CN116238686A - Flapping wing flying robot driver and flapping wing flying robot - Google Patents
Flapping wing flying robot driver and flapping wing flying robot Download PDFInfo
- Publication number
- CN116238686A CN116238686A CN202111526473.1A CN202111526473A CN116238686A CN 116238686 A CN116238686 A CN 116238686A CN 202111526473 A CN202111526473 A CN 202111526473A CN 116238686 A CN116238686 A CN 116238686A
- Authority
- CN
- China
- Prior art keywords
- gear
- wing
- flying
- wall
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000002787 reinforcement Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 241000124033 Salix Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention relates to the field of flapping wing flying, and discloses a flapping wing flying robot driver and a flapping wing flying robot.
Description
Technical Field
The invention relates to the field of flapping-wing flying, in particular to a driver of a flapping-wing flying robot and the flapping-wing flying robot.
Background
The continuous application in practice makes the development of the ornithopter gradually move to two directions of simulating birds or insects; flapping wing aircraft refers to an aircraft which is like a bird and generates lift force and forward force through active motion of wings; the ornithopter is characterized in that: the wing actively moves; the counterforce of flapping air by the wing is used as lifting force and advancing force; and the motorized flight is carried out through the position change of the wing and the tail wing.
At present, the prior patent (bulletin number: CN 108820207A) and a flapping wing flying robot driver and a flapping wing flying robot have compact mechanism, ensure the stability of the device, have lighter weight and improve the flapping motion characteristic, are suitable for being used on a miniature flapping wing flying robot, but lack a steering power-assisted structure, so that the steering efficiency of the flapping wing flying robot is lacking in the flying process.
Therefore, the driver of the ornithopter robot and the ornithopter robot are beneficial to increasing the steering power assisting result and improving the steering efficiency in the flight process of the ornithopter robot.
Disclosure of Invention
The invention aims to provide a driver of an ornithopter flying robot and the ornithopter flying robot, which solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a flapping wing flying robot driver, includes drive structure, main gear, first gear and turns to the main gear, main gear front end mid-mounting has drive gear, drive gear outer wall upper left side meshing has first gear, drive gear outer wall upper right side meshing has the second gear, front end is connected with first connecting rod in the middle of the first gear, second gear middle part front end is connected with the second connecting rod, its characterized in that: the middle part of the front end of the driving gear is connected with a rod body, the front end of the rod body is connected with the middle part of the rear end of the rotating tooth correspondingly, the front end of the first connecting rod is connected with a rotating main tooth, the outer wall of the rotating main tooth is meshed with the outer wall of the rotating tooth correspondingly, the front end of the second connecting rod is connected with a steering auxiliary tooth, and the outer wall of the rotating main tooth is meshed with the outer wall of the steering auxiliary tooth correspondingly.
As a preferred embodiment of the present invention, the size of the rotating moving teeth is larger than that of the driving gear.
As a preferable implementation mode of the invention, the middle part of the rear end of the main gear is connected with a motor through a motor shaft, the outer wall of the motor shaft is connected with a slip ring in a sliding way, the bottom end of the slip ring is provided with an electric telescopic rod, and the bottom end of the electric telescopic rod is connected with a limiting rod in a sliding way.
As a preferable embodiment of the present invention, an electric push rod is mounted at the right end of the motor.
As a preferred embodiment of the present invention, the first gear outer wall is provided with a left arm through a shaft body, the second gear outer wall is provided with a right arm through a shaft post, and the top ends of the left arm and the right arm are provided with driving connecting rods.
As a preferred embodiment of the invention, the flapping wing flying robot comprises a flying main body, wherein a left wing is arranged on the left side of the flying main body, a right wing is arranged on the right side of the flying main body, and the top of the flying main body is provided with a head.
