CN202098550U - Infinite variable amplitude adjustment flapping-wing driving mechanism - Google Patents
Infinite variable amplitude adjustment flapping-wing driving mechanism Download PDFInfo
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- CN202098550U CN202098550U CN2011201518560U CN201120151856U CN202098550U CN 202098550 U CN202098550 U CN 202098550U CN 2011201518560 U CN2011201518560 U CN 2011201518560U CN 201120151856 U CN201120151856 U CN 201120151856U CN 202098550 U CN202098550 U CN 202098550U
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- planetary gear
- flapping
- end plate
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- internally toothed
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Abstract
The utility model discloses an infinite variable amplitude adjustment flapping-wing driving mechanism, which comprises a machine frame, a motor, two stages of planetary gear mechanisms and a connection rod rocker arm mechanism. The first stage planetary gear performs deceleration, and the second stage planetary gear is an eccentric gear driving a connection rod through an eccentric column to drive rocker arms to flap upward and downward. Movable inner gear rings of the two stages of planetary gear mechanisms can rotate relative to the machine frame, change movement tracks of the eccentric column by changing relative positions of the inner gear rings and the column so that flapping amplitude of the rocker arms is changed. The infinite variable amplitude adjustment flapping-wing driving mechanism is compact in structure, light, large in adjustment ranges of the flapping amplitude, continuous in adjustment, simple to control, quick in response and capable of adjusting flapping speed and flapping amplitude according to different flight states of a flapping-wing aircraft in order to achieve higher aerodynamic efficiency and energy efficiency and improve performance of the flapping-wing aircraft in many aspects.
Description
Technical field
The present invention relates to a kind of flapping wing driver train, this mechanism can be applied to the mini-sized flap wings aircraft.
Background technology
The mini-sized flap wings aircraft is a kind of new ideas aircraft that imitates birds flight; It is little, in light weight that it has a volume; Advantages such as use is flexible, efficient height; If carry sensor and relevant data transmission and flight control system, form mini-sized flap wings unmanned plane platform, will have broad application prospects.Around this problem; Various countries have developed the flapping wing aircraft of controllable flight; Wherein " Delfly " of the having of success " Microbat " that U.S. Aero Vironment company cooperates with the University of California and Dutch Delft university etc.; But these flapping wing aircrafts are because the shortcoming of pneumatic efficiency and energy efficiency, when having influenced boat, airworthinesss such as voyage, load, apart from the aircraft platform of practical UAS certain distance are arranged still.
It is not possess the well-tuned ability that birds and insect flutter for wing that flapping wing aircraft can't provide the major reason of the pneumatic efficiency that compares favourably with birds and insect and energy efficiency.Flapping wing aircraft leans on fluttering of wing to produce lift and the thrust that before flies fully, the wing resistance of considerable part of also being coupled of fluttering, when the amplitude of fluttering hour; Lift and thrust are less, and resistance is also less, when the amplitude of fluttering is big; Lift and thrust increase, the also corresponding increase of resistance.Birds are often adopted the different amplitudes of fluttering under different state of flights, taking off, under the situation such as landing and strong wind weather, producing bigger aerodynamic force through pouncing on wing significantly, and only carrying out fluttering with saving in energy more by a small margin in the journey flat flying over.The large birds such as hawk, falcon glides through stopping to pounce on wing, under suitable flow conditions even can make the hang time reach several hours.The different amplitudes of fluttering has constituted different offline mode, at utmost reduces expenditure of energy when making birds obtain to fly required aerodynamic force.
At present the flapping wing driver train that uses of flapping wing aircraft is that high speed revolution with rotary power units such as motors slows down and is converted into fluttering up and down of flapping wing mostly; Main through train transmissions such as gears; Realize the conversion rotatablely move and flutter up and down through forms such as connecting rod rocking arm, bent axles; Such mechanism form has determined the amplitude of fluttering of flapping wing in case confirm, just can't change again, can't flutter amplitude to improve pneumatic efficiency to different state of flight adjustment.
In order to realize the flutter change of amplitude of flapping wing, conventional method is the mechanism that utilizes classification to regulate, and the process of mechanism's clutch is arranged in the amplitude change process, and it is discontinuous to cause fluttering, and can't in the flapping wing aircraft flight course, the completion amplitude change.
