CN202481310U - Aviation cycloid paddle thruster - Google Patents
Aviation cycloid paddle thruster Download PDFInfo
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- CN202481310U CN202481310U CN2012200299081U CN201220029908U CN202481310U CN 202481310 U CN202481310 U CN 202481310U CN 2012200299081 U CN2012200299081 U CN 2012200299081U CN 201220029908 U CN201220029908 U CN 201220029908U CN 202481310 U CN202481310 U CN 202481310U
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- eccentric
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- oar
- cycloid
- bulb
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Abstract
The utility model provides an aviation cycloid paddle thruster. The aviation cycloid paddle thruster comprises cycloid paddle blades, a blade support, a cycloid paddle rotating shaft, a driving motor and an eccentric ring positioning mechanism, wherein a support arm and a clamping sleeve are arranged on the blade support; the clamping sleeve is in running fit with a main blade tubular beam; and the eccentric ring positioning mechanism comprises control pulling rods an eccentric rotating ring, an eccentric hollow column positioning platform and auxiliary positioning pulling rods. With the eccentric ring positioning mechanism, an eccentricity can be generated between a central axis of the eccentric rotating ring and the central axis of the cycloid paddle rotating shaft, therefore, the cycloid paddle blades can be periodically pitched under the control of the control pulling rods so as to generate a pulling force. With the adoption of the aviation cycloid paddle thruster, the problem of an installing manner of a cantilever beam type paddle blade in the prior art that a pivot of the paddle is relatively easy to be broken due to the relatively large bending moment to be borne can be solved; and the problem of the prior art that the system is complicated to control because an actuator controls an attack angle in an electromagnetic or hydraulic form can be solved as well.
Description
Technical field
The present invention relates to the power system technical field, be specially a kind of aviation cycloid oar propelling unit.
Background technology
The cycloid oar has another name called voith schneider propeller, and path of motion of blade is that cycloid is gained the name when pushing ahead because of it.The exhibition of cycloid oar blade to the parallel axes of oar dish rotating shaft, through be pivotally mounted in oar dish on parallel with oar dish shaft axis of axis, blade can be around pivot swinging.Blade is as lifting surface; In oar dish rotating shaft rotation process; To the maximum angle of attack, the consecutive periods from the maximum angle of attack to zero-incidence changes its angle of attack experience again from zero-incidence, and the non-permanent aerodynamic effect that this luffing of blade brings can improve the pneumatic efficiency of cycloid oar greatly.In addition, through the maximum angle of attack size that control mechanism is regulated blade, can change the pulling force size of cycloid oar; And through regulating blade angle of attack azimuth on oar dish when maximum; Then can produce pulling force perpendicular to arbitrary direction in the plane of oar dish rotating shaft; Thereby can produce vehicle yaw moment, play the effect of yaw rudder, and traditional propeller blade is vertical with rotating shaft; Only can provide, thereby need yaw rudder to change direction of pull along the pulling force of shaft axis direction.
U.S. Pat 7,059,923 by people such as Jurgens and Dirk application discloses a kind of cycloid oar peculiar to vessel with guar plate.In this invention, the cycloid oar is made up of a rotating disc and several blades that are mounted thereon, and in the rotating disc rotary course, each blade is around self pivot swinging, and the pivotal axis on each blade is parallel with the shaft axis of rotating disc.Guar plate is substantially perpendicular to the shaft axis of rotating disc, and near blade away from rotating disc one end.Guar plate has a slit at least, and the travel direction with ship is vertical substantially for the direction of cracking of slit, and current flow into from the slit of guar plate bottom, from the slit outflow of guar plate upper surface, can improve the efficient of cycloid oar.The purpose of this invention is to improve the efficient and the traveling comfort of cycloid oar.But because in this invention; The blade of cycloid oar has only an end to be installed on the rotating disc, and when cycloid oar high speed revolution, the blade mounting means of this beam type will make the blade pivot that is installed in the rotating disc place bear great moment of flexure; Blade very easily fractures; Thereby its field of application only limits to like lower situation of cycloid oar rotating speed such as ship domains, is not suitable in the aviation high-speed aircraft field.
