CN202574618U - Flapping-rotor-wing micro air vehicle - Google Patents
Flapping-rotor-wing micro air vehicle Download PDFInfo
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- CN202574618U CN202574618U CN 201220130371 CN201220130371U CN202574618U CN 202574618 U CN202574618 U CN 202574618U CN 201220130371 CN201220130371 CN 201220130371 CN 201220130371 U CN201220130371 U CN 201220130371U CN 202574618 U CN202574618 U CN 202574618U
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- permanent magnet
- shell
- suspension joint
- flapping
- sleeved
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Abstract
The utility model provides a flapping-rotor-wing micro air vehicle. A suspension joint is sleeved at the top end of a longitudinal keel of an engine body; connecting rods of two flapping wings are respectively hinged with connecting lugs on the outer circumference of the suspension joint; the two flapping wings are symmetrically mounted on the suspension joint, and trailing edges of the two flapping wings are in opposite directions; a spring is sleeved on the longitudinal keel of the engine body and is positioned below the suspension joint; an actuating sleeve is sleeved on the longitudinal keel of the engine body and is positioned below the spring; one ends of the connecting rods are connected with the flapping wings through hinge joints, and the other ends of the connecting rods are connected with the actuating sleeve through hinge joints; an electromagnetic driver is sleeved on the longitudinal keel of the engine body and is positioned below the actuating sleeve; control planes are bonded on support arms of landing gears; and differential control planes and synchronous control planes which are fixedly arranged on the landing gears are distributed alternately. A magnet in the flapping-rotor-wing micro air vehicle does not need to rotate round a central shaft of the air vehicle, so the thrust needed by the flapping wings during the rotation round the longitudinal keel is reduced, and then the lift force is increased; and besides, the flapping-rotor-wing micro air vehicle is simple in structure and is light in weight.
Description
Technical field
The present invention's design belongs to minute vehicle technical field, particularly a kind of miniature rotor craft of pouncing on.
Background technology
In application number is 200910079817.1 innovation and creation, proposed a kind ofly to pounce on the rotor design method and utilize the method design-calculated microminiature to pounce on rotor craft.The miniature electromagnetic drive mechanism of pouncing on rotor craft that these innovation and creation propose adopts " W " shape or " 3W " shape, and the U-shaped soft iron is in juxtaposition, and the centre sandwiches the closed iron plate of magnetic, and outside face twines lead and constitutes " W " shape.Two closed iron plate one ends of magnetic are fixed between two U-shaped soft irons, and iron plate bottom and adapter shaft glued joint, and the other end and flapping wing root be affixed or splicing with screw; Two springs are separately fixed at " W " shape electromagnet both sides, and both ends of the spring is glued to respectively between soft iron post upper end, the outside and the soft iron sheet.This " W " or " 3W " shape electromagnetic drive mechanism need below each flapping wing, to be provided with U-shaped soft iron sheet, the closed iron plate of magnetic and spring, cause mechanism to repeat, and make quality increase at double; This whole electromagnetic drive mechanism is around aircraft center shaft rotation, and the rotary thrust that needs flapping wing to flutter to produce is big, has reduced the lift that makes progress.But this innovation and creation mechanism repeats, electromagnetic drive mechanism is around the rotation of aircraft center shaft, and the rotary thrust that exists required flapping wing to flutter to produce is big, to the little deficiency of raising force.
Summary of the invention
The mechanism that exists in the prior art repeats in order to overcome, electromagnetic drive mechanism is around the rotation of aircraft center shaft, flapping wing flutter the rotary thrust that produces big, to the little deficiency of raising force, the present invention proposes a kind of miniature rotor craft of pouncing on.
The present invention includes electromagnetic driver, start cover, spring, suspension joint, flapping wing, connecting rod, support platform, alighting gear, controller, body shell, receiver, steering wheel; Suspension joint is sleeved on the vertical keel of body top; The connecting rod of two flapping wings respectively with the suspension joint excircle on attachment lug hinged; Said two flapping wing symmetries are installed on the suspension joint, and make the trailing edge of two flapping wings in the opposite direction; Spring housing is contained on the vertical keel of body, and is positioned at the suspension joint below; The start cover is sleeved on the vertical keel of body, and is positioned at the spring below; One end of connecting rod is connected with flapping wing through knuckle joint, and the other end of connecting rod links to each other with the start cover through knuckle joint; Electromagnetic driver is sleeved on the vertical keel of body, and is positioned at start cover below; Said control surface is bonded on the support arm of alighting gear.
