CN204452936U - A kind of flapping-wing modal can auto-folder and launch flapping wing - Google Patents
A kind of flapping-wing modal can auto-folder and launch flapping wing Download PDFInfo
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- CN204452936U CN204452936U CN201520085604.0U CN201520085604U CN204452936U CN 204452936 U CN204452936 U CN 204452936U CN 201520085604 U CN201520085604 U CN 201520085604U CN 204452936 U CN204452936 U CN 204452936U
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Abstract
The utility model discloses a kind of flapping-wing modal can auto-folder and launch flapping wing, be made up of an engine installation, two hydraulic pipes, some folding lines, some strut bars, ala and two folding devices; It adopts hydraulic principle realize the folding of flapping wing and launch.This flapping wing forms the vein of bionic flapping-wing by two hydraulic pipes and some strut bars, bionical vein bonds ala and forms aerofoil.This flapping wing produces pressure by miniflow pump to pumping liquid in different sap cavity, to drive the folding of flapping wing and to launch.The utility model not only contributes to reducing the lateral dimension of micro flapping wing air vehicle when not flying; space required when reducing to carry, transport and deposit; reduce transportation request; be convenient to protect flapping wing for ornithopter; make it from damage; but also contribute to changing the flapping wing after damaging, improve the service life of minute vehicle.
Description
Technical field
The utility model relate to the collapsible of a kind of flapping wing aircraft and launch flapping wing, particularly a kind of bionic flapping-wing minute vehicle can auto-folder and launch flapping wing.
Background technology
After American scientist in 1992 proposes minute vehicle concept, in view of its huge applications in military and civilian field is worth, domestic and international many scientific research personnel expand the research to minute vehicle association area in succession.Through the development of more than 20 years, minute vehicle defined fixed-wing formula, rotary wind type and flapping wings type three kinds of main Types.Because flapping-wing modal still can produce enough lift and thrust under less yardstick and weight, become one of the study hotspot in minute vehicle field at present.
For making flapping-wing modal under less size and weight, have good aeroperformance, its flapping wing adopts membrane structure mostly.For providing enough lift and thrust, the membrane structure flapping wing of flapping wing aircraft must reach certain aspect ratio.Therefore the area of these flapping wings is often larger, and intensity is low, easily damages, very high to carrying conditional request, is inconvenient to carry.Flapping wing research now for bionic flapping-wing minute vehicle mainly concentrates in the distribution of insect hind-wing venation, and less to the concrete structure research of flapping wing, and the Patents relating to the collapsible flapping wing of flapping wings type minute vehicle is also less.
The wing of chafer is divided into hind wing and elytrum.Thin and the easy damaged of hind wing, elytrum is thick and firm, and hind wing is more much larger than elytrum.When chafer flies, hind wing launches and flutters to produce lift and thrust, and when not flying, hind wing is folded and placed under elytrum, is subject to the protection of elytrum.
The utility model by observing expansion and the folding process of chafer hind wing, propose a kind of flapping-wing modal based on hydraulic principle collapsible/launch the wing.This flapping wing, when satisfied flight requires, can realize folding and launch, effectively reducing the difficulty of carrying transport.
Summary of the invention
The purpose of this utility model is in order in the span situation not reducing flapping-wing modal; reduce lateral dimension when flapping-wing modal does not fly; reduce flapping wing area; the flapping wing of protection aircraft; reduce minute vehicle carry difficulty, and provide a kind of flapping-wing modal can auto-folder and launch flapping wing.
The utility model is made up of an engine installation, the first hydraulic pipe, the second hydraulic pipe, some folding lines, the first strut bar, the second strut bar, the 3rd strut bar, the 4th strut bar, the 5th strut bar, the 6th strut bar, ala and two folding devices; First hydraulic pipe, the second hydraulic pipe and the 6th strut bar radially distribute around engine installation, the first strut bar, the second strut bar, the 3rd strut bar, the 4th strut bar, the 5th strut bar and the suspension of the 6th strut bar end;
Described engine installation includes two sap cavities, a two-way miniflow pump, some nonelastic flexible pipes, wing handle, two elastic components, hollow chaining part, common hinge, two microsensors, a microcontroller and the interface carrying out Energy Transfer and information transmission, wing handle is the agent structure of engine installation, wing handle is installed two-way miniflow pump, common hinge and hollow chaining part, one end and the wing handle of elastic component are connected, wing handle offers two sap cavities, sap cavity is built-in with microsensor, wing handle is equipped with nonelastic flexible pipe and forms hydraulic tubing, hydraulic tubing is connected to miniflow pump, sap cavity, first hydraulic pipe, second hydraulic pipe and strut bar, wing handle is also provided with microcontroller and the interface carrying out Energy Transfer and information exchange.