Should disclose a kind of with the Chinese patent CN 101327839 of people such as Yang Shixi application by executing section with the straight wing cycloid thruster of stepping motor as control mechanism.In this invention, on mounting seat, be provided with main motor mounting rack, main motor mounting rack is provided with main drive motor, and main drive motor is connected with main shaft through adapter shaft, is with conducting ring on the adapter shaft, and main shaft turns to the meeting of mounting seat below and is connected; Be provided with first vane control motor, second vane control motor in the revolution case, first vane control motor is connected with first blade.The purpose of this invention be utilize that stepping motor response is fast, the characteristics of controlling easily solve that ordinary straight wing cycloid thruster control mechanism is complicated, service life is short, dynamic response waits problem slowly.But in this invention, blade only has an end to be connected with stepping motor, has formed cantilever beam structure equally, will produce very big moment of flexure at blade and stepping motor junction; Simultaneously, this invention need be write the control algorithm of the complicated cycloidal oar blade angle of attack, and stepping motor must can use with forming control systems such as loop pulse signal controller, power driving circuits, and this has not only increased the control difficulty, has also increased cost.
By Heinz A.Gerhardt, Redondo Beach discloses a kind of aircraft that adopts the cycloid oar in the US Pat 5,265,827 of people such as Calif application.The purpose of this invention is to rely on two cycloid oars to realize the VTOL of aircraft.In this invention, attack angle of blade is through the actuator control of forms such as electromagnetism or hydraulic pressure, and actuator is then by computer controlled, and control mechanism is comparatively complicated; In addition, each blade is by two stent support, and rotating shaft that need be very long.This has not only increased the weight of aircraft, has also increased the resistance of aircraft.
A kind of cycloid oar that adopts cam as control mechanism is disclosed among the Chinese patent CN85103046A by the Li Renguo application.The purpose of this invention is to avoid the use of conventional sliding-block linkage, manages to reduce the system complex degree, improves mechanical efficiency.Control mechanism in this patent is made up of a face cam, and blade installation is on fan disk.Fan disk drives blade and revolves round the sun around face cam.Simultaneously on the fan disk two guide wheels are installed, guide wheel is at the cam internal motion of face cam, thereby the angle of attack of cycloidal oar blade can be changed according to the characteristics of motion that cam designs in advance.Cycloid oar control mechanism in this patent is simple relatively, but the guided wheel slot curve of cam is fixed the very difficult variable vectored thrust of moment that realizes.
Summary of the invention
The technical matters that solves
For solving the problem that prior art exists, the present invention proposes a kind of aviation cycloid oar propelling unit, realize the control of blade through adopting eccentric loop mapping mechanism.
Technical scheme
Technical scheme of the present invention is:
Said a kind of aviation cycloid oar propelling unit is characterized in that: comprise cycloidal oar blade, blade support, the rotating shaft of cycloid oar, drive motor and eccentric loop mapping mechanism;
Said drive motor is fixed in the electric machine casing; The power take-off of drive motor is connected through coupler with cycloid oar rotating shaft one end; The cycloid oar rotating shaft other end is captiveed joint with the blade carriage center; And the rotating shaft of cycloid oar along the circumferential direction is evenly distributed with some bulbs perpendicular to blade support plane in the electric machine casing upper surface, and the center of circle of circumference is on the cycloid oar rotating shaft central axis;
The support arm that the blade support has several uniform divergence shapes to distribute, the outer end of each support arm is fixed with chuck, person in charge's beam normal-running fit of chuck and cycloidal oar blade, the cycloidal oar blade number is identical with the support arm number; Person in charge's beam of cycloidal oar blade and tubule beam are parallel to the rotating shaft of cycloid oar respectively, have bulb on overhanging section of the tubule beam of cycloidal oar blade, and the tubule beam cooperates with control pull rod one end employing bulb hinge in the eccentric loop mapping mechanism through bulb;
Eccentric loop mapping mechanism comprises control pull rod, eccentric rotary annulus, eccentric hollow cylinder positioning table and assist location pull bar; The eccentric rotary annulus along the circumferential direction is evenly distributed with some bulbs on one side; Bulb number on the eccentric rotary annulus is identical with the cycloidal oar blade number; Eccentric rotary annulus another side cooperates through bearing with eccentric hollow cylinder positioning table one end face; And the eccentric rotary annulus is coaxial with eccentric hollow cylinder positioning table; On eccentric hollow cylinder positioning table other end, also be evenly distributed with a plurality of bulbs, the bulb number on the eccentric hollow cylinder positioning table is identical with the bulb number of assist location pull bar number and electric machine casing upper surface; Eccentric hollow cylinder positioning table is connected with outside steering wheel; The control pull rod number is identical with the cycloidal oar blade number, and the bulb on the control pull rod other end and the eccentric rotary annulus adopts the bulb hinge to cooperate, and at least one control pull rod and eccentric rotary annulus connect and fix; Eccentric rotary annulus and eccentric hollow cylinder positioning table are enclosed within the rotating shaft of cycloid oar; Bulb on assist location pull bar one end and the eccentric hollow cylinder positioning table adopts the bulb hinge to cooperate, and the assist location pull bar other end cooperates with the bulb employing bulb hinge of electric machine casing upper surface.