The internal diameter of body shell is identical with the external diameter of support platform; Successively steering wheel, receiver, battery and the controller of outsourcing are packed in the body shell; Wherein, steering wheel is bonded on the end cap of body shell, and receiver is bonded at above the steering wheel, and the output signal data line of receiver and the input signal data line of steering wheel link to each other.Battery is bonded at the receiver upper surface, and battery links to each other with the power input line of receiver.Controller is bonded at the battery upper surface; The power input line of controller links to each other with battery, and this controller input signal data line links to each other with the output signal data line of receiver; 2 power connections of controller link to each other with the two ends of coil through lead respectively, make between controller and the coil and form the loop, and the internal circular surfaces of body shell opening end and the external peripheral surface of support platform are bonding.The support arm of each alighting gear is respectively charged in each through hole on the circumference of body shell lower end, and links to each other with the steering wheel of steering wheel, and makes two differentiating control faces symmetrical, makes two synchro control faces symmetrical, has formed the hand-deliver of differentiating control face and synchro control for distributing.
Described electromagnetic driver comprises coil, permanent magnet, ferromagnet shell and magnetic close out sheet; Permanent magnet is positioned at the permanent magnet shell, and the upper surface of this permanent magnet sticks on the lower surface of permanent magnet shell upper head plate, and the internal circular surfaces that makes permanent magnet and permanent magnet sheath top plate centre hole is surperficial concordant; The lower surface of this permanent magnet contacts with the upper surface of magnetic close out sheet; Mounting coil is at the outside face of permanent magnet, and the lower end of this coil is fixed on the upper surface of the closed iron plate of circular magnetic; The lower surface of magnetic close out sheet sticks on support platform upper surface center; On said magnetic close out sheet, the winding wire via hole is arranged, and when the magnetic close out sheet with after the ferromagnet shell cooperates, the position of this winding wire via hole must be positioned at the ferromagnet shell; Described coil, permanent magnet, ferromagnet shell and magnetic close out sheet are coaxial.
The winding wire via hole that axially connects along this support platform is arranged on the said support platform, and have the winding wire via hole to overlap on the winding wire via hole on the said support platform and the said magnetic closure iron plate.
Symmetry is distributed with a pair of hectare of oblique attachment lug on the excircle of said suspension joint; Angle between the line of centers of said attachment lug Width and the axis of suspension joint is 65 °; The inner hole sleeve of said suspension joint is contained on the vertical keel of body.
Permanent magnet shell upper end end plate arranged; Free-running fit between the vertical keel of the upper head plate of permanent magnet shell and body; Be sleeved on free-running fit between the inside face of outside face and permanent magnet shell of the coil on the permanent magnet; Free-running fit between the vertical keel of permanent magnet and body.
Said control surface comprises synchro control face and differentiating control face; And the bonding direction of the control surface on the alighting gear of a pair of symmetry is identical; Formed two synchro control faces, another bonding to the control surface on the alighting gear of symmetry is in the opposite direction, has formed two differentiating control faces.
Among the present invention; When the initial position of permanent magnet during in minimum position; Coil is under the effect of periodicity exchange current, and the magnetic field and the permanent magnet of generation repel each other, the permanent magnet shell upward movement that promotes permanent magnet and link to each other; And then drive start cover and connecting rod upward movement, thereby the flapping wing that links to each other with connecting rod is upwards fluttered.Simultaneously, length of spring compressed.When coil current was reverse, under spring restoring force, magnetic force and permanent magnet, the action of gravity of permanent magnet shell, start cover, connecting rod, permanent magnet, permanent magnet shell moved downward, and pounce under the flapping wing.Flapping wing need be set an initial angle of attack, and when fluttering downwards, because the plastic deformation of aerofoil self, effective angle of attack is constantly changing, and not only can produce lift upwards, can produce thrust forward simultaneously; Because two flapping wing symmetrical reverse are installed, institute's thrust direction that produces is opposite, forms a pair of couple, and flapping wing, suspension joint, connecting rod, start are overlapped around the vertical keel rotation of body.The increase of flapping wing rotative speed can increase lift and thrust again, and then further improves the rotative speed and the pneumatic usefulness of flapping wing, makes and pounces on the mission requirements that rotor craft satisfies VTOL and hovers.Make through control synchro control face and differentiating control face and to fly before the aircraft and turn to.Because rotatablely moving of flapping wing is by the flapping wing that antisymmetry the is installed generation of fluttering, and do not reverse input, so do not need extra tail slurry and extra energy to offset moment of rotation.Among the present invention,, flapping wing is reduced around the required thrust of the vertical keel rotation of body, and then improved lift because magnet need not to rotate around the aircraft center shaft, and simple in structure, light weight.
