CN202128913U - Stepless speed change driving mechanism for flapping wing - Google Patents
Stepless speed change driving mechanism for flapping wing Download PDFInfo
- Publication number
- CN202128913U CN202128913U CN201120193513U CN201120193513U CN202128913U CN 202128913 U CN202128913 U CN 202128913U CN 201120193513 U CN201120193513 U CN 201120193513U CN 201120193513 U CN201120193513 U CN 201120193513U CN 202128913 U CN202128913 U CN 202128913U
- Authority
- CN
- China
- Prior art keywords
- friction
- crank
- axle
- motor
- frame
- 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.)
- Expired - Lifetime
Links
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model provides a stepless speed change driving mechanism for a flapping wing, which comprises a framework, a motor, a stepless speed change reducer, a gear reducer and a crank and rocker mechanism. Speed reduction is completed by the aid of a friction wheel set and a gear set, and rotation is changed into vertical flapping of a rocker arm so as to drive the flapping wing by the aid of the crank and rocker mechanism. Reduction ratio can be conveniently changed by the aid of the stepless speed change driving mechanism by means of changing contact positions of friction wheels, and the stepless speed change driving mechanism further has advantages of strictly symmetric flapping, capabilities of realizing self-locking for reverse load and realizing a flapping wing-gliding flying mode and the like, and is applicable to experiments of miniature aircrafts with flapping wings and relevant ground tests.
Description
Technical field
The present invention relates to a kind of flapping wing driving 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 has advantages such as volume is little, in light weight, use is flexible, efficient height; If carry sensor and relevant transfer of data 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; " Delfly " of the having of success " Microbat " that U.S. Aero Vironment company cooperates with the University of California, Dutch Delft university wherein; " hummingbird " and " the Smart Bird " of German Festo company etc. that also have the U.S. Aero Vironment company of up-to-date announcement in 2011, but these flapping wing aircrafts all have certain distance apart from the aircraft platform of practical UAS.
It is thus clear that is that all right is ripe for the correlation theory of flapping wing aircraft and method, the design of flapping wing aircraft also is in the stage of feeling one's way into, and the cycle of change in design is short, and amplitude is big.Existing flapping wing driving mechanism is mostly through the rotatablely move deceleration of decelerators such as gear reduction unit, pulley decelerates device with power set output; To rotatablely move through mechanisms such as quadric chain, crank rocker arm bodies again and be converted into the motion of fluttering up and down; The natural formation of this type flapping wing driving mechanism has determined mechanism in a single day to create; Its speed reducing ratio just can only be carried out the adjustment of discretization, and such adjustment also need could realize through the part or all of parts of making again and changing in the flapping wing driving mechanism.Therefore; If occur owing to power set are changed and need be changed the situation that causes mechanism's speed reducing ratio to meet the demands to the changes in design such as frequency and demanded power output variation of fluttering with flapping wing driving mechanism coupling or flapping wing aircraft flapping wing aerodynamic characteristic again; The flapping wing driving mechanism be will design and make again, flapping wing aircraft development time and cost increased.
Summary of the invention
Can only discretization adjust speed reducing ratio in order to overcome prior art; The deficiency that can't adapt to the replacing of flapping wing driving mechanism; The present invention provides a kind of flapping wing driving mechanism; Utilize the continuous change speed reducing ratio of simple and reliable mode, and make this mechanism satisfy other requirements of flapping wing aircraft simultaneously, can be used in ground test links such as flapping wing aircraft and wind tunnel test thereof.