Described a kind of aviation cycloid oar propelling unit is characterized in that: the maximum angle of attack of cycloidal oar blade is no more than 45 degree, and the maxim of eccentric rotary annulus eccentric throw is 0.707 times that cycloidal oar blade is responsible for distance between beam axis and the cycloidal oar blade tubule beam axis.
Beneficial effect
A kind of aviation cycloid oar propelling unit that the present invention proposes, its blade support and cycloidal oar blade employing normal-running fit have overcome that beam type blade mounting means exists the blade pivot to bear great moment of flexure in the prior art, the problem that blade very easily fractures; And; The present invention is simple in structure; Realize the change of the cycloidal oar blade angle of attack and the adjustment of the maximum angle of attack through single motor and eccentric loop mapping mechanism, overcome and carried out the actuator control angle of attack through forms such as electromagnetism or hydraulic pressure in the prior art and bring the control system complicated problems.
Description of drawings
Fig. 1: structural representation of the present invention;
Fig. 2: the support zone structural representation of eccentric loop mapping mechanism;
Fig. 3: blade support and cycloidal oar blade mounting structure scheme drawing;
Fig. 4: cycloidal oar blade structural representation;
Fig. 5: jacket structured scheme drawing;
Fig. 6: left jacket structured scheme drawing;
Fig. 7: right jacket structured scheme drawing;
Fig. 8: cycloid oar rotating shaft scheme drawing;
Fig. 9: control pull rod scheme drawing;
Figure 10: eccentric rotary annulus birds-eye view;
Figure 11: eccentric rotary annulus and eccentric hollow cylinder positioning table cutaway view;
Figure 12: the mounting structure scheme drawing of eccentric rotary annulus and control pull rod;
Wherein: 2. cycloidal oar blade; 3. support arm; 5. cycloid oar rotating shaft; 18. electric machine casing; 19. drive motor; 20. shaft bearing; 21. cycloidal oar blade tubule beam; 22. shaft bearing locating flange; 23. eccentric loop mapping mechanism supports part; 24. spherical hinge is installation base down; 25. pull bar spherical linkage; 26. assist location pull bar; 27. control pull rod; 28. universal coupling; 30. eccentric hollow cylinder positioning table; 31. spherical hinge upper mounting boss; 32. chuck; 33. cycloidal oar blade covering; 34. cycloidal oar blade rib; 35. cycloidal oar blade is responsible for beam; 36. cycloidal oar blade is responsible for beam bearing is installed; 37. the spherical hinge of cycloidal oar blade tubule beam bulb; 38. blade stand connection; 46. eccentric rotary annulus; 47. spherical hinge bulb mounting hole; 48. spherical hinge bulb; 49. control pull rod position-limited trough; 50. eccentric collar bearing back-up ring; 51. back-up ring captive nut; 52. nylined bearing; 53. rod member.
The specific embodiment
Below in conjunction with specific embodiment the present invention is described:
Present embodiment is a kind of aviation cycloid oar propelling unit, comprises cycloidal oar blade 2, blade support, cycloid oar rotating shaft 5, drive motor 19 and eccentric loop mapping mechanism.
