CN204297083U - A kind of four fins are flat claps flapping wing aircraft - Google Patents
A kind of four fins are flat claps flapping wing aircraft Download PDFInfo
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- CN204297083U CN204297083U CN201420788861.6U CN201420788861U CN204297083U CN 204297083 U CN204297083 U CN 204297083U CN 201420788861 U CN201420788861 U CN 201420788861U CN 204297083 U CN204297083 U CN 204297083U
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- swing device
- bat swing
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Abstract
A kind of four fins are flat claps flapping wing aircraft, belongs to technical field of aerospace, comprises fuselage, vertical tail, left back bat swing device, right back bat swing device, left front bat swing device, right front bat swing device and undercarriage.Control system, airborne equipment and power-supply device is furnished with in fuselage.Be configured with self-navigation autonomous driving device or remote control equipment.Left back bat swing device, right back bat swing device, left front bat swing device and the right front identical left and right sides being symmetrically arranged in fuselage between two of bat swing device structure and parameter.Vertical tail is made up of fixed fin and rudder.The gearratio determining synchronizing wheel and dynamic synchronizing wheel in left back bat swing device is 1: 1.The postero-anterior position of the left and right sides of fuselage is put and is provided with left back breach, right back breach, left front breach and right front breach respectively.Four fins laterally can not produce horizontal component in the process of flapping motion, and efficiency is higher.This aircraft is used for taking photo by plane, geographical measurements, traffic duty, agrisilviculture, militaryly to investigate and rescue and relief work multiple-task.
Description
Technical field
A kind of four fins are flat claps flapping wing aircraft, belongs to technical field of aerospace, particularly relates to a kind of flapping wing aircraft.
Background technology
The wing of tradition flapping wing aircraft is fluttered by arc track, portion of air powertrain components is created in the horizontal direction of transverse direction and wing length direction during wing flapping motion, the component of this horizontal direction does not all have positive effect to moving ahead and going up to the air of aircraft, is a kind of loss of power; Tradition flapping wing aircraft is mostly two panels wing, and flight underaction, mobility is not strong.
Summary of the invention
The object of the invention is the above-mentioned deficiency overcoming existing flapping wing aircraft, four fins inventing the higher maneuverability of a kind of efficiency are flat claps flapping wing aircraft.
A kind of four fins are flat claps flapping wing aircraft, comprises fuselage, vertical tail, left back bat swing device, right back bat swing device, left front bat swing device, right front bat swing device and undercarriage.Be furnished with control system, airborne equipment and power-supply device in fuselage, this aircraft flight attitude is handled by control system, and airborne equipment comprises various flight instrumentation instrument and capture apparatus, and employing lithium battery is control system, airborne equipment and all feeding electric motors.Be configured with self-navigation autonomous driving device or remote control equipment, adopt self-navigation autonomous driving mode or remote control mode flight.Left back bat swing device, right back bat swing device, left front bat swing device and the right front identical left and right sides being symmetrically arranged in fuselage between two of bat swing device structure and parameter.Vertical tail is made up of the standing part of leading portion and the movable part of fixed fin and back segment and rudder.Rudder is deflection under the manipulation of control system, and this aircraft can be made to go off course to the left or to the right.Undercarriage adopts wheel undercarriage.Facilitate left back bat swing device, right back bat swing device, left front bat swing device and right front bat swing device to flutter up and down flexibly in order to compact conformation, put in the postero-anterior position of the left and right sides of fuselage and be provided with left back breach, right back breach, left front breach and right front breach respectively.