As a preferred implementation mode of the invention, the tail of the flying main body is provided with a wing tail, the left side and the right side of the wing tail are movably provided with baffle plates, the tail wing and the baffle plates are connected through a salix folding bearing, the two sides of the bottom end of the tail wing are provided with a fixing frame, the top end of the fixing frame is provided with a baffle electric push rod, and the top end of the baffle electric push rod is movably connected to the bottom surface of the baffle plates.
As a preferred embodiment of the present invention, a housing is mounted at the bottom end of the flying body, and a driving structure is mounted in the housing.
As a preferred implementation mode of the invention, the left side of the driving connecting rod is connected with the corresponding left wing, the right side of the driving connecting rod is connected with the corresponding right wing, the left side of the bottom of the left wing is provided with the movable sleeve, the driving connecting rod is movably nested in the movable sleeve, the left wing is connected with the flying main body through the connecting bearing, the left side of the bottom of the left wing and the left side of the bottom of the flying main body are both provided with locking blocks, and the two groups of locking blocks are connected with the reinforcing bearing through the rod body.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the arrangement of the rotating main teeth, the steering auxiliary teeth, the rotating moving teeth, the electric push rods and the electric telescopic rods, when the rapid steering is required, the rotating moving teeth are moved leftwards through the descending of the electric telescopic rods and then the electric push rods are started, the rotating moving teeth are correspondingly meshed with the rotating main teeth and the rotating auxiliary teeth, and the rotating frequency difference is formed through the size difference of the rotating main teeth and the rotating auxiliary teeth, so that a large and small power difference is provided, the steering assistance result is increased, and the steering efficiency of the flapping wing flying robot in the flying process is improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a drive configuration for a ornithopter robot driver in accordance with the present invention;
FIG. 2 is a schematic diagram of the rotary structure of a flapping-wing flying robot drive according to the present invention;
FIG. 3 is a schematic diagram of the motor configuration of a ornithopter robot driver according to the present invention;
FIG. 4 is a schematic top view of the flight body structure of a ornithopter flying robot driver according to the present invention;
FIG. 5 is a schematic side view of the flight body structure of a ornithopter flying robot driver of the present invention;
FIG. 6 is a schematic view of a left wing attachment configuration of a ornithopter robot driver according to the present invention;
fig. 7 is a schematic diagram of an auxiliary steering structure of a tail wing of a driver of an ornithopter robot of the present invention.
In the figure: 1. a left arm; 2. a first gear; 3. a first link; 4. a drive gear; 5. a right arm; 6. a second link; 7. a second gear; 8. a rod body; 9. a main gear; 10. steering main teeth; 11. steering auxiliary teeth; 12. rotating the movable teeth; 13. an electric telescopic rod; 14. a slip ring; 15. a motor; 16. an electric push rod; 17. a limit rod; 18. a left wing; 19. a flying body; 20. a head; 21. a right wing; 22. wing tails; 23. a baffle plate; 24. a driving structure; 25. a housing; 26. a drive link; 27. a movable sleeve; 28. a locking piece; 29. connecting a bearing; 30. reinforcing the bearing; 31. a salix folding bearing; 32. the willow folding electric push rod; 33. and a fixing frame.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention; in the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, or detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-7, the present invention provides a technical solution: the flapping wing flying robot driver comprises a driving structure 24, a main gear 9, a first gear 2 and a steering main gear 10, wherein the middle part of the front end of the main gear 9 is provided with the driving gear 4, the upper left side of the outer wall of the driving gear 4 is meshed with the first gear 2, the upper right side of the outer wall of the driving gear 4 is meshed with a second gear 7, the middle front end of the first gear 2 is connected with a first connecting rod 3, the middle front end of the second gear 7 is connected with a second connecting rod 6, the middle part of the front end of the driving gear 4 is connected with a rod body 8, the front end of the rod body 8 is connected with a rotating main gear corresponding to the middle part of the rear end of a rotating moving gear 12, the front end of the first connecting rod 3 is connected with a rotating main gear, the outer wall of the rotating main gear is meshed with the outer wall of the rotating moving gear 12, the front end of the second connecting rod 6 is connected with a steering auxiliary gear 11, and the outer wall of the rotating main gear is meshed with the outer wall of the rotating auxiliary gear 11 corresponding to the rotating auxiliary gear 11; when the flapping wing flying robot needs to turn rapidly, the electric telescopic rod 13 descends and then the electric push rod 16 is started, the rotary movable tooth 12 moves leftwards, the rotary movable tooth 12 is correspondingly meshed with the rotary auxiliary tooth, a rotary frequency gap is formed by the size gap of the rotary main tooth and the rotary auxiliary tooth, and further a large-small power gap is provided, so that the power assisting result of the turning is increased, and the turning efficiency of the flapping wing flying robot in the flying process is improved.