With reference to accompanying drawing 1; Said drive motor 19 is fixed in the electric machine casing 18; After the power take-off of drive motor passes the electric machine casing centre housing; Be connected through universal coupling 28 with an end of cycloid oar rotating shaft 5, the benefit that adopts universal coupling 28 is that it can transmitting large torque, and allows between the diaxon because the less angular transposition deviation that processing is brought.With reference to accompanying drawing 2, the rotating shaft of cycloid oar cooperates through shaft bearing 20 with the electric machine casing wainscot, and in the rotating shaft of cycloid oar, shaft bearing locating flange 22 is arranged, and the shaft bearing locating flange is pressed in the shaft bearing upper end, has realized the axial location of cycloid oar rotating shaft.On the electric machine casing wainscot, also be fixed with eccentric loop mapping mechanism supports part 23 and be used to support eccentric loop mapping mechanism; With reference to accompanying drawing 2; Eccentric loop mapping mechanism supports part is an annular; And the central axis of eccentric loop mapping mechanism supports part and the central axes of cycloid oar rotating shaft 5; Along the circumferential direction be evenly distributed with installation base 24 under four spherical hinges on the eccentric loop mapping mechanism supports part, each spherical hinge all is fixed with a spherical hinge bulb on the installation base down, is used for adopting the bulb hinge to cooperate with the assist location pull bar 26 of eccentric loop mapping mechanism.
With reference to accompanying drawing 3, the cycloid oar rotating shaft other end is captiveed joint with the blade stand connection 38 of blade carriage center, and the rotating shaft of cycloid oar is perpendicular to blade support plane, and blade stand connection 38 is captiveed joint with the blade bracket screw; The blade support comprises support arm and chuck, and the blade support adopts the aluminum alloy manufacturing, and support arm is uniform divergence shape and distributes; In the present embodiment; The blade support comprises four support arms, and four support arms are crossing distribution, and the outer end of each support arm all is fixed with a chuck 32.With reference to accompanying drawing 5 to accompanying drawing 7, chuck 32 is divided into left chuck and right chuck, and the chuck inside face has the bearing installation deep-slotted chip breaker, and left chuck and right chuck pass through screw retention.The bearing installation deep-slotted chip breaker of chuck inside face cooperates with the cycloidal oar blade person in charge beam installation bearing 36 that cycloidal oar blade is responsible on the beam 35; Both realize the normal-running fit of chuck and cycloidal oar blade person in charge beam, realized the axial location of support arm on cycloidal oar blade person in charge beam again.
With reference to accompanying drawing 4, cycloidal oar blade 2 adopts the rectangle aerofoil of NACA0014 symmetrical airfoil; The cycloidal oar blade number is identical with the support arm number; The cycloidal oar blade covering 33 that the carbon fiber composite material manufacturing is arranged in the cycloidal oar blade surface coverage; The chord length of cycloidal oar blade is 60mm; The span is 120mm; Aspect ratio is 2; Be uniformly distributed with six cycloidal oar blade ribs 34 that are parallel to each other in the cycloidal oar blade, and on the cycloidal oar blade rib, have the pipe beam hole of perforation, cycloidal oar blade to be responsible for the pipe beam hole that beam 35 and cycloidal oar blade tubule beam 21 pass each cycloidal oar blade rib respectively apart from leading edge point 8mm and 25mm place.The axial middle part that cycloidal oar blade is responsible for beam 35 is equipped with cycloidal oar blade person in charge beam installation bearing 36; Cycloidal oar blade is responsible for beam installation bearing and is cooperated with the bearing installation deep-slotted chip breaker of chuck; Make cycloidal oar blade be able to be fixed on the blade support, rotate with the blade support.Cycloidal oar blade tubule beam and cycloidal oar blade are responsible for beam and all are parallel to the rotating shaft of cycloid oar; Overhanging section lower end of cycloidal oar blade tubule beam is fixed with the spherical hinge of cycloidal oar blade tubule beam bulb 37, is used for adopting the bulb hinge to cooperate with control pull rod 27 1 ends of eccentric loop mapping mechanism.
With reference to accompanying drawing 1, eccentric loop mapping mechanism comprises four control pull rod 27, eccentric rotary annulus 46, eccentric hollow cylinder positioning table 30 and four assist location pull bars 26.
Control pull rod is identical with the assist location Tiebar structure, forms by rod member 53 and pull bar spherical linkage 25, and shown in accompanying drawing 9, rod member 53 two ends are connected cooperation with pull bar spherical linkage 25 coaxial threaded, and pull bar spherical linkage 25 is used for adopting the bulb hinge to cooperate with bulb.