Summary of the invention
For overcome prior art can't be in the flapping wing aircraft flight course deficiency that changes of completion amplitude; The present invention provides a kind of ungraded amplitude flapping wing driver train; The amplitude of fluttering through simple and reliable mechanism's realization step-less adjustment flapping wing makes mini-sized flap wings aircraft of the present invention can switch the multiple different amplitudes of fluttering in flight course under the situation of not paying weight and size cost offline mode is installed.
The technical solution adopted for the present invention to solve the technical problems is: comprise frame, motor, planetary gear mechanisms for two stages and connecting rod rocker arm body.
Said frame lower is a cylinder, and concentric motor mounting hole is set on the end face of rear portion, and upper rack is laminar support, and the support front end face is concordant with said cylinder front end face, is used for the installing connecting rods rocker arm body, has lightening hole on the support.
Said motor is fixed in said motor mounting hole, the fixing one-level sun wheel of planetary gear mechanisms for two stages on its pivot.
Said planetary gear mechanisms for two stages is made up of one-level sun wheel, one-level satellite gear, pinion carrier, secondary planet wheel and movable internally toothed annulus.Said one-level sun wheel and at least 1 the one-level satellite gear engagement that is installed on the pinion carrier one-level planet wheel spindle, from all angle considerations of the even strength of gear teeth of load, the quantity of 1 grade of satellite gear is generally 2～3.The opposite side of said pinion carrier one-level planet wheel spindle has the secondary planet wheel shaft that is not positioned at the pinion carrier center of circle; Installation secondary planet wheel; Its reference diameter is the half the of said movable internally toothed annulus reference diameter; Secondary planet is taken turns on the outer end face has end plate, the protruding end plate column that is not positioned at the end plate center of circle of end plate.
The cylinder of movable internally toothed annulus and said frame lower is coaxial, and frame cylinder barrel has the frame draw-in groove in a side downwards from level attitude.Said primary planet pinion, pinion carrier and secondary planetary gear all are positioned at the inside of movable internally toothed annulus; Constitute planetary gear mechanisms for two stages jointly, wherein one-level satellite gear and secondary planet wheel all meshes with movable internally toothed annulus, and movably internally toothed annulus has the control handle that is installed in the said frame draw-in groove; Control handle is controlled at draw-in groove internal rotation angle degree by servomotor; Drive the relative frame of movable internally toothed annulus and rotate, can be rotated down from level attitude, at least can half-twist.
Said connecting rod rocker arm body is made up of connecting rod and symmetrical rocking arm.Connecting rod is inverse-T-shaped; Horizontal edge has chute; Eccentric column on the end plate of the said secondary planetary gear outside can slide in chute, and said connecting rod vertical edge is installed in the spacing collar of frame, and said spacing collar cooperates the fixing limiting stopper that has the above-below direction groove in center to constitute by the laminar support of upper rack; Spacing collar limiting rod left and right sides out-of-position degree of freedom; Guarantee the stability of connecting rod up-and-down movement, go back the degree of freedom that limiting rod moves forward and backward, limit the front and back position of planetary gear mechanisms for two stages through the position relation of connecting rod and secondary planetary gear end plate.The laminar support upper end of said upper rack is symmetrical to have rocker shaft hole, and rocker shaft is installed on forward in the rocker shaft hole, and a pair of rocking arm is hinged with rocker shaft in the middle, begins to have chute to the side near frame from articulated position.Link end has column, can in the chute of rocking arm, slide.There is blind hole in the said rocking arm outside, pegs graft with the flapping wing spar.Rocking arm is the boundary with itself and rocker shaft articulated position; Inside cross-section is less than outside cross-sectional plane; Make two rocking arm medial axis distance greater than the outer shaft linear distance; The purpose of this profile is the size at the fore-and-aft direction of avoiding left and right sides rocking arm to move reducing under the prerequisite of interference left and right sides rocking arm to occupy, thereby reduces the size of entire mechanism.
When the control handle of said movable internally toothed annulus was positioned at level attitude, said secondary planet wheel end plate column was positioned at the level attitude away from said pinion carrier rotating shaft.
Said secondary planetary gear end plate column and secondary planetary gear tooth top circle have three kinds of positions relation, column cross-section and tooth top circle inscribe, interiorly leave or leave outward, realize the different characteristics of motion.