In this embodiment (refer to fig. 2), the size of the rotating teeth 12 is larger than that of the driving gear 4; the size difference of the over-rotation main teeth and the rotation auxiliary teeth forms a rotation frequency difference, so that a large-small power difference is provided, the power assisting result of steering is increased, and the steering efficiency of the flapping-wing flying robot in the flight process is improved.
In this embodiment (refer to fig. 3), the middle part of the rear end of the main gear 9 is connected with a motor 15 through a motor 15 shaft, the outer wall of the motor 15 shaft is slidably connected with a slip ring 14, the bottom end of the slip ring 14 is provided with an electric telescopic rod 13, and the bottom end of the electric telescopic rod 13 is slidably connected with a limiting rod 17; the motor 15 drives the main gear 9 and the driving gear 4 to rotate, and simultaneously the motor 15 is driven to lift through the electric telescopic rod 13.
In this embodiment (refer to fig. 3), the right end of the motor is provided with an electric push rod 16; the motor 15 and the rotary moving teeth 12 are driven to move leftwards by the electric push rod 16.
In this embodiment (refer to fig. 1), the outer wall of the first gear 2 is provided with a left arm 1 through a shaft body, the outer wall of the second gear 7 is provided with a right arm 5 through a shaft post, and the top ends of the left arm 1 and the right arm 5 are provided with a driving connecting rod 26; the left arm 1 and the right arm 5 are connected with the left wing 18 and the right wing 21 correspondingly, and the left arm 1 and the right arm 5 form a power source of the left wing 18 and the right wing 21.
The invention also discloses a flapping wing flying robot, which comprises a flying main body 19 by means of a driver of the flapping wing flying robot, wherein a left wing 18 is arranged on the left side of the flying main body 19, a right wing 21 is arranged on the right side of the flying main body 19, and a head 20 is arranged on the top of the flying main body 19.
In this embodiment (refer to fig. 4 and 7), a tail 22 is mounted at the tail of the flying body 19, a baffle plate 23 is movably mounted at the left and right sides of the tail 22, the tail 22 is connected with the baffle plate 23 through a salix bearing 31, a fixing frame 33 is mounted at two sides of the bottom end of the tail 22, a baffle electric push rod 32 is mounted at the top end of the fixing frame 33, and the top end of the baffle electric push rod 32 is movably connected to the bottom surface of the baffle plate 23; the air flow of the flying body 19 can be guided through the baffle plate 23 to assist the flying body 19 to turn, and the angle between the baffle plate 23 and the tail wing 22 can be controlled through the baffle electric push rod 32 to facilitate the steering assist when the auxiliary aircraft turns.
In this embodiment (refer to fig. 5), a housing 25 is installed at the bottom end of the flying body 19, and a driving structure 24 is installed in the housing 25; the drive structure 24 is a first set of gears 2, a set of steering main teeth 10 and a set of motors 15.
