CN114560084B - Autonomous folding and unfolding deformation wing of bionic ornithopter - Google Patents
Autonomous folding and unfolding deformation wing of bionic ornithopter Download PDFInfo
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- CN114560084B CN114560084B CN202210315285.2A CN202210315285A CN114560084B CN 114560084 B CN114560084 B CN 114560084B CN 202210315285 A CN202210315285 A CN 202210315285A CN 114560084 B CN114560084 B CN 114560084B
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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 an autonomous folding and unfolding deformation wing of a bionic ornithopter robot, which comprises the following components: a body; the two swing rods are respectively connected to the left side and the right side of the machine body, can swing up and down relative to the machine body, and extend from the machine body to the left side and the right side of the machine body respectively; the two wings are respectively arranged on the two swing rods; the wing includes: the fixed component is connected with the swing rod; the inclined rod is rotationally connected with the fixed component, and feather pieces are rotationally connected to the inclined rod; the first rotating assembly is used for driving the inclined rod to rotate relative to the fixed assembly; the second rotating assembly is used for driving the feather pieces to rotate relative to the diagonal rods; the application of the deformed wing can effectively improve the adaptability of the ornithopter to different flight conditions.
Description
Technical Field
The invention relates to the technical field of aviation, in particular to an autonomous folding and unfolding deformation wing of a bionic ornithopter.
Background
With the development of scientific technology, the ornithopter has wide application scenes in both military and civil fields; in the military field, the ornithopter can perform camouflage detection, target tracking, short-distance electronic interference and the like in a special environment; in the civil field, the ornithopter can carry out narrow space rescue, forest wild animal detection, aerial video shooting and the like; at present, a plurality of countries and scientific research institutions develop special researches to try to develop the ornithopter which can be used in special environments.
The existing flapping wing aircraft generally uses driving mechanisms such as a motor and the like to drive the wings with fixed shapes to flap up and down so as to drive the whole aircraft to fly; however, for maneuver flight and fast cruise flight in complex environments, the wing requirements of the wing are inconsistent, so that the fixed-shape wing cannot fully take into account the two different flight conditions, and can only show better aerodynamic performance in a smaller operation adjustment range.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the autonomous folding and unfolding deformation wing of the bionic ornithopter, which can improve the adaptability of the ornithopter to different flight conditions.
The invention relates to an autonomous folding and unfolding deformation wing of a bionic ornithopter, which comprises the following components: a body; the two swing rods are respectively connected to the left side and the right side of the machine body, can swing up and down relative to the machine body, and extend from the machine body to the left side and the right side of the machine body respectively; the two wings are respectively arranged on the two swing rods; the wing includes: the fixed component is connected with the swing rod; the inclined rod is rotationally connected with the fixed component, and feather pieces are rotationally connected to the inclined rod; the first rotating assembly is used for driving the inclined rod to rotate relative to the fixed assembly; and the second rotating assembly is used for driving the feather pieces to rotate relative to the diagonal rods.
According to some embodiments of the invention, the first rotating assembly comprises: the first-stage transmission connecting rod is rotationally connected with the swing rod; the two ends of the primary transmission rocker are respectively connected with the primary transmission connecting rod and the diagonal rod in a rotating way; the power output assembly is arranged on the machine body and is used for driving the primary transmission connecting rod to rotate relative to the swing rod.
According to some embodiments of the invention, a power take-off assembly comprises: the driving sliding block is arranged on the machine body; the translation assembly is arranged on the machine body and is used for driving the driving sliding block to move back and forth; and the two ends of the output connecting rod are respectively connected with the driving sliding block and the primary transmission connecting rod in a rotating way.
According to some embodiments of the invention, the translation assembly comprises: the driving motor is arranged on the machine body; the driving screw rod is rotationally connected to the machine body, extends along the front-back direction, and is used for driving the driving screw rod to rotate and is in threaded fit with the driving sliding block.
According to some embodiments of the invention, the translation assembly further comprises: the sliding block connecting piece is rotationally connected with the driving sliding block, is coaxial with the driving screw rod and is rotationally connected with the output connecting rod.