Description of drawings
Fig. 1 is the miniature lateral plan of pouncing on the rotor craft structural representation;
Fig. 2 is the miniature birds-eye view of pouncing on the rotor craft structural representation;
Fig. 3 is the structural representation of flapping wing;
Fig. 4 is the structural representation of electromagnetic driver;
Fig. 5 is the structural representation of alighting gear.Wherein,
1. the vertical keel 4. ferromagnet shells of coil 2. permanent magnets 3. bodies 5. start covers
6. spring 7. suspension joints 8. flapping wings 9. connecting rods 10. support platforms
11. closed iron plate 14. controllers of battery 12. alighting gears 13. magnetic 15. body shells
16. control surface 17. strut bars 18. receivers 19. steering wheels 20. synchro control faces
21. differentiating control face
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Shown in accompanying drawing 1.Present embodiment is a kind of miniature rotor craft of pouncing on, and comprises electromagnetic driver, start cover 5, spring 6, suspension joint 7, flapping wing 8, connecting rod 9, support platform 10, battery 11, alighting gear 12, controller 14, body shell 15, control surface 16, receiver 18 and steering wheel 19.
Suspension joint 7 is sleeved on the vertical keel of body 3 tops; With the connecting rod of two flapping wings 8 respectively with suspension joint 7 excircles on attachment lug hinged; Said two flapping wing 8 symmetries are installed on the suspension joint 7, and its layout type is identical with helicopter paddle layout type, and makes the trailing edge of two flapping wings 8 in the opposite direction.Spring 6 is sleeved on the vertical keel 3 of body, and is positioned at the suspension joint below.Start cover 5 is sleeved on the vertical keel 3 of body, and is positioned at the spring below; One end of connecting rod 9 is connected with flapping wing 8 through knuckle joint, and the other end of connecting rod 9 links to each other with the start cover through knuckle joint.Electromagnetic driver is sleeved on the vertical keel 3 of body, and is positioned at start cover below.
As shown in Figure 4.Described electromagnetic driver comprises coil 1, permanent magnet 2, ferromagnet shell 4 and magnetic close out sheet 13.Permanent magnet 2 is positioned at permanent magnet shell 4, and the upper surface of this permanent magnet 2 sticks on the lower surface of permanent magnet shell 4 upper head plates, and the internal circular surfaces that makes permanent magnet 2 and permanent magnet shell 4 top board centre holes is surperficial concordant; The lower surface of this permanent magnet 2 contacts with the upper surface of magnetic close out sheet 13.Coil 1 is sleeved on the outside face of permanent magnet 2, and the lower end of this coil 1 is fixed on the upper surface of the closed iron plate 13 of circular magnetic.The lower surface of magnetic close out sheet 13 sticks on support platform 10 upper surface centers.On said magnetic close out sheet 13, the winding wire via hole is arranged, and when magnetic close out sheet 13 with after ferromagnet shell 4 cooperates, the position of this winding wire via hole must be positioned at ferromagnet shell 4.Described coil 1, permanent magnet 2, ferromagnet shell 4 and magnetic close out sheet 13 are coaxial.
Described permanent magnet 2 is the hollow gyro-rotor.The internal diameter of permanent magnet 2 is identical with the external diameter of the vertical keel 3 of body, and after electromagnetic driver is sleeved on the vertical keel 3 of body, free-running fit between the vertical keel 3 of permanent magnet 2 and body.
Permanent magnet shell 4 is the circular shell with iron work.There is end plate the upper end of permanent magnet shell 4, and the mounting hole of the vertical keel 3 of this end plate center organism, after electromagnetic driver is sleeved on the vertical keel 3 of body, and free-running fit between the vertical keel 3 of the upper head plate of permanent magnet shell 4 and body.The lower end of permanent magnet shell 4 is uncovered.The internal diameter of permanent magnet shell 4 is greater than the external diameter of coil 1, makes between the inside face of outside face and permanent magnet shell 4 of the coil 1 that is sleeved on the permanent magnet 2 gappedly, is advisable with 2～5mm.In the present embodiment, the external diameter of coil 1 is 20mm, and the internal diameter of permanent magnet shell 4 is 26mm.
