the front stopper spring 305 and the rear stopper spring 307, and the front stopper spring 305 and the rear stopper spring 307 move in the direction of the second support plate, and simultaneously drive the front stopper 304 and the rear stopper 306 to move inward, respectively.
For example, when a set of front and rear stopper devices is provided, the difference from the two sets of front and rear stopper devices is that a stopper hole is provided at the center line of the left and right side surfaces of the base 301, and a through hole is provided at the lower end of the second support plate. When the aircraft 1 is in the pre-landing state, the front stopper spring 305 and the rear stopper spring 307 move into the through hole of the second support plate, respectively, and simultaneously drive the front stopper 304 and the rear stopper 306 to move inward, respectively.
Further, when the aircraft 1 is in a flying state, the unlocking slider 302 is in an extended state under the elastic force of the unlocking spring 303, and compresses the front block spring 305 and the rear block spring 307, so that the front block 304 and the rear block 306 respectively move towards the two ends and protrude out of the block hole; the other ends of the folded front and rear support legs are locked by projecting front and rear stops 304, 306.
As shown in fig. 5, the support assembly includes: a first elastic plate 201, a second elastic plate 203, a third elastic plate 205, an elastic bottom plate 207, a first torsion spring 202, a second torsion spring 204, and a third torsion spring 206; one end of the first elastic plate 201 is arranged at the bottom of the aircraft;
the other end of the first elastic plate 201, the second elastic plate 203, the third elastic plate 205 and the elastic bottom plate 207 are sequentially sleeved with a first torsion spring 202, a second torsion spring 204 and a third torsion spring 206. The first elastic plate 201 can rotate freely around the aircraft 1, and when the folding lock is performed, the first elastic plate 201 is tightly attached to the aircraft 1.
The first elastic plate 201, the second elastic plate 203 and the third elastic plate 205 have the same structure and are all centrosymmetric structures; the first elastic plate 201 is an elastic plate with two convex ends; the connecting column is arranged on the bulge;
the elastic bottom plate 207 is an elastic plate with one end raised and the other end thickened.
The first elastic plate 201, the second elastic plate 203, the third elastic plate 205 and the elastic bottom plate 207 are all made of high-strength materials; high strength materials include carbon fiber composites and glass fiber composites. The buffer is used for buffering the ground impact force during landing.
The first torsion spring 202, the second torsion spring 204 and the third torsion spring 206 are made of spring steel; the diameter of the spring steel is 0.1-1 mm. Ensuring that the front supporting leg and the rear supporting leg have enough unfolding force.
When the front support leg 2 and the rear support leg 4 are unfolded, the distance between the tail ends of the front support leg 2 and the rear support leg 4 is 2-3 times of the length of the aircraft 1. The aircraft body is prevented from being damaged after colliding with the ground when landing.
The front support leg 2 and the rear support leg 4 are folded to a height of 3-5 mm. The influence on the flight performance is reduced.
In one embodiment, as shown in fig. 1, a landing device for a micro-miniature ornithopter operates according to the following principle:
the unlocking module 3 is installed at the center position below the aircraft 1 body, the unlocking module 3 is fixedly installed after the gravity center position of the aircraft 1 body is determined, and the front support leg 2 and the rear support leg 4 are installed on two sides of the unlocking module 3 and symmetrically distributed along the axis of the aircraft 1 body.
When the aircraft 1 is in a flying state, as shown in fig. 2, the unlocking slider 302 is in an extended state under the elastic force of the unlocking spring 303, so that the unlocking slider 302 is ensured to touch the ground first when the aircraft lands. The front stopper spring 305 and the rear stopper spring 307 are compressed by the pressure of the unlocking slider 302, and the front stopper 304 and the rear stopper 306 are moved toward each other. The ends of the front and rear support legs 2, 4 are locked by projecting front and rear stops 304, 306, the front and rear support legs 2, 4 being in the folded condition.
When the aircraft 1 is pre-landed, as shown in fig. 6, the outer support column of the unlocking slider 302 first touches the ground, causing the support plate to compress the unlocking spring 303 and the entire unlocking slider 302 to move upward. The front stopper spring 305 and the rear stopper spring 307 are compressed toward the unlocking slider 302 without the pressure of the unlocking slider 302, and simultaneously, the front stopper 304 and the rear stopper 306 are moved inward, and the distal ends of the front support leg 2 and the rear support leg 4 are unlocked.
When the aircraft 1 lands, as shown in fig. 7, the ends of the front support leg 2 and the rear support leg 4 are unlocked, and the first elastic plate 201, the second elastic plate 203, the third elastic plate 205, and the elastic base plate 207 are unfolded based on the gravity and the torsion force of the torsion spring, so as to support the aircraft 1 and prevent the aircraft 1 from touching the ground.
Compared with the prior art, the landing device for the microminiature ornithopter has the following remarkable advantages and positive effects: according to the invention, the front support leg and the rear support leg are unfolded by the unlocking module during landing, so that the impact force during landing is buffered, the collision between the aircraft body and the ground during landing is avoided, the aircraft body is protected from landing stably, and the aircraft can land autonomously; the ground impact force is utilized for unlocking, so that the energy consumption of the aircraft is not increased; the landing device can be folded and locked in a flying state, and unlocked and unfolded in the landing state, so that the landing device is small in size, light in weight and free of influence on the flying performance of an aircraft.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (9)
1. A landing device for a microminiature ornithopter is characterized by comprising: the unlocking device comprises a front support leg, an unlocking module and a rear support leg; one end of the front support leg, the unlocking module and one end of the rear support leg are sequentially arranged at the bottom of the aircraft;
when the aircraft is in a flying state, the unlocking module locks the other end of the folded front support leg and the other end of the folded rear support leg;
when the aircraft is in the pre-landing state, the unlocking module collides with the ground, under the action of impact force, the unlocking module unlocks the front supporting leg and the rear supporting leg from a folding locking state, and the front supporting leg and the rear supporting leg are supported on the ground after being unfolded.