According to some embodiments of the invention, the translation assembly further comprises: the sliding block guide rod is arranged on the machine body, extends along the front-back direction and is in sliding fit with the driving sliding block.
According to some embodiments of the invention, the second rotating assembly further comprises: the first connecting rod is rotationally connected with the inclined rod and fixedly connected with the feather piece; two ends of the secondary transmission rocker are respectively arranged on the first connecting rod and the fixing component.
According to some embodiments of the invention, the second rotating assembly further comprises two second connecting rods, each of the two first connecting rods is fixedly connected with a feather piece, and the two first connecting rods, the second connecting rods and the inclined rods form a plane four-rod mechanism.
According to some embodiments of the invention, the plurality of second links comprises a plurality of first links, a plurality of second links, and diagonal rods, which form a plurality of planar four-bar mechanisms in series.
According to some embodiments of the invention, the fixation assembly comprises: the main rod is connected with the swing rod, and the inclined rod is rotationally connected with the main rod; the airfoil is fixedly connected with the main rod.
When the bionic ornithopter flying robot is used for autonomous folding and unfolding of the deformable wings, in the flying process of the flying robot, when the flying robot is required to fly in a complex environment, the first rotating assembly can be controlled to rotate the inclined rod in a direction away from the fixed assembly, and the second rotating assembly is controlled to rotate the feather piece in a direction with an increased included angle with the inclined rod, so that the wings can obtain larger aerodynamic moment in the flying process, and the steering flexibility of the flying robot is improved; when the aircraft is required to fly at high-speed cruising, the first rotating assembly can be controlled to drive the inclined rod to rotate towards the direction close to the fixed assembly, and the second rotating assembly is controlled to rotate the feather piece towards the direction of reducing the included angle between the feather piece and the inclined rod, so that the area of the whole wing is reduced, the flying resistance is effectively reduced, and the high-speed cruising performance is improved; the autonomous folding and unfolding deformation wings of the bionic ornithopter flying robot can be well adapted to the flying working conditions and improve the flying performance no matter in maneuver flying in a complex environment or in high-speed cruising flying.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic development view of an autonomous folding and unfolding deformation wing of a bionic ornithopter flying robot in an embodiment of the present invention;
FIG. 2 is a schematic folding view of an autonomous folding and unfolding deformation wing of a bionic ornithopter flying robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of the securing assembly of FIG. 1;
FIG. 4 is an enlarged schematic view of a portion of the folding assembly and the secondary drive assembly of FIG. 1;
FIG. 5 is a schematic diagram of a power output portion of an autonomous folding and unfolding deformation wing of a bionic ornithopter in an embodiment of the present invention;
FIG. 6 is a schematic view of the primary drive assembly of FIG. 1;
the above figures contain the following reference numerals.
| Reference numerals | Name of the name | Reference numerals | Name of the name |
| 1 | |
3 | Power take-off |
| 101 | Front swing rod | 301 | |
| 102 | Ball head | 302 | |
| 103 | Main pole | 303 | Motor |
| 104 | Back bar | 304 | |
| 105 | Chord-wise support rod | 305 | Sliding block bearing |
| 106 | Support connector | 306 | Motor rotating bearing |
| 107 | Main transmission connecting piece | 307 | |
| 108 | Airfoil surface | 308 | |
| 2 | |
309 | Power |
| 201 | Rotary |
310 | |
| 202 | Diagonal |
311 | Rocker connecting bearing |
| 2031 | First connecting rod | 4 | |
| 2032 | Second connecting |
401 | Primary |
| 204 | Feather |
402 | |
| 2051 | |
5 | Two- |
| 2052 | |
501 | Two-stage transmission rocker |
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a plurality means one or more, and a plurality means two or more, and it is understood that greater than, less than, exceeding, etc. does not include the present number, and it is understood that greater than, less than, within, etc. include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 6, the autonomous folding and unfolding deformation wing of the bionic ornithopter flying robot of the present embodiment includes: a body; the two swing rods are respectively connected to the left side and the right side of the machine body, can swing up and down relative to the machine body, and extend from the machine body to the left side and the right side of the machine body respectively; the two wings are respectively arranged on the two swing rods; the wing includes: the fixed component 1 is connected with the swing rod; the inclined rod 202 is rotationally connected with the fixed assembly 1, and feather pieces 204 are rotationally connected to the inclined rod 202; a first rotating component for driving the inclined rod 202 to rotate relative to the fixed component 1; and a second rotating component for driving the feather piece 204 to rotate relative to the diagonal rod 202.