The technical solution adopted for the present invention to solve the technical problems is: comprise frame, motor, infinitely variable speeds decelerator, gear reduction unit and crank and rocker mechanism.Said frame left-right symmetric has chute on the frame, the motor slide block is along the optional position that chute moved and can be fixed on chute, and motor is installed on the motor slide block.The infinitely variable speeds decelerator comprises initiatively friction head, auxiliary friction head, driven friction pulley, pretension wheel and friction wheel axle, and auxiliary friction head is installed on the frame and is opposed with the active friction head.Driven friction pulley is the identical disk of diameter with the pretension wheel, on the friction wheel axle that coaxial arrangement is installed in the friction pulley axis hole, is gripping initiatively friction head and auxiliary friction head between the two-wheeled.Driven friction pulley and friction wheel axle are connected, and the pretension wheel can rotate and can move axially around friction wheel axle, and initiatively friction head drives driven friction pulley with rubbing action and rotates through motor-driven.The coaxial friction wheel axle that is fixed in of the driving gear of gear reduction unit, driven gear is fixed in crank axle, meshes with driving gear.Crank and rocker mechanism comprises crank axle, crank, rocking arm and rocker arm shaft, and frame top has rocker shaft bed, and rocker arm shaft is installed on the rocker shaft bed.Crank axle stretches out the frame both sides, connects spherical hinge through two cranks respectively, and symmetrical two rocking arm roots are hinged through rocker arm shaft and frame, the spherical hinge that is connected in the middle part of the said rocking arm, and core is perforate along its length, pegs graft with the flapping wing spar.The be connected connecting rod of ball pivot seat of two two ends connects spherical hinge and the spherical hinge on the rocking arm on the homonymy crank respectively.
Described chute length makes the variable position scope of active friction head cover the radius of driven friction pulley.
There is auxiliary friction head installing hole the front portion of said chute, and is coaxial with the motor installing hole of motor slide block.Central rack has crank axis hole and friction pulley axis hole, and the friction pulley axis hole is other to have the pretension screw hole, and friction pulley axis hole and motor pivot axis hole are at height such as Z directions, and axis is vertical each other, and the parallel axes of crank axis hole and friction pulley axis hole is positioned at directly over the friction pulley axis hole.Above-below direction is the Z axle in the said frame symmetrical plane, and left and right directions is the X axle, and the Y axle is perpendicular to symmetrical plane, and axle system is right-handed system.
Said motor is installed on the motor installing hole on the motor slide block; Its pivot passes the motor pivot axis hole and connects initiatively friction head; Said active friction head is cylindrical; The face of cylinder is used for and driven friction pulley and pretension wheel frictional drive, has blind hole on the end face of a side, is used for being tightly fixed with the motor pivot.Initiatively the connected mode of the connected mode of friction head and motor and motor and motor slide block is that the directions X adjusting position can change the initiatively position of friction head directions X in the chute upper edge for the motor slide block.The shape of auxiliary friction head is identical with the active friction head with size, and does not have the initiatively blind hole above the friction head.Auxiliary friction head and active friction head coaxial arrangement are installed on the auxiliary friction head installing hole on the frame through bearing.Initiatively friction head is identical with auxiliary friction head diameter, and both all contact with driven friction pulley.Said driven friction pulley and pretension wheel are plate-like, and the center has the through hole that is used for the friction wheel axle connection, and two wheel diameters are identical, on the friction wheel axle that coaxial arrangement is installed in the friction pulley axis hole, are gripping initiatively friction head and auxiliary friction head between the two-wheeled.Driven friction pulley and friction wheel axle are connected, and the pretension wheel can rotate and can move axially around friction wheel axle, and the axial location of pretension wheel is regulated through the pretension screw of regulating on the frame.Said active friction head, auxiliary friction head, driven friction pulley, pretension wheel and the said infinitely variable speeds decelerator of the common composition of friction wheel axle; Initiatively friction head passes through motor-driven; Driving driven friction pulley with rubbing action rotates; Setting is for the load in the driven friction pulley high speed rotating of balance with the opposed auxiliary friction head of active friction head; Pretension wheel is set is for the common effect of gripping that constitutes the active friction head of driven friction pulley, the axial location of pretension wheel is adjustable to be to be fit to initiatively friction head with the driven friction pulley of friction-driven for the frictional force size that this effect of gripping is provided.
Said gear reduction unit driving gear is the coaxial friction wheel axle that is fixed between said driven friction pulley and pretension wheel; Driven gear is fixed in the crank axle of installing in the frame crank axis hole; Mesh with driving gear; The pitch diameter of driven gear constitutes the gear drive with decelerating effect greater than the pitch diameter of driving gear.
Crank axle passes the crank axis hole and stretches out the frame both sides, symmetrical affixed two cranks, and crank end connects spherical hinge, and symmetrical two rocking arm roots are hinged through the rocker arm shaft and the frame of installing in the frame rocker shaft hole.