With reference to accompanying drawing 10; Along the circumferential direction be evenly distributed with four tapped spherical hinge bulb mounting holes 47 on eccentric rotary annulus 46 1 sides; Spherical hinge bulb is fixed in the spherical hinge bulb mounting hole 47, is used for adopting the bulb hinge to cooperate with the other end of control pull rod 27.There is the control pull rod position-limited trough 49 of protrusion at the outer rim place of a spherical hinge bulb mounting hole 47 therein, is used to block wherein control pull rod rod member, and eccentric rotary annulus 46 is rotated with the cycloid oar.
With reference to accompanying drawing 11, eccentric rotary annulus another side cooperates through nylined bearing 52 with eccentric hollow cylinder positioning table 30 1 end faces, and through eccentric collar bearing back-up ring 50 that nylined bearing 52 is spacing.The eccentric rotary annulus is coaxial with eccentric hollow cylinder positioning table, and the eccentric rotary annulus is free to rotate with eccentric hollow cylinder positioning table relatively.Eccentric hollow cylinder positioning table is connected with outside steering wheel, and outside steering wheel is used to adjust the axial location of eccentric hollow cylinder positioning table.On eccentric hollow cylinder positioning table other end, along the circumferential direction be evenly distributed with four spherical hinge upper mounting boss 31; Be fixed with a spherical hinge bulb on each spherical hinge upper mounting boss, be used for adopting the bulb hinge to cooperate with the assist location pull bar 26 of eccentric loop mapping mechanism.
Eccentric rotary annulus and eccentric hollow cylinder positioning table are enclosed within the rotating shaft of cycloid oar; The pull bar spherical linkage at assist location pull bar two ends respectively with sphere hinge down the sphere hinge bulb of installation base and spherical hinge upper mounting boss cooperate; The combined type parallel-crank mechanism of four assist location pull bar compositions can be realized the axial location of eccentric loop mapping mechanism, and guarantees that the eccentric rotary annulus is parallel with cycloid oar shaft axis with eccentric hollow cylinder positioning table axis; And the pull bar spherical linkage at control pull rod two ends cooperates with spherical sphere hinge bulb and the spherical hinge of the cycloidal oar blade tubule beam bulb that cuts with scissors in the bulb mounting hole of eccentric rotary annulus respectively, realizes that cycloidal oar blade drive eccentric rotary annulus rotates.
It is parallel with the central axis of cycloid oar rotating shaft but do not overlap that off-centre in the said eccentric loop mapping mechanism refers to the central axis of eccentric rotary annulus, has eccentric throw.Shown in figure 12, externally under the effect of servo steering wheel, eccentric hollow cylinder positioning table drives the eccentric rotary annulus and changes the position; Thereby generation eccentric throw; Eccentric throw is not 0 o'clock, and cycloidal oar blade will be done periodically luffing under the control of control pull rod 27, thereby produces pulling force; Outside servo steering wheel is regulated the eccentric throw size is perhaps changed drive motor 19 by pilot guidance rotating speed, then can produce the pulling force of different sizes.
The maximum angle of attack of cycloidal oar blade 2 is no more than 45 degree; The maxim of eccentric rotary annulus eccentric throw is 0.707 times that cycloidal oar blade is responsible for distance between beam 35 axis and cycloidal oar blade tubule beam 21 axis, to avoid cycloidal oar blade 2 stall and mechanism vibrations, clamping stagnation.