When the autonomous folding and unfolding deformation wing of the bionic ornithopter flying robot is applied, and the flying robot is required to fly in a complex environment, as shown in fig. 1, the first rotating component is controlled to rotate the inclined rod 202 in a direction away from the fixed component 1, and the second rotating component is controlled to rotate the feather piece 204 in a direction with an increased included angle with the inclined rod 202, so that a large aerodynamic moment can be obtained by the wing in the flying process, and the steering flexibility of the flying robot is increased; when the aircraft is required to fly at high-speed cruising, the first rotating assembly can be controlled to drive the inclined rod 202 to rotate towards the direction close to the fixed assembly 1 as shown in fig. 2, and the second rotating assembly is controlled to rotate the feather piece 204 towards the direction of reducing the included angle with the inclined rod 202, so that the area of the whole wing is reduced, the flying resistance is effectively reduced, and the high-speed cruising performance is improved; the autonomous folding and unfolding deformation wings of the bionic ornithopter flying robot can be well adapted to the flying working conditions and improve the flying performance no matter in maneuver flying in a complex environment or in high-speed cruising flying.
While the traditional aircraft with the variable swept wings can only change the swept angle and can not change the span area, the deformed wings in the embodiment can realize the dynamic folding and unfolding of the wings in the air flight. The flying performance of the aircraft is improved. And simultaneously, the wing span and the area can be reduced after the flight mission is completed, the storage space of the aircraft is reduced, and the aircraft is easy to carry.
The first rotating component can adopt various modes to drive the inclined rod 202 to rotate relative to the fixed component 1, for example, a steering engine drives the inclined rod 202 to rotate, and the inclined rod 202 can also be driven to rotate relative to the fixed component 1 by rope traction and the like; similarly, the second rotating assembly may also drive the feather tab 204 relative to the diagonal member 202 in a variety of ways.
As shown in fig. 4 to 6, the first rotating assembly includes: the primary transmission connecting rod 401 is rotationally connected with the swing rod; the two ends of the primary transmission rocker 402 are respectively and rotatably connected with the primary transmission connecting rod 401 and the inclined rod 202; the power output assembly 3 is arranged on the machine body, and the power output assembly 3 is used for driving the primary transmission connecting rod 401 to rotate relative to the swing rod; specifically, the first rotating assembly comprises a primary transmission assembly 4, and the primary transmission assembly 4 comprises a primary transmission connecting rod 401 and a transmission rocker; the power output assembly 3 drives the sum transmission connecting rod to rotate, and the transmission connecting rod drives the primary transmission rocker 402 to move, so that the primary transmission rocker 402 drives the inclined rod 202 to rotate relative to the fixed assembly 1.
As shown in fig. 4, the power output assembly 3 includes: a driving slider 304 disposed on the body; the translation assembly is arranged on the machine body and is used for driving the driving sliding block 304 to move back and forth; the two ends of the output connecting rod are respectively and rotatably connected with the driving sliding block 304 and the primary transmission connecting rod 401; when the translation assembly drives the sliding block to move backwards, driving force is transmitted to the inclined rod 202 through the output connecting rod, the transmission connecting rod and the rotary rocker, and the inclined rod 202 is driven to rotate in a direction away from the fixed assembly 1, so that the wing is unfolded; when the driving slide block 304 slides forwards under the driving of the translation assembly, the inclined rod 202 rotates towards the direction approaching to the fixed assembly 1, and the wing is in a folded state.