When the present invention works; Motor drives initiatively through pivot, and friction head rotates at a high speed; Initiatively friction head drives driven friction wheel from rotation through friction, thereby makes the driven gear that meshes with driving gear drive the crank axle rotation, accomplishes simultaneously and slows down; Crank axle drives rocking arm through crank and connecting rod and flutters up and down, drives the flapping wing of pegging graft on it.
The contact position of friction head and driven friction pulley changes speed reducing ratio through changing initiatively in the present invention, can be easily and rotating speed of motor and the required rocking arm frequency match of fluttering, farthest reduce the time and the cost of flapping wing driving mechanism adjustment speed reducing ratio.
Crank and rocker mechanism of the present invention is driven by a power transmission shaft, the structure left-right symmetric, and the also strict symmetry of fluttering up and down of its left and right sides rocking arm, this is highly profitable for the flight stability that guarantees flapping wing aircraft.
Friction pulley of the present invention and crank and rocker mechanism acting in conjunction have self-locking action for the load from rocking arm, and locking that can be at an arbitrary position is fit to flapping wing aircraft and realizes flapping wing-gliding flight pattern.
The invention has the beneficial effects as follows: owing to adopt
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Description of drawings
Fig. 1 is a sketch map of the present invention;
Fig. 2 is an infinitely variable speeds decelerator sketch map of the present invention;
Fig. 3 is a friction wheel mechanism vertical view of the present invention.
Among the figure, 1A-pretension screw hole, 1B, 1B '-anter, 1C, 1C '-back sheet, piece before the piece behind the 1D-, 1E-; The 1F-sleeve, 11-friction wheel axle, 12-crank axle, 13-driving gear, 14-driven gear, 2-motor; 3-motor slide block, 3A-outside pad, 4A, 4A '-rocker arm shaft, 8-is friction head initiatively, and 9-assists friction head, the driven friction pulley of 10-; The 11-friction wheel axle, 12-crank axle, 13-driving gear, 14-driven gear, 15-pretension wheel, 71,72, the 73-spherical hinge.
The specific embodiment
Infinitely variable speeds flapping wing driving mechanism of the present invention comprises frame, motor, infinitely variable speeds decelerator, gear reduction unit and crank and rocker mechanism.
Said frame left-right symmetric, for explaining conveniently, above-below direction is the Z axle in the definition frame symmetrical plane, and left and right directions is the X axle, and the Y axle is perpendicular to symmetrical plane, and axle system is right-handed system.
Frame adopts steel alloy to process, and is made up of seven parts, is respectively symmetrical anter 1B, 1B ' and back sheet 1C, 1C ', is positioned at the preceding piece 1E and back piece 1D and a sleeve 1F at middle part, and seven parts assemble through screw.Back sheet 1C, 1C ' are equipped with motor slide block 3, and auxiliary friction head installing hole is arranged on the preceding 1E, and be coaxial with the motor installing hole of motor slide block 3.Crank axis hole and friction pulley axis hole are arranged on anter 1B, the 1B '; The friction pulley axis hole is other to have pretension screw hole 1A, and friction pulley axis hole and motor axis hole are at height such as z directions, and axis is vertical each other; The parallel axes of crank axis hole and friction pulley axis hole; Be positioned at directly over it, frame top has rocker shaft bed, and rocker arm shaft 4A, 4A ' are installed on the axle bed.
Said motor 2 is a dc brushless motor, by the poly-lithium battery energy supply.Motor 2 is installed on the motor installing hole on the motor slide block 3, and the motor slide block can carry out position adjustments by sheet 1C 1C ' along the back.Concrete mode is: motor is installed sheet 1C behind slide block 3 and two, 1C ' contact position has draw-in groove; Outside pad 3A is installed on motor through screw slide block 3 is installed; Motor is installed slide block 3, and sheet 1C, 1C ' tighten fixed bit in the back, when needing adjusting position, said screw are suitably unscrewed; Whole slide block can slide on the track that back sheet 1C, 1C ' form, and reaches desired location and tightens screw once more and get final product.The motor pivot axis hole that said motor pivot passes on the motor slide block connects initiatively friction head 8; Said active friction head 8 is cylindrical; Process with brass; The face of cylinder is used for taking turns 15 frictional drive with following driven friction pulley 10 with pretension, has blind hole on the end face of a side, is used for being tightly fixed with motor 2 pivots.Initiatively friction head 8 is that sheet 1C 1C ' upper edge directions X adjusting position can change the initiatively position of friction head 8X direction in the back for motor slide block 3 with the connected mode of motor 2 and the connected mode of motor 2 and motor slide block 3.