The structure of left back bat swing device is: comprise motor, main shaft, swing arm, wing axle, fin, determine synchronizing wheel, Timing Belt and dynamic synchronizing wheel.Fin is nonrigid, and fin leading edge is perfectly round abundant, and fin trailing edge is tapering, and the part near leading edge is comparatively hard, and the part near trailing edge is softer.Fin flat shape is rectangular, and the aerofoil profile of fin adopts flat pattern aerofoil profile under epirelief concave shape or epirelief.Fin is horizontally disposed, and the rear end of wing axle is vertically fixed on the leading edge medium position of fin, horizontally disposed and and the main axis parallel of wing axle.Main shaft vertical equity is arranged, the leading portion of main shaft is connected with fuselage by bearing through after the centre bore determining synchronizing wheel, and the front end of main shaft is connected with the output shaft of motor, and the rear end of main shaft is connected with fuselage by bearing.Determine synchronizing wheel to be fixed in the left back breach of fuselage by the termination and fuselage of determining synchronizing wheel, determine synchronizing wheel with main shaft with high coaxial.One end of swing arm is vertical with the stage casing of main shaft to be fixed in the left back breach of fuselage, and the other end of swing arm is by the bearing stage casing that be connected in wing axle vertical with wing axle.Dynamic synchronizing wheel is connected in the front end of wing axle, dynamic synchronizing wheel with determine synchronizing wheel and be connected by Timing Belt, the gearratio determining synchronizing wheel and dynamic synchronizing wheel is 1: 1.Timing Belt plane of movement is vertical with main shaft.Motor is fixedly mounted in the frame of fuselage, control system can to the rotating speed of motor, to turn to and angle range controls.
From the tail end of this invention aircraft toward front end, the operation principle of left back bat swing device is: under flutter process: suppose that original position is that fin is in higher position, under the control of control system, starter motor rotates counterclockwise, under the driving of motor, spindle axis counterclockwise rotation, drive swing arm rotates counterclockwise, determine synchronizing wheel to maintain static, because the gearratio determining synchronizing wheel and dynamic synchronizing wheel is 1: 1, Timing Belt drives the dynamic clockwise rotation of synchronizing wheel, the leading edge of fin is kept to be horizontal lower bat, the displacement of clapping under the identical chord positions of spanwise fin is identical, realize flat bat downwards.Because fin is nonrigid, have certain flexibility and elasticity, when clapping under fin fin trailing edge want delayed fin leading edge some.Because the aerofoil profile of fin is flat pattern under epirelief concave shape or epirelief, claps under fin and produce larger lift upwards and less thrust forward.On the process of flutterring be: from fin is in lower position, control system controls motor reversal, under the driving of motor, main shaft rotates clockwise, and drives swing arm to rotate clockwise, determine synchronizing wheel to maintain static, because the gearratio determining synchronizing wheel and dynamic synchronizing wheel is 1: 1, Timing Belt drives the dynamic counterclockwise rotation of synchronizing wheel, keeps the leading edge of fin to be horizontal arsis, displacement along spanwise fin identical chord positions arsis is identical, realizes upwards flat bat.Because fin is nonrigid, have certain flexibility and elasticity, during fin arsis, the trailing edge of fin also can the leading edge of delayed fin.Because the aerofoil profile of fin is flat pattern under epirelief concave shape or epirelief, compared with lower bat, the degree of the leading edge of the delayed fin of trailing edge of fin is larger.Arsis fin produces larger thrust forward and less lift upwards or does not produce lift, and the size that arsis process produces lift is relevant with the speed flown before this aircraft, and the lift that the front speed flown produces sooner is larger.The speed that fin is flapped and angular range be by control motor rotating speed, turn to and carry out regulating with corner, the scope of flapping is adjustable between 0 ° to 180 °.If on flutter and swing arm gone to directly over main shaft be in vertical position, under flutter and swing arm gone to immediately below main shaft be in vertical position, then the scope of fluttering is 180 °.
The operation principle of left front bat swing device is identical with the operation principle of left back bat swing device, and the direction of fluttering is identical.
The operation principle of right back bat swing device is identical with the operation principle of left back bat swing device, and the direction of fluttering is symmetrical.From the tail end of this invention aircraft toward front end, the main shaft of right back bat swing device rotates clockwise, and claps under its fin; The spindle axis counterclockwise rotation of right back bat swing device, its fin arsis.
The operation principle of right front bat swing device is identical with the operation principle of right back bat swing device, and the direction of fluttering is identical.