As shown in fig. 4, the translation assembly includes: a driving motor 301 provided on the body; the driving screw rod is rotationally connected to the machine body, extends along the front-back direction, and is used for being driven to rotate by the driving motor 301, and is in threaded fit with the driving sliding block 304; the driving motor 301 drives the driving sliding block 304 to move back and forth by driving the screw rod to control the wing to be unfolded and folded.
Specifically, the translation assembly further comprises: the sliding block connecting piece 307 is rotationally connected with the driving sliding block 304, the sliding block connecting piece 307 is coaxial with the driving screw rod, and the sliding block connecting piece 307 is rotationally connected with the output connecting rod; when the swing rod swings up and down, the swing rod drives the primary transmission connecting rod 401 and the sliding block connecting piece 307 to rotate up and down, the sliding block connecting piece 307 slides back and forth under the drive of the driving sliding block 304, and the wing unfolding and folding can be normally controlled while the swing rod swings up and down, so that the wing flapping cannot influence the wing unfolding and folding control.
Wherein the translation assembly further comprises: the sliding block guide rod 308 is arranged on the machine body, the sliding block guide rod 308 extends along the front-back direction, and the sliding block guide rod 308 is in sliding fit with the driving sliding block 304; specifically, the power output assembly 3 mainly includes a driving motor 301, a motor fixing plate 302, a motor shaft fixing plate 303, a driving slider 304, a slider bearing 305, a motor rotating bearing 306, a slider connecting piece 307, a slider guide rod 308, a power output connecting rod 309, a power output rocker 310, and a rocker connecting bearing 311; the driving motor 301 is fixed on the motor fixing plate 302, the motor fixing plate 302 and the motor shaft fixing plate 303 are both fixed on the machine body, the driving motor 301 is a speed reducing motor, the speed reducing mechanism comprises a speed reducing mechanism, a slide block bearing 305 is fixed on a driving slide block 304, a slide block connecting piece 307 is connected with the driving slide block 304 through the slide block bearing 305, a motor rotating bearing 306 is fixed on the motor shaft fixing plate 303, friction between the motor shaft connecting piece 307 and the motor shaft fixing plate 303 in the rotating process of the motor shaft can be effectively reduced, one end of the slide block connecting piece 307 is hinged with a power output connecting rod 309, one end of the power output rocking rod 310 is hinged with the power output connecting rod 309, and the other end of the power output rocking rod 310 is hinged with a primary transmission connecting rod 401; the power output rocker 310 is rotatably connected with the swing rod through a rocker connecting bearing 311.
As shown in fig. 3 to 6, the second rotating assembly further includes: the first connecting rod 2031 is rotationally connected with the inclined rod 202, and the first connecting rod 2031 is fixedly connected with the feather piece 204; two ends of the secondary transmission rocker 501 are respectively arranged on the first connecting rod 2031 and the fixed component 1; wherein, the feather piece 204 is fixedly connected with the first link 2031 through the second feather link 2052, the first link 2031 forms a certain angle with the second feather link 2052, when the diagonal rod 202 rotates towards the direction away from the fixed component 1, the secondary transmission component 5 including the secondary transmission rocker 501 can drive the first link 2031 to rotate, so that the first link 2031 drives the feather piece 204 to rotate, and the wing is unfolded; on the other hand, when the diagonal rod 202 rotates in the direction approaching to the fixed assembly 1, the secondary transmission rocker 501 can drive the first link 2031 to rotate, so that the first link 2031 drives the second feather link 2052 to rotate in the direction approaching to the diagonal rod 202, and the wing can be automatically unfolded or folded by only driving the diagonal rod 202 to rotate.