Claims (2)
1. an aviation cycloid oar propelling unit is characterized in that: comprise cycloidal oar blade, blade support, the rotating shaft of cycloid oar, drive motor and eccentric loop mapping mechanism;
Said drive motor is fixed in the electric machine casing; The power take-off of drive motor is connected through coupler with cycloid oar rotating shaft one end; The cycloid oar rotating shaft other end is captiveed joint with the blade carriage center; And the rotating shaft of cycloid oar along the circumferential direction is evenly distributed with some bulbs perpendicular to blade support plane in the electric machine casing upper surface, and the center of circle of circumference is on the cycloid oar rotating shaft central axis;
The support arm that the blade support has several uniform divergence shapes to distribute, the outer end of each support arm is fixed with chuck, person in charge's beam normal-running fit of chuck and cycloidal oar blade, the cycloidal oar blade number is identical with the support arm number; Person in charge's beam of cycloidal oar blade and tubule beam are parallel to the rotating shaft of cycloid oar respectively, have bulb on overhanging section of the tubule beam of cycloidal oar blade, and the tubule beam cooperates with control pull rod one end employing bulb hinge in the eccentric loop mapping mechanism through bulb;
Eccentric loop mapping mechanism comprises control pull rod, eccentric rotary annulus, eccentric hollow cylinder positioning table and assist location pull bar; The eccentric rotary annulus along the circumferential direction is evenly distributed with some bulbs on one side; Bulb number on the eccentric rotary annulus is identical with the cycloidal oar blade number; Eccentric rotary annulus another side cooperates through bearing with eccentric hollow cylinder positioning table one end face; And the eccentric rotary annulus is coaxial with eccentric hollow cylinder positioning table; On eccentric hollow cylinder positioning table other end, also be evenly distributed with a plurality of bulbs, the bulb number on the eccentric hollow cylinder positioning table is identical with the bulb number of assist location pull bar number and electric machine casing upper surface; Eccentric hollow cylinder positioning table is connected with outside steering wheel; The control pull rod number is identical with the cycloidal oar blade number, and the bulb on the control pull rod other end and the eccentric rotary annulus adopts the bulb hinge to cooperate, and at least one control pull rod and eccentric rotary annulus connect and fix; Eccentric rotary annulus and eccentric hollow cylinder positioning table are enclosed within the rotating shaft of cycloid oar; Bulb on assist location pull bar one end and the eccentric hollow cylinder positioning table adopts the bulb hinge to cooperate, and the assist location pull bar other end cooperates with the bulb employing bulb hinge of electric machine casing upper surface.
2. a kind of aviation cycloid oar propelling unit according to claim 1; It is characterized in that: the maximum angle of attack of cycloidal oar blade is no more than 45 degree, and the maxim of eccentric rotary annulus eccentric throw is 0.707 times that cycloidal oar blade is responsible for distance between beam axis and the cycloidal oar blade tubule beam axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200299081U CN202481310U (en) | 2012-01-30 | 2012-01-30 | Aviation cycloid paddle thruster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200299081U CN202481310U (en) | 2012-01-30 | 2012-01-30 | Aviation cycloid paddle thruster |
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| CN202481310U true CN202481310U (en) | 2012-10-10 |
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| CN2012200299081U Expired - Fee Related CN202481310U (en) | 2012-01-30 | 2012-01-30 | Aviation cycloid paddle thruster |
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| CN (1) | CN202481310U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582830A (en) * | 2012-01-30 | 2012-07-18 | 西北工业大学 | Cycloidal paddle propeller |
| CN103434627A (en) * | 2013-08-30 | 2013-12-11 | 西北工业大学 | Automatic control mechanism of rocker sliding block type cycloid paddle |
| CN103448908A (en) * | 2013-08-25 | 2013-12-18 | 西北工业大学 | Hybrid power airship adopting inflated wings and cycloidal propellers |
| CN103991547A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small ornithopter |
| CN106005373A (en) * | 2016-05-22 | 2016-10-12 | 江富余 | Resistance-asymmetric propeller |
-
2012
- 2012-01-30 CN CN2012200299081U patent/CN202481310U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582830A (en) * | 2012-01-30 | 2012-07-18 | 西北工业大学 | Cycloidal paddle propeller |
| CN102582830B (en) * | 2012-01-30 | 2014-07-16 | 西北工业大学 | Cycloidal paddle propeller |
| CN103448908A (en) * | 2013-08-25 | 2013-12-18 | 西北工业大学 | Hybrid power airship adopting inflated wings and cycloidal propellers |
| CN103434627A (en) * | 2013-08-30 | 2013-12-11 | 西北工业大学 | Automatic control mechanism of rocker sliding block type cycloid paddle |
| CN103991547A (en) * | 2014-05-30 | 2014-08-20 | 佛山市神风航空科技有限公司 | Small ornithopter |
| CN103991547B (en) * | 2014-05-30 | 2015-12-30 | 佛山市神风航空科技有限公司 | A kind of small-sized class flapping wing aircraft |
| CN106005373A (en) * | 2016-05-22 | 2016-10-12 | 江富余 | Resistance-asymmetric propeller |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121010 Termination date: 20150130 |
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| EXPY | Termination of patent right or utility model |