If end plate column cross-section and tooth top circle inscribe, during said motor-driven entire mechanism operation, when said control handle is positioned at level attitude, said secondary planet is taken turns the horizontal slip in said connecting rod chute of end plate column, and said connecting rod can up-and-down movement; When driving movable internally toothed annulus, said control handle rotates the acute angle angle; Said secondary planet wheel end plate column path of motion is the straight line from the horizontal by acute angle; Said connecting rod up-and-down movement; Sliding in the rocking arm chute through the column on it drives said rocking arm and flutters up and down, and it is big more that control handle turns over angle, and the amplitude of fluttering is big more; Rotate the right angle when said control handle drives movable internally toothed annulus, connecting rod up-and-down movement amplitude is maximum, and stroke is movable internally toothed annulus reference diameter, and the amplitude of fluttering of said rocking arm is also maximum.
If end plate column cross-section and tooth top circle leave outward or interior leaving; When said control handle is positioned at level attitude; Said secondary planet wheel end plate column path of motion is the closed curve that is symmetrical in horizontal direction; Said connecting rod is by the motor-driven up-and-down movement, and sliding in the rocking arm chute through the column on it drives said rocking arm and flutter up and down; Along with control handle turns over the increase of angle, said secondary planet wheel end plate column path of motion still be the closed curve of symmetry, and the angle of closed curve symmetric line and horizontal direction also becomes greatly, the change of the stroke of connecting rod up-and-down movement greatly, the rocking arm amplitude increase of fluttering; When said control handle rotates the right angle, connecting rod up-and-down movement amplitude is maximum, leave for the movable internally toothed annulus center of circle and secondary planetary gear end plate column cross-section distance of center circle 2 times.
The invention has the beneficial effects as follows:
The present invention combines through planetary gear mechanisms for two stages and connecting rod rocker arm body, has realized the deceleration and change rocking arm into and flutter up and down of rotatablely moving with motor.Use control handle that the position of movable internally toothed annulus is adjusted, change the path of motion of eccentric column on the secondary planetary gear, the formation of adjustment connecting rod up-and-down movement, amplitude thereby the change rocking arm is fluttered.
Compact conformation of the present invention, in light weight, the range of connecting rod up-and-down movement be more than or equal to movable internally toothed annulus reference diameter, can be under the less situation of entire mechanism size, realize flapping wing fluttering by a relatively large margin, and be suitable for the mini-sized flap wings aircraft.
The present invention regulates the flapping wing amplitude of fluttering only needs control handle to regulate the angle of the relative frame of movable internally toothed annulus, easy and simple to handle, can accomplish continuously, does not have the problem intermittently of fluttering in the amplitude modulation process, can in the flapping wing aircraft flight course, accomplish adjusting.The amplitude of fluttering variable range is big, can flutter continuously from static optional position of fluttering the angle to maximum, and the maximum control handle half-twists that only need of control process, control simply, respond rapidly.
The position that rocking arm of the present invention is static depends on that control handle is adjusted to the level attitude position of moment rocking arm before; If be necessary; Pass through appropriate control; The flapping wing aircraft wing of pegging graft with rocking arm can be locked in from pouncing on end position to pouncing on the optional position of end position down rather than being confined to level attitude, therefore can select the glide latched position of flapping wing, realizes the highest gliding flight of pneumatic efficiency.
With machine governor of the present invention and control handle servomotor and the integration of flapping wing aircraft flight control system; Synchronization regulation motor speed and control handle position; Can realize the different speed of fluttering and flutter amplitude to different flight state; Make flapping wing aircraft have higher pneumatic efficiency and energy efficiency, effectively improve voyage, when boat and load capacity.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Description of drawings
Fig. 1 is a scheme drawing of the present invention;
Fig. 2 is a secondary gear scheme drawing of the present invention;
Fig. 3 is a planetary gear mechanisms for two stages scheme drawing of the present invention;
Fig. 4 is a primary planet pinion group exploded perspective view;
Fig. 5 is movable internally toothed annulus diverse location end plate column track scheme drawing; A is secondary planetary gear end plate column and tooth top circle inscribe, end plate column path of motion figure during the control handle level attitude; B is secondary planetary gear end plate column and tooth top circle inscribe, end plate column path of motion during control handle rotation acute angle; C is secondary planetary gear end plate column and tooth top circle inscribe, end plate column path of motion during control handle rotation right angle;
Among the figure:
The 1-frame, 2-motor, 3-connecting rod, 3A-connecting rod column, 3B-connecting rod chute, 4,4 '-rocking arm, 4A-blind hole, the movable internally toothed annulus of 5-, 6-secondary planetary gear, 6A-secondary planetary gear end plate column, 7-primary planet pinion, 8-sun wheel, 9-pinion carrier.