The shape of auxiliary friction head 9 is identical with active friction head 8 with size, and does not have the initiatively blind hole above the friction head 8.Auxiliary friction head 9 and active friction head 8 coaxial arrangement are installed on the auxiliary friction head installing hole on the frame through bearing, can rotate around the x axle, and initiatively friction head 8 is identical with auxiliary friction head 9 diameters, and both all contact with driven friction pulley 10.Driven friction pulley 10 is plate-like with pretension wheel 15, and the center has and is used for and the fixing through hole of friction wheel axle, on the friction wheel axle 11 that the two-wheeled coaxial arrangement is installed in the friction pulley axis hole, is gripping initiatively friction head 8 and auxiliary friction head 9 between the two-wheeled.Driven friction pulley 10 is connected with friction wheel axle 11; Pretension wheel 15 can rotate and can move axially around friction wheel axle 11; The pretension screw that the axial location of pretension wheel 15 passes through among the adjusting frame pretightening screw hole 1A is regulated, and makes gripping of driven friction pulley 10 and 15 pairs of actives of pretension wheel friction head 8 act on the suitable initiatively friction head 8 of the frictional force size that provides with the driven friction pulley 10 of friction-driven.Said active friction head 8, auxiliary friction head 9, driven friction pulley 10, pretension wheel 15 and friction wheel axle 11 be common forms said infinitely variable speeds decelerator, processes by steel alloy.Said active friction head 8 cooperates the coefficient of friction that provides with driven friction pulley 10 and pretension wheel 15; Make optional position in the sliding scale of the active friction head 8 that motor slide block 3 is confirmed; Initiatively friction head 8 all can be driven through rubbing action by motor 2 and drive driven friction pulley 10 rotations, the change adjustment gearratio of frictional position.
Said gear reduction unit driving gear 13 is the coaxial friction wheel axle 11 that is fixed between said driven friction pulley 10 and pretension wheel 15, and driven gear 14 is fixed in crank axle 12, with driving gear 13 engagements.
The speed reducing ratio of whole flapping wing driving mechanism is that the speed reducing ratio of above-mentioned infinitely variable speeds decelerator and gear reduction unit is long-pending; The speed reducing ratio of entire mechanism confirms that through motor load rotating speed and the expectation flapping wing frequency of fluttering the speed reducing ratio of two decelerators is distributed the factor that needs to consider structural strength and size.Here the brushless electric machine load speed that adopts is 30000r/min; The flapping wing frequency of fluttering is 9Hz; The speed reducing ratio of mechanism is about 56, and the speed reducing ratio of getting gear reduction unit is 8, and the infinitely variable speeds decelerator initiatively friction head speed reducing ratio that is positioned at half position of driven friction pulley radius is 7 to get final product.
Crank axle 12 passes the crank axis hole and stretches out the frame both sides; Symmetrical affixed two cranks 6 ' (another crank about symmetrical plane mirror image symmetry, does not mark with it), crank 6 ' termination connects spherical hinge; Rocker arm shaft 4A, 4A ' that symmetrical two Rocker arm 4s, 4 ' root are installed through the frame rocker shaft hole are hinged with frame 1; Said Rocker arm 4,4 ' the middle part spherical hinge 71,73 that is connected, core is perforate along its length, pegs graft with the flapping wing spar.Connecting rod 5,5 ' the two ends ball pivot seat that is connected, two connecting rods 5,5 ' connect the spherical hinge 71,73 on spherical hinge 72 and the Rocker arm 4,4 ' on the homonymy crank respectively.
When mechanism works; Motor 2 drives initiatively friction head 8 rotation at a high speed through pivot; Active friction head 8 drives driven friction pulley 10 rotations through friction, thereby makes the driven gear 14 that meshes with driving gear 13 drive crank axles 12 rotations, accomplishes simultaneously and slows down; Crank axle 12 drives Rocker arm 4, flutters about in the of 4 ' with connecting rod 5,5 ' through crank 6,6 ', drives the flapping wing of grafting it on.
Claims (6)
1. infinitely variable speeds flapping wing driving mechanism; Comprise frame, motor, infinitely variable speeds decelerator, gear reduction unit and crank and rocker mechanism; It is characterized in that: the frame left-right symmetric; Chute is arranged on the frame, and the motor slide block is along the optional position that chute moved and can be fixed on chute, and motor is installed on the motor slide block; The infinitely variable speeds decelerator comprises initiatively friction head, auxiliary friction head, driven friction pulley, pretension wheel and friction wheel axle; Auxiliary friction head is installed on the frame and is opposed with the active friction head; Driven friction pulley is the identical disk of diameter with the pretension wheel, on the friction wheel axle that coaxial arrangement is installed in the friction pulley axis hole, is gripping initiatively friction head and auxiliary friction head between the two-wheeled; Driven friction pulley and friction wheel axle are connected; The pretension wheel can rotate and can move axially around friction wheel axle, and initiatively friction head drives driven friction pulley with rubbing action and rotates through motor-driven; The coaxial friction wheel axle that is fixed in of the driving gear of gear reduction unit, driven gear is fixed in crank axle, meshes with driving gear; Crank and rocker mechanism comprises crank axle, crank, rocking arm and rocker arm shaft, and frame top has rocker shaft bed, and rocker arm shaft is installed on the rocker shaft bed; Crank axle stretches out the frame both sides, connects spherical hinges through two cranks respectively, and symmetrical two rocking arm roots are hinged through rocker arm shaft and frame; the rocking arm middle part spherical hinge that is connected; core is perforate along its length, and with the grafting of flapping wing spar, the be connected connecting rod of ball pivot seat of two two ends connects spherical hinge and the spherical hinge on the rocking arm on the homonymy crank respectively.
2. infinitely variable speeds flapping wing driving mechanism according to claim 1 is characterized in that: described chute length makes the variable position scope of active friction head cover the radius of driven friction pulley.
3. infinitely variable speeds flapping wing driving mechanism according to claim 1 is characterized in that: there is auxiliary friction head installing hole the front portion of said chute, and is coaxial with the motor installing hole of motor slide block; Central rack has crank axis hole and friction pulley axis hole, and the friction pulley axis hole is other to have the pretension screw hole, and friction pulley axis hole and motor pivot axis hole are at height such as Z directions, and axis is vertical each other, and the parallel axes of crank axis hole and friction pulley axis hole is positioned at directly over the friction pulley axis hole; Above-below direction is the Z axle in the said frame symmetrical plane, and left and right directions is the X axle, and the Y axle is perpendicular to symmetrical plane, and axle system is right-handed system.
4. infinitely variable speeds flapping wing driving mechanism according to claim 1; It is characterized in that: described motor is installed on the motor installing hole on the motor slide block; Its pivot passes the motor pivot axis hole and connects initiatively friction head, and said active friction head is cylindrical, and the face of cylinder is used for and driven friction pulley and pretension wheel frictional drive; Have blind hole on the end face of one side, be used for being tightly fixed with the motor pivot; The shape of auxiliary friction head is identical with the active friction head with size, and does not have the initiatively blind hole above the friction head; Auxiliary friction head and active friction head coaxial arrangement are installed on the auxiliary friction head installing hole on the frame through bearing; Initiatively friction head is identical with auxiliary friction head diameter, and both all contact with driven friction pulley; Said driven friction pulley and pretension wheel are plate-like, and the center has the through hole that is used for the friction wheel axle connection, and two wheel diameters are identical, on the friction wheel axle that coaxial arrangement is installed in the friction pulley axis hole, are gripping initiatively friction head and auxiliary friction head between the two-wheeled; Driven friction pulley and friction wheel axle are connected, and the pretension wheel can rotate and can move axially around friction wheel axle, and the axial location of pretension wheel is regulated through the pretension screw of regulating on the frame.