The fin of left back bat swing device, right back bat swing device, left front bat swing device and right front bat swing device all laterally can not produce horizontal component in the process of flapping motion, and efficiency is higher.
The power energy that toothed belt transmission mode in left back bat swing device, right back bat swing device, left front bat swing device and right front bat swing device is replaced with this invention aircraft of Chain conveyer mode is simultaneously larger, and load-carrying ability can be strong.
Left back bat swing device, right back bat swing device, left front bat swing device and right front bat swing device independently separately control, their motor all adopts servomotor, control more convenient, especially convenient flutter angular range and the speed of fluttering controlling them, makes this aircraft flight maneuverability more.
Accompanying drawing explanation
Fig. 1 is that a kind of four fins of the present invention equal the schematic rear view of clapping flapping wing aircraft, in this figure, left back bat swing device, right back bat swing device, left front bat swing device and right front bat swing device are all in down in the process of flutterring, and their fin is all in lower bat, down, trailing edge upward for the leading edge of four fins; Fig. 2 is the schematic top plan view of Fig. 1; Fig. 3 is that schematic diagram is looked on a left side of Fig. 1; Fig. 4 is that a kind of four fins of the present invention are put down and clapped the left back bat swing device of flapping wing aircraft, right back bat swing device, left front bat swing device and right front bat swing device and be all in schematic rear view when flutterring process, in figure, their fin is all in arsis process, upward, trailing edge down for the leading edge of four fins.
In figure, 1-fuselage, the left back breach of 11-, the right back breach of 12-, the left front breach of 13-, the right front breach of 14-; 2-vertical tail, 21-fixed fin, 22-rudder; The left back bat swing device of 3-; The right back bat swing device of 4-; The left front bat swing device of 5-; The right front bat swing device of 6-; 7-undercarriage.
That indicates in the drawings belongs to having of the part of left back bat swing device 3: 31-motor, 32-main shaft, 33-swing arm, 34-wing axle, 35-fin, the leading edge of 351-fin, the trailing edge of 352-fin, 36-determines synchronizing wheel, 361-determines the termination of synchronizing wheel, and 37-Timing Belt, 38-moves synchronizing wheel.
In Fig. 1 and Fig. 4, the longest movement locus that when the left back bat swing device 3 of 341 expression is fluttered, its wing axle 34 is possible.
Detailed description of the invention
Now 1 ~ 4 couple of the present invention is illustrated by reference to the accompanying drawings: a kind of four fins are flat claps flapping wing aircraft, comprises fuselage 1, vertical tail 2, left back bat swing device 3, right back bat swing device 4, left front bat swing device 5, right front bat swing device 6 and undercarriage 7.Be furnished with control system, airborne equipment and power-supply device in fuselage 1, this aircraft flight attitude is handled by control system, and airborne equipment comprises various flight instrumentation instrument and capture apparatus, and employing lithium battery is control system, airborne equipment and all feeding electric motors.Be configured with self-navigation autonomous driving device or remote control equipment, adopt self-navigation autonomous driving mode or remote control mode flight.Left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and the right front identical left and right sides being symmetrically arranged in fuselage 1 between two of bat swing device 6 structure and parameter.Vertical tail 2 is made up of the standing part of leading portion and the movable part of fixed fin 21 and back segment and rudder 22.Rudder 22 is deflection under the manipulation of control system, and this aircraft can be made to go off course to the left or to the right.Undercarriage 7 adopts wheel undercarriage.Facilitate left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and right front bat swing device 6 to flutter up and down flexibly in order to compact conformation, put in the postero-anterior position of the left and right sides of fuselage 1 and be provided with left back breach 11, right back breach 12, left front breach 13 and right front breach 14 respectively.