The specific embodiment
The present invention includes frame, motor, planetary gear mechanisms for two stages and connecting rod rocker arm body.
Said frame is an integral structure, is processed by hard metal material, and the bottom is a cylinder, and drum diameter is looked movable the internally toothed annulus size of planetary gear mechanisms for two stages and decided, and is not less than the motor external diameter usually.Concentric motor mounting hole is set on the end face of cylinder rear portion, and upper rack is laminar support, and the support front end face is concordant with said cylinder front end face, is used to install said connecting rod rocker arm body, has lightening hole on the support.Support top and cylinder rear portion end face
Said motor is a dc brushless motor, by the poly-lithium battery powered.Motor is installed on said frame rear side motor mounting hole with screw, the fixing one-level sun wheel of planetary gear mechanisms for two stages on its pivot.
Said planetary gear mechanisms for two stages is made up of one-level sun wheel, one-level satellite gear, pinion carrier, secondary planet wheel and movable internally toothed annulus, and wherein 1 grade of sun wheel is a metallic material, and remaining parts is engineering plastics and processes.Said one-level sun wheel and at least 1 the one-level satellite gear engagement that is installed on the pinion carrier one-level planet wheel spindle, from all angle considerations of the even strength of gear teeth of load, the quantity of one-level satellite gear is generally 2～3.The opposite side of said pinion carrier one-level planet wheel spindle has the secondary planet wheel shaft that is not positioned at the pinion carrier center of circle; Installation secondary planet wheel; Its reference diameter is the half the of said movable internally toothed annulus reference diameter; Secondary planet is taken turns on the outer end face has end plate, the protruding end plate column that is not positioned at the end plate center of circle of end plate.
The cylinder of movable internally toothed annulus and said frame lower is coaxial, and frame cylinder barrel has the frame draw-in groove in a side downwards from level attitude.Said primary planet pinion, pinion carrier and secondary planetary gear all are positioned at the inside of movable internally toothed annulus; Constitute planetary gear mechanisms for two stages jointly, wherein said one-level satellite gear and secondary planet wheel all mesh with movable internally toothed annulus, and movably internally toothed annulus has the control handle that is installed in the frame draw-in groove; Control handle is controlled the anglec of rotation by servomotor; Drive the relative frame of movable internally toothed annulus and rotate, can be rotated down from level attitude, at least can half-twist.
Said connecting rod rocker arm body is made up of connecting rod and symmetrical rocking arm.Connecting rod is inverse-T-shaped; Horizontal edge has chute; Eccentric column on the end plate of the said secondary planetary gear outside can slide in chute, and said connecting rod vertical edge is installed in the spacing collar of frame, and said spacing collar cooperates the fixing limiting stopper that has the above-below direction groove in center to constitute by the laminar support of upper rack; Spacing collar limiting rod left and right sides out-of-position degree of freedom; Guarantee the stability of connecting rod up-and-down movement, go back the degree of freedom that limiting rod moves forward and backward, limit the front and back position of planetary gear mechanisms for two stages through the position relation of connecting rod and secondary planetary gear end plate.The laminar support upper end of said upper rack is symmetrical to have rocker shaft hole, and rocker shaft is installed on forward in the rocker shaft hole, and a pair of rocking arm is hinged with rocker shaft in the middle, begins to have chute to the side near frame from articulated position.Link end has column, can in the chute of a pair of rocking arm, slide.There is blind hole in the said rocking arm outside, pegs graft with the flapping wing spar.Rocking arm is the boundary with itself and rocker shaft articulated position; Inside cross-section is less than outside cross-sectional plane; Make two rocking arm medial axis distance greater than the outer shaft linear distance; The purpose of this profile is the size at the fore-and-aft direction of avoiding left and right sides rocking arm to move reducing under the prerequisite of interference left and right sides rocking arm to occupy, thereby reduces the size of entire mechanism.
When the control handle of said movable internally toothed annulus was positioned at level attitude, said secondary planet wheel end plate column was positioned at the level attitude away from said pinion carrier rotating shaft.