As shown in fig. 4, the second links 2032 are plural, and the plural first links 2031, the plural second links 2032, and the diagonal rods 202 constitute plural planar four-bar mechanisms connected in series in order; wherein, the folding assembly 2 is used as a foldable part of the whole wing, and comprises a rotary crank 201, an inclined rod 202, a first connecting rod 2031, a second connecting rod 2032, a feather piece 204, a first feather connecting rod 2051 and a second feather connecting rod 2052, wherein the rotary crank 201 is fixedly connected with the inclined rod 202, and a primary transmission rocker 402 drives the inclined rod 202 to rotate by driving the rotary crank 201 to rotate; the feather piece 204 closest to the fixing assembly 1 is fixedly connected with the diagonal rod 202 through a first feather connecting rod 2051, a plurality of first connecting rods 2031, a plurality of second connecting rods 2032 and the diagonal rod 202 form a plurality of planar four-rod mechanisms which are sequentially connected in series, wherein each first connecting rod 2031 is connected with one feather piece 204 through one second feather connecting rod 2052; when the inclined rod 202 rotates away from the fixed assembly 1, the secondary transmission rocker 501 drives all the first connecting rods 2031 connected by the plurality of second connecting rods 2032 to rotate together, and drives the plurality of feather pieces 204 to expand together; meanwhile, when the inclined rod 202 rotates towards the direction approaching to the fixed assembly 1, the secondary transmission rocker 501 drives all the first connecting rods 2031 to rotate together, and drives the feather pieces 204 to retract together.
As shown in fig. 3, the fixing assembly 1 includes: the main rod 103 is connected with the swing rod, and the inclined rod 202 is rotationally connected with the main rod 103; an airfoil surface 108 fixedly connected to the main rod 103; specifically, the fixing assembly 1 mainly comprises a front swing rod 101, a ball head 102, a main rod 103, a back rod 104, a chord direction supporting rod 105, a supporting connecting piece 106, a main transmission connecting piece 107, an airfoil surface 108 and the like; the front swing rod 101 is connected with the swing rod, the ball head 102 is rotationally connected with the rear edge of the machine body, one end of the main rod 103 is connected with the front swing rod 101, and the other end is connected with the main transmission connecting piece 107, and the machine body power system drives the swing rod to swing up and down and drives the airfoil surface 108 to swing up and down; one end of the back rod 104 is connected with the ball head 102, and the other end is connected with the supporting connecting piece 106, so that the function of supporting a similar framework of the wing surface 108 is achieved; one end of the chord direction supporting rod 105 is connected with the main transmission connecting piece 107, and the middle part of the chord direction supporting rod passes through the supporting connecting piece 106 to play a role in supporting a similar framework of the airfoil surface 108, so that the stability of the airfoil surface 108 in the flapping process is ensured, and the lift force, the thrust force and the like required in the taking-off and advancing processes are provided for the aircraft.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (8)
1. An autonomous folding and unfolding deformation wing of a bionic ornithopter robot, comprising:
a body;
the two swing rods are respectively connected to the left side and the right side of the machine body, can swing up and down relative to the machine body, and extend from the machine body to the left side and the right side of the machine body respectively;
the two wings are respectively arranged on the two swing rods;
the wing comprises:
the fixing component (1) is connected with the swing rod;
the inclined rod (202) is rotationally connected with the fixed assembly (1), and feather pieces (204) are rotationally connected to the inclined rod (202);
the first rotating assembly comprises a first-stage transmission connecting rod (401), a first-stage transmission rocker (402) and a power output assembly (3), wherein the first-stage transmission connecting rod (401) is in rotating connection with the rocker, two ends of the first-stage transmission rocker (402) are respectively in rotating connection with the first-stage transmission connecting rod (401) and the inclined rod (202), the power output assembly (3) is arranged on the machine body, the power output assembly (3) is used for driving the first-stage transmission connecting rod (401) to rotate relative to the rocker, and the first rotating assembly is used for driving the inclined rod (202) to rotate relative to the fixed assembly (1);
the second rotating assembly comprises a first connecting rod (2031) and a second-stage transmission rocker (501), the first connecting rod (2031) is rotationally connected with the inclined rod (202), the first connecting rod (2031) is fixedly connected with the feather piece (204), two ends of the second-stage transmission rocker (501) are respectively connected with the first connecting rod (2031) and the fixing assembly (1), and the second rotating assembly is used for driving the feather piece (204) to rotate relative to the inclined rod (202).