In this embodiment (refer to fig. 1, 4 and 6), the driving link 26 on the left side is connected to the left wing 18, the driving link 26 on the right side is connected to the right wing 21, a movable sleeve 27 is installed on the left side of the bottom of the left wing 18, the driving link 26 is movably nested in the movable sleeve 27, the left wing 18 and the flying body 19 are connected through a connecting bearing 29, lock blocks 28 are installed on the bottom surface of the left wing 18 and the left side of the bottom surface of the flying body 19, and two groups of lock blocks 28 are connected through a rod body and a reinforcing bearing 30; the left arm 1 and the right arm 5 form a left wing 18 and a right wing 21 power source; and structural strength is enhanced between the left wing 18 and the flying body 19 by reinforcing the bearing 30.
Example 1
Referring to fig. 1-7, the present invention provides a technical solution: the flapping wing flying robot driver comprises a driving structure 24, a main gear 9, a first gear 2 and a steering main gear 10, wherein the middle part of the front end of the main gear 9 is provided with the driving gear 4, the upper left side of the outer wall of the driving gear 4 is meshed with the first gear 2, the upper right side of the outer wall of the driving gear 4 is meshed with a second gear 7, the middle front end of the first gear 2 is connected with a first connecting rod 3, the middle front end of the second gear 7 is connected with a second connecting rod 6, the middle part of the front end of the driving gear 4 is connected with a rod body 8, the front end of the rod body 8 is connected with a rotating main gear corresponding to the middle part of the rear end of a rotating moving gear 12, the front end of the first connecting rod 3 is connected with a rotating main gear, the outer wall of the rotating main gear is meshed with the outer wall of the rotating moving gear 12, the front end of the second connecting rod 6 is connected with a steering auxiliary gear 11, and the outer wall of the rotating main gear is meshed with the outer wall of the rotating auxiliary gear 11 corresponding to the rotating auxiliary gear 11;
under normal flight condition, drive gear 4 through motor 15 rotates, and then drive gear 4 meshing first gear 2 and second gear 7 rotate, and through the rotation of first gear 2 and second gear 7 and then drive connecting rod 26 through left arm 1 and right arm 5 and swing, and then drive left wing 18 and right wing 21 through drive connecting rod 26 and swing, when need turn to fast, descend through electric telescopic handle 13 and then start electric putter 16 again, will rotate and move tooth 12 left side, rotate and move tooth 12 and rotate and assist the tooth meshing corresponding to rotating main tooth, form the rotation frequency difference through the size difference of rotating main tooth and rotating assist tooth, and then provide a big or small power difference, rotate main tooth in the left side and rotate assist tooth in the right side when flying body 19 turns to left.
Example 2
Referring to fig. 1-7, the present invention provides a technical solution: the flapping wing flying robot driver comprises a driving structure 24, a main gear 9, a first gear 2 and a steering main gear 10, wherein the middle part of the front end of the main gear 9 is provided with the driving gear 4, the upper left side of the outer wall of the driving gear 4 is meshed with the first gear 2, the upper right side of the outer wall of the driving gear 4 is meshed with a second gear 7, the middle front end of the first gear 2 is connected with a first connecting rod 3, the middle front end of the second gear 7 is connected with a second connecting rod 6, the middle part of the front end of the driving gear 4 is connected with a rod body 8, the front end of the rod body 8 is connected with a rotating main gear corresponding to the middle part of the rear end of a rotating moving gear 12, the front end of the first connecting rod 3 is connected with a rotating main gear, the outer wall of the rotating main gear is meshed with the outer wall of the rotating moving gear 12, the front end of the second connecting rod 6 is connected with a steering auxiliary gear 11, and the outer wall of the rotating main gear is meshed with the outer wall of the rotating auxiliary gear 11 corresponding to the rotating auxiliary gear 11;
under normal flight condition, drive gear 4 through motor 15 rotates, and then drive gear 4 meshing first gear 2 and second gear 7 rotate, and through the rotation of first gear 2 and second gear 7 and then drive connecting rod 26 through left arm 1 and right arm 5 and swing, and then drive left wing 18 and right wing 21 through drive connecting rod 26 and swing, when need turn to fast, descend through electric telescopic handle 13 and then start electric putter 16 again, will rotate and move tooth 12 left side, rotate and move tooth 12 and rotate and assist the tooth meshing corresponding to rotating main tooth, form the rotation frequency difference through the size difference of rotating main tooth and rotating assist tooth, and then provide a big or small power difference, rotate main tooth and rotate assist the tooth in the left side promptly, flight main body 19 turns to the right side.