Said secondary planetary gear end plate column and secondary planetary gear tooth top circle have three kinds of positions relation, column cross-section and tooth top circle inscribe, interiorly leave or leave outward, realize the different characteristics of motion.
If end plate column cross-section and tooth top circle inscribe, during said motor-driven entire mechanism operation, when said control handle is positioned at level attitude, said secondary planet is taken turns the horizontal slip in said connecting rod chute of end plate column, and said connecting rod can up-and-down movement; When driving movable internally toothed annulus, said control handle rotates the acute angle angle; Said secondary planet wheel end plate column path of motion is the straight line from the horizontal by acute angle; Said connecting rod up-and-down movement; Sliding in the rocking arm chute through the column on it drives said rocking arm and flutters up and down, and it is big more that control handle turns over angle, and the amplitude of fluttering is big more; Rotate the right angle when said control handle drives movable internally toothed annulus, connecting rod up-and-down movement amplitude is maximum, and stroke is movable internally toothed annulus reference diameter, and the amplitude of fluttering of said rocking arm is also maximum.
If end plate column cross-section and tooth top circle leave outward or interior leaving; When said control handle is positioned at level attitude; Said secondary planet wheel end plate column path of motion is the closed curve that is symmetrical in horizontal direction; Said connecting rod is by the motor-driven up-and-down movement, and sliding in the rocking arm chute through the column on it drives said rocking arm and flutter up and down; Along with control handle turns over the increase of angle, said secondary planet wheel end plate column path of motion still be the closed curve of symmetry, and the angle of closed curve symmetric line and horizontal direction also becomes greatly, the change of the stroke of connecting rod up-and-down movement greatly, the rocking arm amplitude increase of fluttering; When said control handle rotates the right angle, connecting rod up-and-down movement amplitude is maximum, leave for the movable internally toothed annulus center of circle and secondary planetary gear end plate column cross-section distance of center circle 2 times.
Claims (4)
1. a ungraded amplitude flapping wing driver train comprises frame, motor, planetary gear mechanisms for two stages and connecting rod rocker arm body, it is characterized in that:
Said frame lower is a cylinder, and concentric motor mounting hole is set on the end face of rear portion, and upper rack is laminar support, and the support front end face is concordant with said cylinder front end face, is used for the installing connecting rods rocker arm body;
Said motor is fixed in the motor mounting hole, the fixing one-level sun wheel of planetary gear mechanisms for two stages on its pivot;
Said planetary gear mechanisms for two stages is made up of one-level sun wheel, one-level satellite gear, pinion carrier, secondary planet wheel and movable internally toothed annulus; One-level sun wheel and at least 1 the one-level satellite gear engagement that is installed on the pinion carrier one-level planet wheel spindle; The opposite side of pinion carrier one-level planet wheel spindle has the secondary planet wheel shaft that is not positioned at the pinion carrier center of circle; Installation secondary planet wheel; Its reference diameter is the half the of said movable internally toothed annulus reference diameter, and secondary planet is taken turns on the outer end face has end plate, the protruding end plate column that is not positioned at the end plate center of circle of end plate; The cylinder of movable internally toothed annulus and said frame lower is coaxial, and frame cylinder barrel has the frame draw-in groove in a side downwards from level attitude; Primary planet pinion, pinion carrier and secondary planetary gear all are positioned at the inside of movable internally toothed annulus; Common formation planetary gear mechanisms for two stages; Wherein one-level satellite gear and secondary planet wheel all meshes with movable internally toothed annulus, and movable internally toothed annulus has the control handle that is installed in the said frame draw-in groove, and control handle is controlled at draw-in groove internal rotation angle degree by servomotor; Drive the relative frame of movable internally toothed annulus and rotate, downwards at least can half-twist from level attitude;
Said connecting rod rocker arm body is made up of connecting rod and symmetrical rocking arm; Connecting rod is an inverted T-shaped; Horizontal edge has chute, and the eccentric column on the end plate of the secondary planetary gear outside can slide in chute, and the connecting rod vertical edge is installed in the spacing collar of frame; Spacing collar cooperates the fixing limiting stopper that has the above-below direction groove in center to constitute by the laminar support of upper rack, limits the front and back position of planetary gear mechanisms for two stages through the position relation of connecting rod and secondary planetary gear end plate; The laminar support upper end of said upper rack is symmetrical to have rocker shaft hole, and rocker shaft is installed on forward in the rocker shaft hole, and a pair of rocking arm is hinged with rocker shaft in the middle, begins to have chute to the side near frame from articulated position; Link end has column, can in the chute of rocking arm, slide; There is blind hole in the rocking arm outside, pegs graft with the flapping wing spar; Rocking arm is the boundary with itself and rocker shaft articulated position, and inside cross-section makes two rocking arm medial axis distance greater than the outer shaft linear distance less than outside cross-sectional plane; When the control handle of movable internally toothed annulus was positioned at level attitude, secondary planet wheel end plate column was positioned at the level attitude away from said pinion carrier rotating shaft.