The structure of left back bat swing device 3 is: comprise motor 31, main shaft 32, swing arm 33, wing axle 34, fin 35, determine synchronizing wheel 36, Timing Belt 37 and dynamic synchronizing wheel 38.Fin 35 is nonrigid, and fin 35 leading edge is perfectly round abundant, and fin trailing edge is tapering, and the part near leading edge is comparatively hard, and the part near trailing edge is softer.Fin 35 flat shape is rectangular, and the aerofoil profile of fin 35 adopts flat pattern under epirelief concave shape or epirelief.Fin 35 is horizontally disposed, and the rear end of wing axle 34 is vertically fixed on the leading edge medium position of fin 35, and wing axle 34 is horizontally disposed and parallel with main shaft 32.Main shaft 32 vertical equity is arranged, the leading portion of main shaft 32 is connected with fuselage 1 by bearing through after the centre bore determining synchronizing wheel 36, the front end of main shaft 32 is connected with the output shaft of motor 31, if motor 31 adopts high-speed electric expreess locomotive, then motor 31 is connected with main shaft 32 after slowing down again, and the rear end of main shaft 32 is connected with fuselage 1 by bearing.Determine synchronizing wheel 36 to be fixed in the left back breach 11 of fuselage 1 with fuselage 1 by the termination 361 of determining synchronizing wheel, determine synchronizing wheel 36 with main shaft 32 with high coaxial.One end of swing arm 33 is vertical with the stage casing of main shaft 32 to be fixed in the left back breach 11 of fuselage 1, and the other end of swing arm 33 is by the bearing stage casing that be connected in wing axle 34 vertical with wing axle 34.Dynamic synchronizing wheel 38 is connected in the front end of wing axle 34, dynamic synchronizing wheel 38 and determine synchronizing wheel 36 and pass through Timing Belt 37 and be connected, and the gearratio determining synchronizing wheel 36 and dynamic synchronizing wheel 38 is 1: 1.Timing Belt 37 plane of movement is vertical with main shaft 32.Motor 31 is fixedly mounted in the frame of fuselage 1, control system can to the rotating speed of motor 31, to turn to and angle range controls.
From the tail end of this invention aircraft toward front end, the operation principle of left back bat swing device 3 is: under flutter process: suppose that original position is that fin 35 is in higher position, under the control of control system, starter motor 31 rotates counterclockwise, under the driving of motor 31, main shaft 32 rotates counterclockwise, swing arm 33 is driven to rotate counterclockwise, determine synchronizing wheel 36 to maintain static, because the gearratio determining synchronizing wheel 36 and dynamic synchronizing wheel 38 is 1: 1, Timing Belt 37 drives the rotation clockwise of dynamic synchronizing wheel 38, the leading edge 351 of fin is kept to be horizontal lower bat, the displacement of clapping under the identical chord positions of spanwise fin 35 is identical, realize flat bat downwards.Because fin 35 is nonrigid, have certain flexibility and elasticity, when fin 35 times is clapped the trailing edge 352 of fin want delayed fin leading edge 351 some.Because the aerofoil profile of fin 35 is flat patterns under epirelief concave shape or epirelief, fin is clapped for 35 times and is produced larger lift upwards and less thrust forward.On the process of flutterring be: from fin 35 is in lower position, control system controls motor 31 and reverses, under the driving of motor 31, main shaft 32 rotates clockwise, and drives swing arm 33 to rotate clockwise, determine synchronizing wheel 36 to maintain static, because the gearratio determining synchronizing wheel 36 and dynamic synchronizing wheel 38 is 1: 1, Timing Belt 37 drives the rotation counterclockwise of dynamic synchronizing wheel 38, keeps the leading edge 351 of fin to be horizontal arsis, displacement along spanwise fin 35 identical chord positions arsis is identical, realizes upwards flat bat.Because fin 35 is nonrigid, have certain flexibility and elasticity, during fin 35 arsis, the trailing edge 352 of fin also can the leading edge 351 of delayed fin.Because the aerofoil profile of fin 35 is flat patterns under epirelief concave shape or epirelief, compared with lower bat, the degree of the leading edge 351 of the delayed fin of trailing edge 352 of fin is larger.Arsis fin 35 produces larger thrust forward and less lift upwards or does not produce lift, and the size that arsis process produces lift is relevant with the speed flown before this aircraft, and the lift that the front speed flown produces sooner is larger.The speed that fin 35 is flapped and angular range be by control motor 31 rotating speed, turn to and carry out regulating with corner, the scope of flapping is between 0 ° to 180 °.If on flutter and swing arm 33 gone to directly over main shaft 32 be in vertical position, under flutter and swing arm 33 gone to immediately below main shaft 32 be in vertical position, then the scope of fluttering is 180 °.