When the ornithopter robot driver and the ornithopter robot are used, the ornithopter robot driver and the ornithopter robot are described, all parts are universal standard parts or parts known to a person skilled in the art, and the structure and the principle of the ornithopter robot driver and the ornithopter robot are known by the person skilled in the art through technical manuals or through a conventional experimental method.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (9)
1. The utility model provides a flapping wing flying robot driver, includes drive structure (24), main gear (9), first gear (2) and turns to main tooth (10), main gear (9) front end mid-mounting has drive gear (4), the upper left side meshing of drive gear (4) outer wall has first gear (2), the upper right side meshing of drive gear (4) outer wall has second gear (7), front end is connected with first connecting rod (3) in the middle of first gear (2), second gear (7) middle part front end is connected with second connecting rod (6), its characterized in that: the middle part of the front end of the driving gear (4) is connected with a rod body (8), the front end of the rod body (8) is correspondingly connected with the middle part of the rear end of the rotating tooth (12), the front end of the first connecting rod (3) is connected with a rotating main tooth, the outer wall of the rotating main tooth is correspondingly meshed with the outer wall of the rotating tooth (12), the front end of the second connecting rod (6) is connected with a steering auxiliary tooth (11), and the outer wall of the rotating main tooth is correspondingly meshed with the outer wall of the steering auxiliary tooth (11).
2. A ornithopter flying robot driver as claimed in claim 1, wherein: the size of the rotary moving teeth (12) is larger than that of the driving gear (4).
3. A ornithopter flying robot driver as claimed in claim 1, wherein: the middle part of the rear end of the main gear (9) is connected with a motor (15) through a motor (15) shaft, a slip ring (14) is slidably connected to the outer wall of the motor (15) shaft, an electric telescopic rod (13) is mounted at the bottom end of the slip ring (14), and the bottom end of the electric telescopic rod (13) is slidably connected to a limiting rod (17).
4. A ornithopter flying robot driver as claimed in claim 3, characterized in that: an electric push rod (16) is arranged at the right end of the motor.
5. A ornithopter flying robot driver as claimed in claim 1, wherein: the outer wall of the first gear (2) is provided with a left arm (1) through a shaft body, the outer wall of the second gear (7) is provided with a right arm (5) through a shaft column, and the top ends of the left arm (1) and the right arm (5) are respectively provided with a driving connecting rod (26).
6. Flapping wing flying robot, characterized in that the flapping wing flying robot driver according to any one of claims 1-5 is utilized, and comprises a flying main body (19), wherein a left wing (18) is arranged on the left side of the flying main body (19), a right wing (21) is arranged on the right side of the flying main body (19), and a head (20) is arranged on the top of the flying main body (19).
7. A flying ornithopter robot as claimed in claim 6, wherein: the tail of the flying main body (19) is provided with a wing tail (22), the left side and the right side of the wing tail (22) are movably provided with baffle plates (23), the tail wing (22) is connected with the baffle plates (23) through a salix-leaf bearing (31), the two sides of the bottom end of the tail wing (22) are provided with fixing frames (33), the top ends of the fixing frames (33) are provided with baffle electric push rods (32), and the top ends of the baffle electric push rods (32) are movably connected to the bottom surfaces of the baffle plates (23).
8. A flying ornithopter robot as claimed in claim 6, wherein: a shell (25) is arranged at the bottom end of the flying main body (19), and a driving structure (24) is arranged in the shell (25).