2. ungraded amplitude flapping wing driver train according to claim 1 is characterized in that: have lightening hole on the described support.
3. ungraded amplitude flapping wing driver train according to claim 1 is characterized in that: the quantity of described one-level satellite gear is 2-3.
4. ungraded amplitude flapping wing driver train according to claim 1 is characterized in that: said secondary planetary gear end plate column and secondary planetary gear tooth top circle have three kinds of positions relation: column cross-section and tooth top circle inscribe, interiorly leave or leave outward.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201518560U CN202098550U (en) | 2011-05-12 | 2011-05-12 | Infinite variable amplitude adjustment flapping-wing driving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201518560U CN202098550U (en) | 2011-05-12 | 2011-05-12 | Infinite variable amplitude adjustment flapping-wing driving mechanism |
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| CN202098550U true CN202098550U (en) | 2012-01-04 |
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| CN2011201518560U Expired - Lifetime CN202098550U (en) | 2011-05-12 | 2011-05-12 | Infinite variable amplitude adjustment flapping-wing driving mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285453A (en) * | 2011-05-12 | 2011-12-21 | 西北工业大学 | Stepless amplitude-modulating driving mechanism for flapping wing |
| CN103470718A (en) * | 2013-09-24 | 2013-12-25 | 东莞市永佳塑胶五金有限公司 | Rotary device |
| CN104570924A (en) * | 2014-12-02 | 2015-04-29 | 西北工业大学 | Driving device for minitype flapping wing experiment |
| CN107803382A (en) * | 2017-10-20 | 2018-03-16 | 滕州市智星电力电子工程有限公司 | A kind of four-bar mechanism of the robot of electrification in high voltage automatic cleaning insulator |
| CN112429250A (en) * | 2020-11-26 | 2021-03-02 | 广东国士健科技发展有限公司 | Auxiliary rotor wing device rotating in wingspan direction around main rotor wing |
| CN116495172A (en) * | 2023-06-26 | 2023-07-28 | 成都航天万欣科技有限公司 | Bionic flapping wing aircraft |
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2011
- 2011-05-12 CN CN2011201518560U patent/CN202098550U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102285453A (en) * | 2011-05-12 | 2011-12-21 | 西北工业大学 | Stepless amplitude-modulating driving mechanism for flapping wing |
| CN102285453B (en) * | 2011-05-12 | 2013-06-05 | 西北工业大学 | Stepless amplitude-modulating driving mechanism for flapping wing |
| CN103470718A (en) * | 2013-09-24 | 2013-12-25 | 东莞市永佳塑胶五金有限公司 | Rotary device |
| CN104570924A (en) * | 2014-12-02 | 2015-04-29 | 西北工业大学 | Driving device for minitype flapping wing experiment |
| CN107803382A (en) * | 2017-10-20 | 2018-03-16 | 滕州市智星电力电子工程有限公司 | A kind of four-bar mechanism of the robot of electrification in high voltage automatic cleaning insulator |
| CN107803382B (en) * | 2017-10-20 | 2023-09-01 | 滕州市智星电力电子工程有限公司 | Four-bar mechanism of robot for automatically cleaning insulator under high-voltage electrification |
| CN112429250A (en) * | 2020-11-26 | 2021-03-02 | 广东国士健科技发展有限公司 | Auxiliary rotor wing device rotating in wingspan direction around main rotor wing |
| CN116495172A (en) * | 2023-06-26 | 2023-07-28 | 成都航天万欣科技有限公司 | Bionic flapping wing aircraft |
| CN116495172B (en) * | 2023-06-26 | 2023-10-10 | 成都航天万欣科技有限公司 | Bionic flapping wing aircraft |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120104 Effective date of abandoning: 20130605 |
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| RGAV | Abandon patent right to avoid regrant |