The operation principle of left front bat swing device 5 is identical with the operation principle of left back bat swing device 3, and the direction of fluttering is identical.
The operation principle of right back bat swing device 4 is identical with the operation principle of left back bat swing device 3, and the direction of fluttering is symmetrical.From the tail end of this invention aircraft toward front end, the main shaft of right back bat swing device 4 rotates clockwise, and claps under its fin; The spindle axis counterclockwise rotation of right back bat swing device 4, its fin arsis.
The operation principle of right front bat swing device 6 is identical with the operation principle of right back bat swing device 4, and the direction of fluttering is identical.
The fin of left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and right front bat swing device 6 all laterally can not produce horizontal component in the process of flapping motion, and efficiency is higher.
When load is heavier, the toothed belt transmission mode in left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and right front bat swing device 6 is replaced with Chain conveyer mode simultaneously, and gearratio is constant.
Left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and right front bat swing device 6 are independent separately to be controlled, their motor all adopts servomotor, control more convenient, especially convenient flutter angular range and the speed of fluttering controlling them, makes this aircraft flight maneuverability more.
Be furnished with video camera and information processing system in fuselage 1, can take photo by plane, the image information of shooting can be sent to ground installation.Machine can realize remote control distributor with this aircraft of remote control equipment of ground configurations match.
This aircraft adopts hand mode of throwing take off or adopt the runway mode of sliding to take off; Flap frequency and angular range of flapping that left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and right front bat swing device 6 these four claps swing device are controlled to adjust by control system, realize aerodynamic size and Orientation of their four fin industries of control and regulation, in conjunction with the control to vertical tail 2, thus fly before realizing, flight attitude that pitching, turning etc. are different; Four fins of left back bat swing device 3, right back bat swing device 4, left front bat swing device 5 and right front bat swing device 6 are locked in the high horizontal level crossing the center of gravity of aircraft or higher than the horizontal level crossing aircraft center of gravity, facilitate this aircraft to glide or landing.
A kind of four fins of the present invention are flat claps that flapping wing aircraft can be used for taking photo by plane, geographical measurements, traffic duty, agrisilviculture, militaryly to investigate and the multiple-task such as rescue and relief work.
Claims (10)
1. four fins are flat claps a flapping wing aircraft, it is characterized in that: it comprises fuselage (1), vertical tail (2), left back bat swing device (3), right back bat swing device (4), left front bat swing device (5), right front bat swing device (6) and undercarriage (7); Fuselage is furnished with control system, airborne equipment and power-supply device in (1); Be configured with self-navigation autonomous driving device or remote control equipment; Left back bat swing device (3), right back bat swing device (4), left front bat swing device (5) and the identical left and right sides being symmetrically arranged in fuselage (1) between two of right front bat swing device (6) structure and parameter; Vertical tail (2) is made up of the standing part of leading portion and the movable part of fixed fin (21) and back segment and rudder (22); The postero-anterior position of the left and right sides of fuselage (1) is put and is provided with left back breach (11), right back breach (12), left front breach (13) and right front breach (14) respectively; Left back bat swing device (3) comprises motor (31), main shaft (32), swing arm (33), wing axle (34), fin (35), determines synchronizing wheel (36), Timing Belt (37) and dynamic synchronizing wheel (38); Fin (35) is nonrigid, and fin (35) leading edge is perfectly round abundant, and fin (35) trailing edge is tapering, and the part near leading edge is comparatively hard, and the part near trailing edge is softer; Fin (35) is horizontally disposed, and the rear end of wing axle (34) is vertically fixed on the leading edge medium position of fin (35), and wing axle (34) is horizontally disposed and parallel with main shaft (32); Main shaft (32) vertical equity is arranged, the leading portion of main shaft (32) is connected with fuselage (1) by bearing through after the centre bore determining synchronizing wheel (36), the front end of main shaft (32) is