9. A flying ornithopter robot as claimed in claim 6, wherein: left side drive connecting rod (26) corresponds left wing (18) and is connected, right side drive connecting rod (26) corresponds right wing (21) and is connected, movable sleeve (27) are installed in left side of left wing (18) bottom, movable sleeve (27) internalization nestification has drive connecting rod (26), be connected through connecting bearing (29) between left wing (18) and the flight main part (19), locking piece (28) are all installed in left side of left wing (18) bottom surface and flight main part (19) bottom surface, two sets of be connected with between locking piece (28) reinforcement bearing (30) through the body of rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111526473.1A CN116238686A (en) | 2021-12-08 | 2021-12-08 | Flapping wing flying robot driver and flapping wing flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111526473.1A CN116238686A (en) | 2021-12-08 | 2021-12-08 | Flapping wing flying robot driver and flapping wing flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116238686A true CN116238686A (en) | 2023-06-09 |
Family
ID=86628305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111526473.1A Pending CN116238686A (en) | 2021-12-08 | 2021-12-08 | Flapping wing flying robot driver and flapping wing flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116238686A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116928050A (en) * | 2023-08-07 | 2023-10-24 | 北京威浮科技有限责任公司 | Jolt middle energy extraction mechanism and aircraft |
-
2021
- 2021-12-08 CN CN202111526473.1A patent/CN116238686A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116928050A (en) * | 2023-08-07 | 2023-10-24 | 北京威浮科技有限责任公司 | Jolt middle energy extraction mechanism and aircraft |
| CN116928050B (en) * | 2023-08-07 | 2024-01-23 | 北京威浮科技有限责任公司 | Jolt middle energy extraction mechanism and aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106043692B (en) | A kind of multiple degrees of freedom imitates bird flapping wing aircraft | |
| CN106494617A (en) | One kind can VTOL flapping wing aircraft and its flight control method | |
| CN116238686A (en) | Flapping wing flying robot driver and flapping wing flying robot | |
| CN106240815A (en) | The sized flap wings system of ∞ font movement locus and the flapping wing aircraft containing this system | |
| CN105620747B (en) | A kind of flapping wing mechanism of achievable ∞ fonts movement locus | |
| CN101537883A (en) | High-efficiency flapping wing device | |
| CN213109783U (en) | Opposite-flapping four-wing miniature flapping wing aircraft | |
| CN112124582A (en) | Four-flapping-wing aircraft and control method thereof | |
| CN114435590B (en) | Variable-incidence-angle ornithopter with wing rotation function | |
| CN114394232B (en) | Flapping wing-flapping rotor wing multi-flight mode bionic aircraft | |
| CN110510118A (en) | A kind of bionical dragonfly robot of Dual-motors Driving | |
| CN106585981B (en) | Dragonfly-imitating double-wing miniature flapping-wing aircraft | |
| CN113002772B (en) | Flapping-folding integrated bat-like flapping wing aircraft | |
| CN114735212A (en) | Bionic flapping wing mechanism capable of being folded orderly for flapping wing robot and control method | |
| CN108654022A (en) | A kind of power assisting device being suitable for swimming | |
| CN107128483A (en) | Four rotor wing unmanned aerial vehicles and its transmission gear shift structure of a kind of power Redundancy Design | |
| CN112319793A (en) | Flapping wing aircraft with wing pieces capable of adjusting attack angle | |
| CN112319792A (en) | Flapping wing aircraft with gravity center below two wings | |
| CN220904594U (en) | Composite wheel oar steady mechanism of amphibious delivery robot of double round | |
| CN214524392U (en) | Flapping wing aircraft with gravity center between two wings | |
| CN213649900U (en) | Flapping wing mechanism with variable attack angle | |
| CN117602070B (en) | Flapping wing aircraft power system and flapping wing aircraft thereof | |
| CN219707334U (en) | Bionic ornithopter | |
| CN215205360U (en) | Flapping wing aircraft | |
| CN113335524B (en) | Flapping wing aircraft with spherical hinge empennage device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |