CN202414163U - Wing of minitype ornithopter - Google Patents
Wing of minitype ornithopter Download PDFInfo
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- CN202414163U CN202414163U CN201120462428XU CN201120462428U CN202414163U CN 202414163 U CN202414163 U CN 202414163U CN 201120462428X U CN201120462428X U CN 201120462428XU CN 201120462428 U CN201120462428 U CN 201120462428U CN 202414163 U CN202414163 U CN 202414163U
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Abstract
The utility model discloses a wing of a minitype ornithopter. A main beam is flat and straight; leading edge points of five wing ribs are fixed on the main beam; a wing rib 1, a wing rib 2 and a wing rib 3 are vertical to the main beam; a wing rib 4 and a wing rib 5 form acute angles with the tip direction of the main beam; the wing rib 1, the wing rib 2 and the wing rib 3 have equal chord length; the chord lengths of the wing rib 4 and the wing rib 5 decrease sequentially and are shorter than that of the wing rib 1; an auxiliary beam is arc-shaped; the outer edge point of the auxiliary beam is fixed on the main beam between the tip endpoint of the main beam and the back edge point of the wing rib 5; the root part of the auxiliary beam passes through the wing rib 1 from a position on the back half and being 75% chord length away from the edge point; the auxiliary beam contacts and is fixed with corresponding positions of the five wing ribs; the main beam, the auxiliary beam and the wing ribs form a structural framework of the wing; and a skin is adhered above the framework to form the integral wing. The whole wing is slow in transition of rigidity distribution, good in structural continuousness, good in stress characteristic, simple in structure and convenient to manufacture.
Description
Technical field
The present invention relates to a kind of wing, especially a kind of wing of flapping-wing aircraft.
Background technology
The mini-sized flap wings aircraft is a kind of new ideas aircraft that imitates birds flight; It has, and volume is little, in light weight, good concealment; 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 its performance distance practicability bigger gap in addition, this is presented as that mainly the flight time is limited; Capacity weight is little, handles aspects such as the control difficulty is big.Trace it to its cause, the pneumatic efficiency of flapping wing aircraft wing is low, consumption of power big, poor reliability is considerable factor.
At present realized that the flapping-wing aircraft that flies adopts the flat profile wing more, research shows that this type lifting force of wings coefficient is less; Need the bigger angle of attack in order to produce enough lift, this has just increased resistance, and 1ift-drag ratio is less; Cause pneumatic efficiency low, influence the overall performance of flapping-wing aircraft.
Chinese patent publication number CN100467347C, in open day on March 11st, 2009, the name of innovation and creation is called a kind of two segmented type wings of minitype ornithopter; This application case discloses a kind of wing of mini-sized flap wings aircraft; Be divided into inside and outside two sections, outer panel is the plane aerofoil profile, and interior wing panel is the radian aerofoil profile; Outer panel has preceding girder and cant beam, and interior wing panel has preceding girder and tail boom parallel to each other.Its weak point is, interior wing panel and outer panel profile and the rigidity of structure change comparatively unexpected, are prone to cause structural failure, poor reliability, and the whole pneumatic efficiency of wing also can reduce.
In recent years; In order to improve the pneumatic efficiency of flapping-wing aircraft wing; Some have occurred and adopted mechanism that the shape of the wing is carried out flapping-wing aircraft wing passive or that initiatively change, the structure more complicated of this type wing has bigger weight and rotor inertia; Increase the power consumption of flapping wing drive system, reduced the life-span and the reliability of flapping-wing aircraft; The realization alteration of form is controlled with the needs that cooperate of fluttering accurately, has increased the difficulty of flapping-wing aircraft control.
Chinese patent publication number CN201217500Y; In open day on April 8th, 2009, the name of innovation and creation is called the bionic Aircraft wing, and this application case discloses a kind of platy structure wing; Running through the wing upper and lower surfaces has the drag reduction hole, passes through the sharf hinged blades in the drag reduction hole.Blade can be when wing be fluttered up and down, passively or control actv. by mechanism and carry out open and close movement, reaches the purpose of drag reduction lift-rising.Its weak point is that blade and mechanism thereof can increase the weight and the rotor inertia of wing, increase the required drive of fluttering, and reduce the life-span of flutter mechanism and wing itself; The blade folding need cooperate with the position of fluttering, and increases the control difficulty.
Chinese patent publication number CN2918218Y, in open day on July 4th, 2007, invention and created name is for can roll over two sectional type flapping-wing aircraft wing.This application case discloses a kind of flapping-wing aircraft wing of rolling over for two sectional type; But the interior wing panel and the outer panel that are divided into doubling; Cooperated by driving crank and pull bar, the relative folding movement of outer panel in when wing is fluttered up and down, producing is pounced on the aliform attitude when birds such as simulation sea-gull fly.Its weak point is, the intensity of bent axle, Tiebar structure and weight contradiction are sharp-pointed, is difficult to possess sufficient intensity and lightweight simultaneously, and this just causes the wing life-span to descend poor reliability.
Chinese patent publication number CN101492094A, in open day on July 29th, 2009, invention and created name is a kind of flapping wing of miniature ornithopter that can bend in one direction.This application case discloses a kind of flapping wing that can bend in one direction; Its exhibition is broken as two sections to beam; At fixing respectively telescopic elastomeric material of gap upper and lower surfaces and connecting strap that can unidirectional distortion, flapping wing launches fully when pouncing under realizing, on the partially folded effect of flapping wing when pouncing on.Its weak point is, folding effect is fully by elastomeric material passive generation under the effect of aerodynamic force, flutters frequency when higher when flapping wing, and folding effect can receive the weakening of certain degree; Aging and the life-span of elastomeric material directly influence flapping wing single-piece performance and life-span.
Summary of the invention
Low in order to overcome prior art wing pneumatic efficiency, rigidity of structure irrational distribution, the deficiency of poor reliability, the present invention provides a kind of wing of miniature ornithopter, can improve the pneumatic efficiency of flapping-wing aircraft wing, simplifies wing structure, improves the wing reliability.
The technical solution adopted for the present invention to solve the technical problems comprises girder, floor stringer, rib and covering.Said girder is straight, and the leading edge point of five ribs is fixed on the girder, is begun by the girder root, occupies the girder exhibition to 2/3rds to 4/5ths of length.
No. 1 rib, No. 2 ribs and No. 3 ribs are perpendicular to girder, and No. 4 ribs and No. 5 ribs and girder taper direction acutangulate; No. 1 rib, No. 2 ribs and No. 3 rib chord lengths equate; The chord length of No. 4 ribs and No. 5 ribs reduces successively, all is shorter than rib No. 1, and the wing planform of formation is a wing tip trailing edge corner cut; Aspect ratio 6～8; Leading edge is that girder line of centers, root are No. 1 rib string of a musical instrument, and trailing edge root one side is the straight line that the trailing edge point of No. 1 rib and No. 3 ribs constitutes, and the part from No. 3 ribs to the girder taper is the quadratic spline curve; It is tangent with straight line of No. 1 ribs and No. 3 rib trailing edge point formations at No. 3 rib trailing edge points, connects No. 4 rib trailing edge points, No. 5 rib trailing edge points and girder taper end points successively.
The aerofoil profile of No. 1 rib, No. 2 ribs and No. 3 ribs all adopts thin airfoil, and No. 5 rib is straight, and No. 4 ribs are the above two transition aerofoil profile.
Floor stringer is curved, and the outer rim point is fixed on the girder between girder taper end points and No. 5 rib trailing edge points, and root is through number rib latter half, and its radian guarantees that floor stringer contacts with five rib correspondence positions and fixes.
The chord length of said No. 4 ribs is the 90%-97% of No. 1 rib chord length, the 70%-80% of No. 1 rib chord length of chord length of No. 5 ribs.No. 4 ribs and the girder angle of direction laterally are 70-80 °, and the angle of No. 5 ribs and girder lateral direction is 55-65 °.The leading edge point of all ribs and trailing edge point all are positioned at the wing reference plane.The contact point of floor stringer and No. 1 rib is positioned at rib 75%-85% chord length position No. 1.
Girder, floor stringer and rib constitute the wing structure framework, and the covering of above framework, fitting forms complete wing.