2. The autonomous folding and unfolding deformation wing of a bionic ornithopter robot according to claim 1, wherein the power take off assembly (3) comprises:
a drive slider (304) provided on the body;
the translation assembly is arranged on the machine body and is used for driving the driving sliding block (304) to move back and forth;
and two ends of the output connecting rod are respectively connected with the driving sliding block (304) and the primary transmission connecting rod (401) in a rotating way.
3. The autonomous, folding and unfolding deformation wing of a bionic ornithopter robot of claim 2, wherein the translation assembly comprises:
a drive motor (301) provided on the body;
the driving screw rod is rotationally connected to the machine body, the driving screw rod extends along the front-back direction, the driving motor (301) is used for driving the driving screw rod to rotate, and the driving screw rod is in threaded fit with the driving sliding block (304).
4. The autonomous, folding and unfolding deformation wing of a bionic ornithopter flying robot of claim 3, wherein the translation assembly further comprises:
the sliding block connecting piece (307) is rotationally connected with the driving sliding block (304), the sliding block connecting piece (307) is coaxial with the driving screw rod, and the sliding block connecting piece (307) is rotationally connected with the output connecting rod.
5. The autonomous, folding and unfolding deformation wing of a bionic ornithopter flying robot of claim 3, wherein the translation assembly further comprises:
and a slider guide rod (308) arranged on the machine body, wherein the slider guide rod (308) extends along the front-back direction, and the slider guide rod (308) is in sliding fit with the driving slider (304).
6. The autonomous folding and unfolding deformation wing of the bionic ornithopter according to claim 1, wherein the second rotating assembly further comprises two second connecting rods (2032), each first connecting rod (2031) is fixedly connected with a feather piece (204), two first connecting rods (2031), and the second connecting rods (2032) and the diagonal rods (202) form a plane four-bar mechanism.
7. The autonomous folding and unfolding deformation wing of the bionic ornithopter according to claim 6, wherein the second links (2032) are a plurality of, the first links (2031), the second links (2032) and the diagonal (202) form a plurality of planar four-bar mechanisms which are sequentially connected in series.
8. The autonomous folding and unfolding deformation wing of a biomimetic ornithopter robot according to claim 7, wherein the fixing assembly (1) comprises:
the main rod (103) is connected with the swing rod, and the inclined rod (202) is rotationally connected with the main rod (103);
and the airfoil surface (108) is fixedly connected with the main rod (103).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210315285.2A CN114560084B (en) | 2022-03-28 | 2022-03-28 | Autonomous folding and unfolding deformation wing of bionic ornithopter |
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| CN202210315285.2A CN114560084B (en) | 2022-03-28 | 2022-03-28 | Autonomous folding and unfolding deformation wing of bionic ornithopter |
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| CN114560084B true CN114560084B (en) | 2023-06-30 |
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| CN116767522A (en) * | 2023-07-11 | 2023-09-19 | 中国空气动力研究与发展中心高速空气动力研究所 | Bird-imitating flapping wing mechanism, control method and bird-imitating aircraft |
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| WO2018110308A1 (en) * | 2016-12-15 | 2018-06-21 | 株式会社村田製作所 | Flapping device |
| CN108945431B (en) * | 2018-07-23 | 2020-05-08 | 西北工业大学 | Bird and bat imitating foldable wing of ornithopter |
| US20210354818A1 (en) * | 2018-09-07 | 2021-11-18 | Flygildi Ehf. | Robotic bird |
| CN210162254U (en) * | 2019-03-27 | 2020-03-20 | 吉林大学 | Connecting rod type foldable flapping wing micro flying robot |
| CN110065630B (en) * | 2019-04-01 | 2021-09-03 | 哈尔滨工业大学（深圳） | Bionic flapping wing flying robot |
| CN113619780A (en) * | 2021-08-18 | 2021-11-09 | 武汉科技大学 | Flapping rotor aircraft capable of taking off automatically |
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