The vertical keel 3 of body select for use carbon fiber composite material to process.The diameter of the vertical keel of body is 5mm.On the top of the vertical keel 3 of this body the radially platform of protrusion is arranged, be used for the axial location of suspension joint 7.
Suspension joint 7 adopts plastics to process.Described suspension joint 7 is the hollow gyro-rotor, on the excircle of this suspension joint symmetry be distributed with a pair of hectare of oblique attachment lug, be used for suspension joint 7 and flapping wing 8 hinged.Angle between the line of centers of said attachment lug Width and the axis of suspension joint is 65 °.The inner hole sleeve of said suspension joint 7 is contained on the vertical keel 3 of body.
It is 5 made of plastic that start is overlapped.The via hole of the vertical keel 3 of center organism of start cover 5.The attachment lug of two symmetrical distributions is arranged in the upper surface of said start cover 5, be used for connecting rod 9 hinged.
Shown in accompanying drawing 3.Flapping wing 8 is made up of a strut bar 17, four reinforced ribs and aerofoil.There is a knuckle joint one end end of strut bar 17, through this knuckle joint flapping wing 8 is connected with suspension joint 7.Aerofoil root at strut bar 17 middle parts has a knuckle joint, through this knuckle joint connecting rod 9 is connected with flapping wing 8.One end of four reinforced ribs that carbon fiber composite material is processed is all captiveed joint with strut bar 17 is orthogonal; The spacing of four auxilliary reinforced ribs is 20mm.The length of each reinforced rib tangential length with this reinforced rib present position aerofoil respectively is identical.Aerofoil is processed with polyvinyl chloride film, and aerofoil profile is Eppler376, and the geometric configuration of aerofoil is a right-angled trapezium, wing root chord length 40mm, and the wing is chord length 10mm slightly, and half exhibition is long to be 60mm.The straight flange of aerofoil is fixed on the strut bar 17, and the hypotenuse of aerofoil has constituted the trailing edge of this flapping wing.
Connecting rod 9 uses diameter to process as the thin wire of 2mm.Have respectively and flapping wing 8 and start cover bonded assembly knuckle joint at the two ends of this connecting rod 9.
As shown in Figure 5.4 alighting gear 12 usefulness iron wires bend and form, the same crank of its shape.In the alighting gear 12 of crank-like, one section horizontal segment that length is the longest has formed the support arm of this alighting gear, has formed the pole of this alighting gear with the rectangular vertical section of said alighting gear support arm; Formed the leg of this alighting gear with one section rectangular horizontal segment of said alighting gear pole.In the present embodiment, a brachium 60mm of alighting gear, the long 25mm of the pole of alighting gear, the long 10mm of the leg of alighting gear.In the right angle face that the support arm of each alighting gear 12 and pole form, control surface 16 is arranged.Described control surface 16 usefulness polyvinyl chloride films are processed, for long for 40mm, wide be the rectangle of 15mm.A long limit of described control surface is bonded on the support arm of alighting gear.When the bonding control surface, the bonding direction of the control surface on the alighting gear of a pair of symmetry is identical, has formed two synchro control faces 20, and another bonding to the control surface on the alighting gear of symmetry is in the opposite direction, has formed two differentiating control faces 21, and is as shown in Figure 2.
The steering wheel 19 that is adopted in the present embodiment is D4S32; Receiver 18 is IS-4R0 (4CH); Battery 11 is 671723HS25C.
During use, connection battery 11, electric current converts required alternating current into through controller 14, again through coil 1, makes permanent magnet 2 and permanent magnet shell 4 upward movements, thereby drives start cover 5 and connecting rod 9 upward movements, and then pounces on the drive flapping wing 8.When through behind the controller 14 control current conversion directions, under the restoring force effect of the suction of 1 pair of permanent magnet 2 of coil and spring 6, flapping wing is pounced on for 8 times.
In the present embodiment, when flapping wing 8 was fluttered downwards under the initial angle of attack of setting, because the plastic deformation of aerofoil self, effective angle of attack was constantly changing, and not only can produce lift upwards, can produce thrust forward simultaneously.Because two flapping wing symmetrical reverse are installed, institute's thrust direction that produces is opposite, forms a pair of couple, makes flapping wing 8, suspension joint 7, connecting rod 9, start overlap 5 around vertical keel 3 rotations of body.The increase of flapping wing rotative speed can increase lift and thrust again, and then further improves the rotative speed and the pneumatic usefulness of flapping wing, the mission requirements that make flapping wing aircraft satisfy VTOL and hover.The flapping wing rotation produces enough big lift and makes aircraft flight.Utilize steering wheel 19 deflection synchro control faces 20 to make aircraft inclination certain angle, fly before the aircraft; The differential control surface 21 of deflection turns to aircraft.The signal that controller 14 produces makes the sweep frequency step-down, and the lift that pouncing on rotor provides reduces, and aircraft descends, and alighting gear makes the aircraft security landing.
Claims (6)
1. the miniature rotor craft of pouncing on is characterized in that, comprises electromagnetic driver, start cover, spring, suspension joint, flapping wing, connecting rod, support platform, alighting gear, inverter, body shell, receiver, steering wheel; Suspension joint is sleeved on the vertical keel of body top; The connecting rod of two flapping wings respectively with the suspension joint excircle on attachment lug hinged; Said two flapping wing symmetries are installed on the suspension joint, and make the trailing edge of two flapping wings in the opposite direction; Spring housing is contained on the vertical keel of body, and is positioned at the suspension joint below; The start cover is sleeved on the vertical keel of body, and is positioned at the spring below; One end of connecting rod is connected with flapping wing through knuckle joint, and the other end of connecting rod links to each other with the start cover through knuckle joint; Electromagnetic driver is sleeved on the vertical keel of body, and is positioned at start cover below; Said control surface is bonded on the support arm of alighting gear;
The internal diameter of body shell is identical with the external diameter of support platform; Successively steering wheel, receiver, battery and the inverter of outsourcing are packed in the body shell; Wherein, steering wheel is bonded on the end cap of body shell, and receiver is bonded at above the steering wheel, and the output signal data line of receiver and the input signal data line of steering wheel link to each other; Battery is bonded at the receiver upper surface, and battery links to each other with the power input line of receiver; Inverter is bonded at the battery upper surface; The power input line of inverter links to each other with battery, and this inverter input signal data line links to each other with the output signal data line of receiver; 2 power connections of inverter link to each other with the two ends of coil through lead respectively, make between inverter and the coil and form the loop, and the internal circular surfaces of body shell opening end and the external peripheral surface of support platform are bonding; The support arm of each alighting gear is respectively charged in each through hole on the circumference of body shell lower end, and links to each other with the steering wheel of steering wheel, and makes two differentiating control faces symmetrical, makes two synchro control faces symmetrical, has formed the hand-deliver of differentiating control face and synchro control for distributing.
2. the miniature according to claim 1 rotor craft of pouncing on is characterized in that described electromagnetic driver comprises coil, permanent magnet, ferromagnet shell and magnetic close out sheet; Permanent magnet is positioned at the permanent magnet shell, and the upper surface of this permanent magnet sticks on the lower surface of permanent magnet shell upper head plate, and the internal circular surfaces that makes permanent magnet and permanent magnet sheath top plate centre hole is surperficial concordant; The lower surface of this permanent magnet contacts with the upper surface of magnetic close out sheet; Mounting coil is at the outside face of permanent magnet, and the lower end of this coil is fixed on the upper surface of the closed iron plate of circular magnetic; The lower surface of magnetic close out sheet sticks on support platform upper surface center; On said magnetic close out sheet, the winding wire via hole is arranged, and when the magnetic close out sheet with after the ferromagnet shell cooperates, the position of this winding wire via hole must be positioned at the ferromagnet shell; Described coil, permanent magnet, ferromagnet shell and magnetic close out sheet are coaxial.
3. the miniature according to claim 1 rotor craft of pouncing on; It is characterized in that; The winding wire via hole that axially connects along this support platform is arranged on the said support platform, and have the winding wire via hole to overlap on the winding wire via hole on the said support platform and the said magnetic closure iron plate.