Compared with prior art, the present invention is obtaining beneficial effect aspect structure and the aerodynamics:
Wing girder and floor stringer and the rib between them have formed a zone that rigidity is bigger, and the rib outside this zone is the form of cantilever beam, can carry out bigger elastic deformation.It is bigger that the position of floor stringer makes that the rib of the outer section of wing carries out the zone of elastic deformation, and inner segment carries out the regional less of elastic deformation, helps outer section and produces thrust, inner segment generation lift.The transition of whole wing Stiffness Distribution is mild, and structural continuity is good, has good mechanical characteristic, and simple in structure, is convenient to make.
The angle of inclination through in given range, adjusting aspect ratio, No. 4 ribs 4 and No. 5 ribs 5 and the position of chord length ratio and floor stringer 7 locating points; Can be on the basis of satisfying basic flight requirement; Change the Stiffness Distribution of wing to a certain extent; Thereby change the size and the distribution of elastic deformation in the process of fluttering, satisfy different airworthiness demands.
Increase aspect ratio, reduce 4, No. 5 ribs of No. 4 ribs 5 and girder 6 angle, increase they chord length, floor stringer 7 outer end points are moved outward, with itself and No. 1 rib 1 contact position reach, can increase the elastic deformation amount of outer section of wing, the bigger thrust of acquisition when fluttering; Reduce aspect ratio, increase by 4, No. 5 ribs of No. 4 ribs 5 and girder 6 angle, reduce their chord length, with moving in the floor stringer 7 outer end points, with its with No. 1 rib 1 contact position after move, can reduce the elastic deformation amount of outer section of wing, the bigger lift of acquisition when fluttering.
The rigidity of structure distribution and the elastic deformation characteristic of this wing are reasonable; Bigger aerodynamic lift and thrust can be provided in the process of fluttering; And obtained the good combination of aerodynamic lift and thrust, and having reduced the expenditure of energy that wing is fluttered simultaneously, overall performance is superior to prior art.
Description of drawings
Fig. 1 is the scheme drawing (axonometric drawing) of embodiment 3
Fig. 2 is the scheme drawing (birds-eye view) of embodiment 3.
Among the figure: 1-1 rib, 2-2 rib, 3-3 rib, 4-4 rib, 5-5 rib, 6-girder, 7-floor stringer, 8-covering.
The specific embodiment
Low in order to overcome prior art wing pneumatic efficiency, rigidity of structure irrational distribution, the deficiency of poor reliability, the present invention provides a kind of wing of miniature ornithopter, can improve the pneumatic efficiency of flapping-wing aircraft wing, simplifies wing structure, improves the wing reliability.Research shows; The inner segment of flapping-wing aircraft wing mainly produces lift; Its size is relevant with Stiffness Distribution with the wing shape of cross section, the outer section main thrust that produces of wing, and its size is relevant with the Stiffness Distribution of being confirmed by the angle of inclination of wing outer section trailing edge shape and the outer section of wing rib.
Provide the embodiment of miniature ornithopter wing below in conjunction with accompanying drawing.
Embodiment 1:
Present embodiment is that the wing of a secondary miniature ornithopter comprises 4, No. 5 ribs 5 of 3, No. 4 ribs of 2, No. 3 ribs of 1, No. 2 ribs of No. 1 rib, girder 6, floor stringer 7, covering 8.
With the port wing is example, in implementation process:
4, No. 5 ribs 5 of 3, No. 4 ribs of 2, No. 3 ribs of 1, No. 2 ribs of No. 1 rib, girder 6, floor stringer 7 are the carbon fiber enhancement resin base composite material rod member, and aspect ratio is taken as 8, and promptly the chord length of No. 1 rib 1 is 25% of girder 6 length.Girder 6 is straight, and the leading edge point of five rib 1-5 is fixed on the girder 6, is begun by girder 6 roots; Occupy girder 6 exhibitions to 2/3rds of length; 1, No. 2 ribs 2 of No. 1 rib and No. 3 ribs 3 are perpendicular to girder, and No. 4 ribs 4 and No. 5 ribs 5 acutangulate with girder taper direction, and angle is respectively 70 ° and 55 °.1, No. 2 ribs 2 of No. 1 rib and No. 3 rib 3 chord lengths equate that the chord length of No. 4 ribs 4 and No. 5 ribs 5 reduces successively, all is shorter than rib 1 No. 1, is respectively 97% and 80% of No. 1 rib 1 chord length.The aerofoil profile of 1, No. 2 ribs 2 of No. 1 rib and No. 3 ribs 3 all adopts thin airfoil, and No. 5 rib 5 is straight, and No. 4 ribs 4 are the above two transition aerofoil profile.Floor stringer 7 is curved; The outer rim point is fixed between girder 6 taper end points and No. 5 ribs; The girder length of end points 15% outside girder, root are through No. 1 rib 1 latter half chord length position apart from trailing edge point 75%, and its radian assurance floor stringer 7 contacts with five rib correspondence positions.The fixing aramid fiber that soaks into glue that all adopts between girder 6 and rib 1-5, rib 1-5 and the floor stringer 7 bundlees.Girder 6 all extends certain-length so that be connected with fuselage with floor stringer 7 at the wing root place.So far, accomplished the wing framework that girder 6, floor stringer 7 and rib 1-5 constitute, above framework, covered polyester covering 8, fitted with the wing framework, constituted complete wing with adhesives.
The formation of starboard wing and the same port wing of making.
The wing that embodiment 1 makes has bigger elastic deformation amount when fluttering, and can produce bigger thrust.
Embodiment 2:
Present embodiment is that the wing of a secondary miniature ornithopter comprises 4, No. 5 ribs 5 of 3, No. 4 ribs of 2, No. 3 ribs of 1, No. 2 ribs of No. 1 rib, girder 6, floor stringer 7, covering 8.
With the port wing is example, in implementation process:
4, No. 5 ribs 5 of 3, No. 4 ribs of 2, No. 3 ribs of 1, No. 2 ribs of No. 1 rib, girder 6, floor stringer 7 are the carbon fiber enhancement resin base composite material rod member, and aspect ratio is taken as 6, and promptly the chord length of No. 1 rib 1 is 33% of girder 6 length.Girder 6 is straight, and the leading edge point of five rib 1-5 is fixed on the girder 6, is begun by girder 6 roots; Occupy girder 6 exhibitions to 4/5ths of length; 1, No. 2 ribs 2 of No. 1 rib and No. 3 ribs 3 are perpendicular to girder, and No. 4 ribs 4 and No. 5 ribs 5 acutangulate with girder taper direction, and angle is respectively 80 ° and 65 °.1, No. 2 ribs 2 of No. 1 rib and No. 3 rib 3 chord lengths equate that the chord length of No. 4 ribs 4 and No. 5 ribs 5 reduces successively, all is shorter than rib 1 No. 1, is respectively 90% and 70% of No. 1 rib 1 chord length.The aerofoil profile of 1, No. 2 ribs 2 of No. 1 rib and No. 3 ribs 3 all adopts thin airfoil, and No. 5 rib 5 is straight, and No. 4 ribs 4 are the above two transition aerofoil profile.Floor stringer 7 is curved; The outer rim point is fixed between girder 6 taper end points and No. 5 ribs; The girder length of end points 5% outside girder, root are through No. 1 rib 1 latter half chord length position apart from trailing edge point 85%, and its radian assurance floor stringer 7 contacts with five rib correspondence positions.The fixing aramid fiber that soaks into glue that all adopts between girder 6 and rib 1-5, rib 1-5 and the floor stringer 7 bundlees.Girder 6 all extends certain-length so that be connected with fuselage with floor stringer 7 at the wing root place.So far, accomplished the wing framework that girder 6, floor stringer 7 and rib 1-5 constitute, above framework, covered polyester covering 8, fitted with the wing framework, constituted complete wing with adhesives.
The formation of starboard wing and the same port wing of making.
The wing that embodiment 2 makes has less elastic deformation amount when fluttering, and can produce bigger aerodynamic lift.
Embodiment 3:
Present embodiment is that the wing of a secondary miniature ornithopter comprises 4, No. 5 ribs 5 of 3, No. 4 ribs of 2, No. 3 ribs of 1, No. 2 ribs of No. 1 rib, girder 6, floor stringer 7, covering 8.
With the port wing is example, in implementation process:
4, No. 5 ribs 5 of 3, No. 4 ribs of 2, No. 3 ribs of 1, No. 2 ribs of No. 1 rib, girder 6, floor stringer 7 are the carbon fiber enhancement resin base composite material rod member, and aspect ratio is taken as 7, and promptly the chord length of No. 1 rib 1 is 28% of girder 6 length.Girder 6 is straight, and the leading edge point of five rib 1-5 is fixed on the girder 6, is begun by girder 6 roots; Occupy girder 6 exhibitions to 73% of length; 1, No. 2 ribs 2 of No. 1 rib and No. 3 ribs 3 are perpendicular to girder, and No. 4 ribs 4 and No. 5 ribs 5 acutangulate with girder taper direction, and angle is respectively 78 ° and 63 °.1, No. 2 ribs 2 of No. 1 rib and No. 3 rib 3 chord lengths equate that the chord length of No. 4 ribs 4 and No. 5 ribs 5 reduces successively, all is shorter than rib 1 No. 1, is respectively 95% and 73% of No. 1 rib 1 chord length.The aerofoil profile of 1, No. 2 ribs 2 of No. 1 rib and No. 3 ribs 3 all adopts thin airfoil, and No. 5 rib 5 is straight, and No. 4 ribs 4 are the above two transition aerofoil profile.Floor stringer 7 is curved; The outer rim point is fixed between girder 6 taper end points and No. 5 ribs, the girder length of end points 10.5% outside girder, and root is through No. 1 rib 1 latter half chord length position apart from trailing edge point 78%; Its radian guarantees that floor stringer 7 contacts with five rib correspondence positions.The fixing aramid fiber that soaks into glue that all adopts between girder 6 and rib 1-5, rib 1-5 and the floor stringer 7 bundlees.Girder 6 all extends certain-length so that be connected with fuselage with floor stringer 7 at the wing root place.So far, accomplished the wing framework that girder 6, floor stringer 7 and rib 1-5 constitute, above framework, covered polyester covering 8, fitted with the wing framework, constituted complete wing with adhesives.
The formation of starboard wing and the same port wing of making.
The wing that embodiment 3 makes obtains the good combination of aerodynamic lift and thrust when fluttering, have outstanding Combination property.
Claims (8)
1. the wing of a miniature ornithopter comprises girder, floor stringer, rib and covering, it is characterized in that: said girder is straight, and the leading edge point of five ribs is fixed on the girder, is begun by the girder root, occupies the girder exhibition to 2/3rds to 4/5ths of length; No. 1 rib, No. 2 ribs and No. 3 ribs are perpendicular to girder, and No. 4 ribs and No. 5 ribs and girder taper direction acutangulate; No. 1 rib, No. 2 ribs and No. 3 rib chord lengths equate; The chord length of No. 4 ribs and No. 5 ribs reduces successively, all is shorter than rib No. 1, and the wing planform of formation is a wing tip trailing edge corner cut; Floor stringer is curved; The outer rim point is fixed on the girder between girder taper end points and No. 5 rib trailing edge points, and root is through number rib latter half, and its radian guarantees that floor stringer contacts with five rib correspondence positions and fixes; Girder, floor stringer and rib constitute the wing structure framework, and the covering of above framework, fitting forms complete wing.
2. the wing of miniature ornithopter according to claim 1 is characterized in that: the aspect ratio 6～8 of described wingpiston.
3. the wing of miniature ornithopter according to claim 1; It is characterized in that: the leading edge of described wingpiston is that girder line of centers, root are No. 1 rib string of a musical instrument; Trailing edge root one side is the straight line that the trailing edge point of No. 1 rib and No. 3 ribs constitutes; Part from No. 3 ribs to the girder taper is the quadratic spline curve; It is tangent with straight line of No. 1 ribs and No. 3 rib trailing edge point formations at No. 3 rib trailing edge points, connects No. 4 rib trailing edge points, No. 5 rib trailing edge points and girder taper end points successively.
4. the wing of miniature ornithopter according to claim 1, it is characterized in that: the aerofoil profile of described No. 1 rib, No. 2 ribs and No. 3 ribs all adopts thin airfoil, and No. 5 rib is straight, and No. 4 ribs are the above two transition aerofoil profile.
5. the wing of miniature ornithopter according to claim 1, it is characterized in that: the chord length of described No. 4 ribs is the 90%-97% of No. 1 rib chord length, the 70%-80% of No. 1 rib chord length of chord length of No. 5 ribs.