5. infinitely variable speeds flapping wing driving mechanism according to claim 1; It is characterized in that: described gear reduction unit driving gear is the coaxial friction wheel axle that is fixed between said driven friction pulley and pretension wheel; Driven gear is fixed in the crank axle of installing in the frame crank axis hole; With the driving gear engagement, the pitch diameter of driven gear constitutes the gear drive with decelerating effect greater than the pitch diameter of driving gear.
6. infinitely variable speeds flapping wing driving mechanism according to claim 1; It is characterized in that: described crank axle passes the crank axis hole and stretches out the frame both sides; Symmetrical affixed two cranks; Crank end connects spherical hinge, and symmetrical two rocking arm roots are hinged through the rocker arm shaft and the frame of installing in the frame rocker shaft hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120193513U CN202128913U (en) | 2011-06-09 | 2011-06-09 | Stepless speed change driving mechanism for flapping wing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120193513U CN202128913U (en) | 2011-06-09 | 2011-06-09 | Stepless speed change driving mechanism for flapping wing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202128913U true CN202128913U (en) | 2012-02-01 |
Family
ID=45517699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120193513U Expired - Lifetime CN202128913U (en) | 2011-06-09 | 2011-06-09 | Stepless speed change driving mechanism for flapping wing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202128913U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267566A (en) * | 2011-06-09 | 2011-12-07 | 西北工业大学 | Stepless speed-changing flapping wing driving mechanism |
| CN105416582A (en) * | 2015-11-24 | 2016-03-23 | 西北工业大学 | Passive amplitude changing flapping mechanism and flapping method |
-
2011
- 2011-06-09 CN CN201120193513U patent/CN202128913U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267566A (en) * | 2011-06-09 | 2011-12-07 | 西北工业大学 | Stepless speed-changing flapping wing driving mechanism |
| CN105416582A (en) * | 2015-11-24 | 2016-03-23 | 西北工业大学 | Passive amplitude changing flapping mechanism and flapping method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102267566B (en) | Stepless speed-changing flapping wing driving mechanism | |
| CN102285453B (en) | Stepless amplitude-modulating driving mechanism for flapping wing | |
| CN102229359B (en) | Cylindrical cam flapping wing driving mechanism | |
| CN102211667B (en) | Flapping wing driving mechanism of two-level parallel gear reduction | |
| CN100430297C (en) | Driving mechanism for wings of minitype ornithopter | |
| CN201941975U (en) | Ornithopter simulating folding wing flapping of birds | |
| CN108945430A (en) | A kind of-bionic flapping-wing flying vehicle of active twist combination drive of fluttering-fold | |
| CN202138538U (en) | Driving mechanism of cylindrical cam flapping wing | |
| CN112009683A (en) | Miniature double-flapping-wing aircraft | |
| CN201354146Y (en) | Flapping mechanism of mechanical bird | |
| CN105197240B (en) | Differential luffing driving mechanism for flapping wing and driving method | |
| CN101734375A (en) | Flapping apparatus of subminiature bionic flapping wing aircraft | |
| CN202098550U (en) | Infinite variable amplitude adjustment flapping-wing driving mechanism | |
| CN110171568A (en) | One kind can hover flapping wing aircraft | |
| CN107200129B (en) | Coupling driving bionic flapping wing aircraft | |
| CN109760835B (en) | Flapping wing driving mechanism of flapping wing aircraft for science and education demonstration | |
| CN106379532A (en) | Flapping-wing flapping angle changing mechanism | |
| CN202128913U (en) | Stepless speed change driving mechanism for flapping wing | |
| CN108750104A (en) | A kind of flapping wing aircraft of the adaptive active twist of wing | |
| CN206296909U (en) | The wing motion and the robot with it of robot | |
| CN206384149U (en) | Variable-pitch transmission gear | |
| CN102424109A (en) | Double swing-rod flapping-wing mechanism working in differential seat angle | |
| CN107352030A (en) | A kind of double-vane is differential flap miniature flutter rotor craft | |
| CN107054640A (en) | A kind of lift unit with the disk wing and the aircraft using the device | |
| CN202491921U (en) | Bionic ornithopter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120201 Effective date of abandoning: 20130605 |
|
| RGAV | Abandon patent right to avoid regrant |