4. the miniature according to claim 1 rotor craft of pouncing on is characterized in that, the attachment lug that is distributed with pair of angled of symmetry on the excircle of said suspension joint; Angle between the line of centers of said attachment lug Width and the axis of suspension joint is 65 °; The inner hole sleeve of said suspension joint is contained on the vertical keel of body.
5. like the said miniature rotor craft of pouncing on of claim 2, it is characterized in that, permanent magnet shell upper end end plate arranged; Free-running fit between the vertical keel of the upper head plate of permanent magnet shell and body; Be sleeved on free-running fit between the inside face of outside face and permanent magnet shell of the coil on the permanent magnet; Free-running fit between the vertical keel of permanent magnet and body.
6. like the said miniature rotor craft of pouncing on of claim 2; It is characterized in that; Said control surface comprises synchro control face and differentiating control face, and the bonding direction of the control surface on the alighting gear of a pair of symmetry is identical, has formed two synchro control faces; Another bonding to the control surface on the alighting gear of symmetry is in the opposite direction, has formed two differentiating control faces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220130371 CN202574618U (en) | 2012-03-31 | 2012-03-31 | Flapping-rotor-wing micro air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220130371 CN202574618U (en) | 2012-03-31 | 2012-03-31 | Flapping-rotor-wing micro air vehicle |
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| CN202574618U true CN202574618U (en) | 2012-12-05 |
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| CN 201220130371 Expired - Fee Related CN202574618U (en) | 2012-03-31 | 2012-03-31 | Flapping-rotor-wing micro air vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602537A (en) * | 2012-03-31 | 2012-07-25 | 西北工业大学 | Micro flapping rotor aircraft |
| CN105691614A (en) * | 2016-01-21 | 2016-06-22 | 安徽工业大学 | Double-drive type ornithopter |
| CN107315416A (en) * | 2017-08-10 | 2017-11-03 | 陈国栋 | The environmental monitoring unmanned plane and its method of work of Beidou navigation |
| CN107902086A (en) * | 2017-10-25 | 2018-04-13 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
| CN107902085A (en) * | 2017-10-12 | 2018-04-13 | 芜湖扬宇机电技术开发有限公司 | A kind of wing driving mechanism of aircraft |
| RU2659357C2 (en) * | 2016-08-19 | 2018-06-29 | Александр Геннадьевич Щербатых | Ornithopter |
| CN111268125A (en) * | 2020-01-22 | 2020-06-12 | 北京理工大学 | Multi-mode miniature aircraft |
| CN113619781A (en) * | 2021-08-26 | 2021-11-09 | 北京理工大学 | Transmission mechanism for realizing flapping and twisting motion of bionic micro flapping rotor wing aircraft |
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2012
- 2012-03-31 CN CN 201220130371 patent/CN202574618U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102602537A (en) * | 2012-03-31 | 2012-07-25 | 西北工业大学 | Micro flapping rotor aircraft |
| CN105691614A (en) * | 2016-01-21 | 2016-06-22 | 安徽工业大学 | Double-drive type ornithopter |
| RU2659357C2 (en) * | 2016-08-19 | 2018-06-29 | Александр Геннадьевич Щербатых | Ornithopter |
| CN107315416A (en) * | 2017-08-10 | 2017-11-03 | 陈国栋 | The environmental monitoring unmanned plane and its method of work of Beidou navigation |
| CN107902085A (en) * | 2017-10-12 | 2018-04-13 | 芜湖扬宇机电技术开发有限公司 | A kind of wing driving mechanism of aircraft |
| CN107902085B (en) * | 2017-10-12 | 2021-09-17 | 沈海锋 | Wing driving mechanism of aircraft |
| CN107902086A (en) * | 2017-10-25 | 2018-04-13 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
| CN107902086B (en) * | 2017-10-25 | 2018-10-23 | 西安交通大学 | It is a kind of that rotor craft and driving method are flutterred based on Piezoelectric Driving |
| CN111268125A (en) * | 2020-01-22 | 2020-06-12 | 北京理工大学 | Multi-mode miniature aircraft |
| CN113619781A (en) * | 2021-08-26 | 2021-11-09 | 北京理工大学 | Transmission mechanism for realizing flapping and twisting motion of bionic micro flapping rotor wing aircraft |
| CN113619781B (en) * | 2021-08-26 | 2023-11-07 | 北京理工大学 | Transmission mechanism for realizing flapping and torsion motions of bionic miniature flapping rotor aircraft |
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