2. The landing gear for a miniature ornithopter as claimed in claim 1, wherein said unlocking module comprises: the unlocking mechanism comprises a base, an unlocking slide block, an unlocking spring, a front stop block spring, a rear stop block and a rear stop block spring;
the base is hollow and is fixedly arranged at the bottom of the aircraft; the unlocking sliding block is sleeved on a hole in the lower surface of the base, and the unlocking spring is arranged between the unlocking sliding block and the base;
the front stop block and the rear stop block penetrate through the base stop block hole; the front stop spring is arranged between the front stop and the base; and the rear stop block spring is arranged between the rear stop block and the base.
3. The landing gear for miniature ornithopter as claimed in claim 2, wherein: the front supporting leg and the rear supporting leg have the same structure and are provided with two supporting components; the two support assemblies are mounted in parallel at the bottom of the aircraft.
4. The landing gear for miniature ornithopter as claimed in claim 3, wherein: when the aircraft is in a flying state, the unlocking slide block is in an extension state under the action of the elastic force of the unlocking spring, and the front stop block spring and the rear stop block spring are compressed, so that the front stop block and the rear stop block respectively move towards two ends in opposite directions and protrude out of the stop block hole; the other ends of the front support leg and the rear support leg after being folded are locked by the convex front stop block and the convex rear stop block.
5. The landing gear for a micro-miniature ornithopter of claim 3, wherein said support assembly comprises: the first elastic plate, the second elastic plate, the third elastic plate, the elastic bottom plate, the first torsion spring, the second torsion spring and the third torsion spring; one end of the first elastic plate is mounted at the bottom of the aircraft;
the other end of the first elastic plate, the second elastic plate, the third elastic plate and the elastic bottom plate sequentially utilize the first torsion spring, the second torsion spring and the third torsion spring to be sleeved end to end.
The first elastic plate, the second elastic plate and the third elastic plate are the same in structure and are in central symmetry structures; the first elastic plate is an elastic plate with two convex ends; the connecting column is arranged on the bulge;
the elastic bottom plate is an elastic plate with one end thickened by the bulge and the other end.
6. The landing gear for miniature ornithopter as claimed in claim 5, wherein: the first elastic plate, the second elastic plate, the third elastic plate and the elastic bottom plate are all made of high-strength materials; the high-strength material comprises a carbon fiber composite material and a glass fiber composite material.
7. The landing gear for miniature ornithopter as claimed in claim 5, wherein: the first torsion spring, the second torsion spring and the third torsion spring are made of spring steel; the diameter of the spring steel is 0.1-1 mm.
8. The landing gear for miniature ornithopter as claimed in claim 1, wherein: when the front supporting leg and the rear supporting leg are unfolded, the distance between the tail ends of the front supporting leg and the rear supporting leg is 2-3 times of the length of the aircraft.
9. The landing gear for miniature ornithopter as claimed in claim 1, wherein: the height of the front support leg and the rear support leg is 3-5 mm when the front support leg and the rear support leg are folded.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110419983.2A CN112977805B (en) | 2021-04-19 | 2021-04-19 | Landing device for micro flapping wing aircraft |
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| CN202110419983.2A CN112977805B (en) | 2021-04-19 | 2021-04-19 | Landing device for micro flapping wing aircraft |
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| CN201895770U (en) * | 2010-09-29 | 2011-07-13 | 贵州航天控制技术有限公司 | Locking and unlocking mechanism for aircraft airfoil |
| US20170327207A1 (en) * | 2016-05-13 | 2017-11-16 | Luis Sierra | Retractable wheel assembly |
| US20180194458A1 (en) * | 2016-12-28 | 2018-07-12 | Autel Robotics Co., Ltd. | Unmanned aerial vehicle |
| CN109866917A (en) * | 2017-12-04 | 2019-06-11 | 中国飞机强度研究所 | A kind of bionic leg undercarriage |
| CN208181262U (en) * | 2018-03-02 | 2018-12-04 | 江苏圣龙智能科技有限公司 | Elastic lockable mechanism for steering lock |
| CN110834721A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Leg sledge combined landing device of vertical take-off and landing aircraft |
| CN110834722A (en) * | 2018-08-17 | 2020-02-25 | 中国飞机强度研究所 | Self-adaptive landing device for multi-rotor unmanned aerial vehicle |
| CN209945161U (en) * | 2019-05-24 | 2020-01-14 | 九州云箭(北京)空间科技有限公司 | Landing buffer device for rocket vertical recovery |
| CN110171561A (en) * | 2019-06-24 | 2019-08-27 | 焦佳敏 | A kind of unmanned plane pushing stable landing based on reversed air pressure |
| CN111098650A (en) * | 2019-12-11 | 2020-05-05 | 中国飞机强度研究所 | Dual-purpose robot of world |
| CN111470035A (en) * | 2020-04-30 | 2020-07-31 | 中国飞机强度研究所 | Complex terrain self-adaptive landing gear of vertical take-off and landing aircraft and landing method thereof |
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