connected with the output shaft of motor (31), and the rear end of main shaft (32) is connected with fuselage (1) by bearing; Determine synchronizing wheel (36) to be fixed in the left back breach (11) of fuselage (1) with fuselage (1) by the termination (361) of determining synchronizing wheel, determine synchronizing wheel (36) with main shaft (32) with high coaxial; One end of swing arm (33) is vertical with the stage casing of main shaft (32) to be fixed in the left back breach (11) of fuselage (1), and the other end of swing arm (33) is by the bearing stage casing that be connected in wing axle (34) vertical with wing axle (34); Dynamic synchronizing wheel (38) is connected in the front end of wing axle (34), dynamic synchronizing wheel (38) and determine synchronizing wheel (36) and be connected by Timing Belt (37), and the gearratio determining synchronizing wheel (36) and dynamic synchronizing wheel (38) is 1: 1; Timing Belt (37) plane of movement is vertical with main shaft (32); Motor (31) is fixedly mounted in the frame of fuselage (1), control system can to the rotating speed of motor (31), turn to and control with angle range; Left back bat swing device (3), right back bat swing device (4), left front bat swing device (5) are identical with the operation principle of right front bat swing device (6).
2. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: the fin flat shape of left back bat swing device (3), right back bat swing device (4), left front bat swing device (5) and right front bat swing device (6) is rectangular, aerofoil profile adopts flat pattern under epirelief concave shape or epirelief.
3. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: left back bat swing device (3), right back bat swing device (4), left front bat swing device (5) and right front bat swing device (6) are independent separately to be controlled.
4. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: the motor of left back bat swing device (3), right back bat swing device (4), left front bat swing device (5) and right front bat swing device (6) all adopts servomotor.
5. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: fuselage is furnished with video camera and information processing system in (1), the image information of shooting can be sent to ground installation.
6. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: with the remote control equipment of ground configurations match on machine.
7. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: the scope that fin (35) is flapped is between 0 ° to 180 °.
8. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: undercarriage (7) adopts wheel undercarriage.
9. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: during motor employing high-speed electric expreess locomotive, motor is connected with corresponding main shaft after slowing down again.
10. a kind of four fins according to claim 1 are flat claps flapping wing aircraft, it is characterized in that: the toothed belt transmission in left back bat swing device (3), right back bat swing device (4), left front bat swing device (5) and right front bat swing device (6) or employing Chain conveyer, gearratio is constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420788861.6U CN204297083U (en) | 2014-12-15 | 2014-12-15 | A kind of four fins are flat claps flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420788861.6U CN204297083U (en) | 2014-12-15 | 2014-12-15 | A kind of four fins are flat claps flapping wing aircraft |
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| Publication Number | Publication Date |
|---|---|
| CN204297083U true CN204297083U (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420788861.6U Withdrawn - After Issue CN204297083U (en) | 2014-12-15 | 2014-12-15 | A kind of four fins are flat claps flapping wing aircraft |
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| CN (1) | CN204297083U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477388A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Four-wing flat-flapping flapping-wing aircraft |
| CN112660372A (en) * | 2021-01-11 | 2021-04-16 | 北京航空航天大学 | Multi-flapping-wing micro aircraft designed by simulating wild goose knot array and gliding flight |
-
2014
- 2014-12-15 CN CN201420788861.6U patent/CN204297083U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477388A (en) * | 2014-12-15 | 2015-04-01 | 佛山市神风航空科技有限公司 | Four-wing flat-flapping flapping-wing aircraft |
| CN112660372A (en) * | 2021-01-11 | 2021-04-16 | 北京航空航天大学 | Multi-flapping-wing micro aircraft designed by simulating wild goose knot array and gliding flight |
| CN112660372B (en) * | 2021-01-11 | 2022-11-08 | 北京航空航天大学 | Multi-flapping-wing micro aircraft designed by simulating wild goose knot array and gliding flight |
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Granted publication date: 20150429 Effective date of abandoning: 20160601 |
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