6. the wing of miniature ornithopter according to claim 1, it is characterized in that: described No. 4 ribs and the girder angle of direction laterally are 70-80 °, the angle of No. 5 ribs and girder lateral direction is 55-65 °.
7. the wing of miniature ornithopter according to claim 1, it is characterized in that: the leading edge point of described all ribs and trailing edge point all are positioned at the wing reference plane.
8. the wing of miniature ornithopter according to claim 1, it is characterized in that: the contact point of described floor stringer and No. 1 rib is positioned at rib 75%-85% chord length position No. 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120462428XU CN202414163U (en) | 2011-11-20 | 2011-11-20 | Wing of minitype ornithopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120462428XU CN202414163U (en) | 2011-11-20 | 2011-11-20 | Wing of minitype ornithopter |
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| Publication Number | Publication Date |
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| CN202414163U true CN202414163U (en) | 2012-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201120462428XU Expired - Fee Related CN202414163U (en) | 2011-11-20 | 2011-11-20 | Wing of minitype ornithopter |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501972A (en) * | 2011-11-20 | 2012-06-20 | 西北工业大学 | Wing of micro ornithopter |
| CN106275429A (en) * | 2016-08-11 | 2017-01-04 | 西北工业大学 | A kind of flapping-wing aircraft wing aerodynamic power differential gear and control method thereof |
| CN107804458A (en) * | 2017-11-13 | 2018-03-16 | 北京理工大学 | A kind of adaptive variation rigidity arcuate limbs for being used for mini-sized flap wings and flutterring rotor craft |
| CN109823534A (en) * | 2019-03-05 | 2019-05-31 | 西北工业大学太仓长三角研究院 | A kind of flapping-wing aircraft wing of fluttering |
| CN110450951A (en) * | 2019-07-30 | 2019-11-15 | 北京航空航天大学 | The wing and flapping wing aircraft of flapping wing aircraft |
| CN110834697A (en) * | 2019-12-13 | 2020-02-25 | 中国科学院沈阳自动化研究所 | Flexible foldable wing device for underwater robot |
| CN112278269A (en) * | 2020-10-30 | 2021-01-29 | 航空工业信息中心 | Sectional torsion type flapping wing structure |
| CN112706918A (en) * | 2021-02-04 | 2021-04-27 | 清华大学 | Flapping wing flexible wing and manufacturing method thereof |
-
2011
- 2011-11-20 CN CN201120462428XU patent/CN202414163U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501972A (en) * | 2011-11-20 | 2012-06-20 | 西北工业大学 | Wing of micro ornithopter |
| CN102501972B (en) * | 2011-11-20 | 2014-06-18 | 西北工业大学 | Wing of micro ornithopter |
| CN106275429A (en) * | 2016-08-11 | 2017-01-04 | 西北工业大学 | A kind of flapping-wing aircraft wing aerodynamic power differential gear and control method thereof |
| CN107804458A (en) * | 2017-11-13 | 2018-03-16 | 北京理工大学 | A kind of adaptive variation rigidity arcuate limbs for being used for mini-sized flap wings and flutterring rotor craft |
| CN109823534A (en) * | 2019-03-05 | 2019-05-31 | 西北工业大学太仓长三角研究院 | A kind of flapping-wing aircraft wing of fluttering |
| CN109823534B (en) * | 2019-03-05 | 2020-11-13 | 西北工业大学太仓长三角研究院 | Flapping wing for ornithopter |
| CN110450951A (en) * | 2019-07-30 | 2019-11-15 | 北京航空航天大学 | The wing and flapping wing aircraft of flapping wing aircraft |
| CN110834697A (en) * | 2019-12-13 | 2020-02-25 | 中国科学院沈阳自动化研究所 | Flexible foldable wing device for underwater robot |
| CN112278269A (en) * | 2020-10-30 | 2021-01-29 | 航空工业信息中心 | Sectional torsion type flapping wing structure |
| CN112706918A (en) * | 2021-02-04 | 2021-04-27 | 清华大学 | Flapping wing flexible wing and manufacturing method thereof |
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| C14 | Grant of patent or utility model | ||
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20121120 |