Folding device is made up of the front end of the fan-shaped chamber of end of the first hydraulic pipe and the second hydraulic pipe, the first strut bar and the 3rd strut bar, film, bearing pin, torque spring, rigid plate and nonelastic rope, the front end of the first hydraulic pipe is connected with engine installation, the front end tube wall of the first hydraulic pipe is linked with the wing handle of portion's engine installation by hollow chaining part, and the inner sap cavity of the first hydraulic pipe is communicated with the hydraulic tubing in engine installation by nonelastic flexible pipe; Arc-shaped projection is had, for bonding with the end of the nonelastic flexible pipe of the arc-shaped of stretching out from engine installation in the outside of the first hydraulic pipe; The outer wall of the first hydraulic pipe is also connected with elastic component, and this elastic component other end is fixed on the wing handle of engine installation.
The end of the first hydraulic pipe connects folding device, and the end of the first hydraulic pipe expands and forms fan-shaped chamber, and chamber wall has aperture.In fan-shaped chamber, have rigid plate and film, film is bag-shaped, and its shape is consistent with fan-shaped chamber, and the entrance that the bag opening part of film is bonded in fan-shaped chamber forms airtight sap cavity, and other parts of film are separated with fan-shaped chamber; Rigid plate cements on film, first hydraulic pipe end is hinged by the front end of bearing pin and the first strut bar, bearing pin is provided with torque spring, a torque arm of torque spring and the first hydraulic pipe are connected, another torque arm and first strut bar of torque spring are connected, nonelastic rope is through the aperture on the first hydraulic pressure wall of the lumen, and one end of nonelastic rope tightens together with rigid plate, and the other end of nonelastic rope and the front end of the first strut bar are fastenedly connected.
The tube wall of the second hydraulic pipe and the wing handle of engine installation are fixed together, and the second hydraulic pipe inside is communicated with the hydraulic tubing in engine installation by nonelastic flexible pipe; The end of the second hydraulic pipe is identical with the first hydraulic pipe, and the second hydraulic pipe is connected by the front end of folding device with the 3rd strut bar.
Second strut bar front end is connected on the first strut bar, and the 4th strut bar and the 5th strut bar front end are connected on the second hydraulic pipe.
6th strut bar front end is linked on the wing handle of engine installation by common hinge; There is arc-shaped projection in the outside of the 6th strut bar, together with cementing in the arc-shaped end of the nonelastic flexible pipe stretched out from engine installation; The outer wall of the 6th strut bar is also connected with elastic component, and this elastic component other end is fixed on the wing handle of engine installation.
Ala is bonded on the first hydraulic pipe, the second hydraulic pipe, the first strut bar, the second strut bar, the 3rd strut bar, the 4th strut bar, the 5th strut bar and the 6th strut bar and forms aerofoil, and aerofoil has folding line.
Launching there is following a few place with folding line that aerofoil is formed in folding process: the straight line that the end of engine installation and the 5th strut bar is formed; The straight line formed between two folding devices; The straight line that engine installation is formed to the mid point of two folding device lines; The straight line that the end of folding device and the 4th strut bar is formed; The straight line that folding device is formed with the end of the second strut.
The beneficial effects of the utility model:
1, flapping wing folding and launch to be completed by the mechanism of himself, what achieve that the motion of flapping wing folded/expanded moves with the normal flight of minute vehicle is separated, and greatly can simplify the complexity of minute vehicle kinematic mechanism compared to other folding wings.
2, flapping wing keeps deployed condition when flying, and obtains optimum pneumatic performance; When not flying, flapping wing keeps complete folded state, has very little lateral dimension and aerofoil, is convenient to the aerofoil protecting minute vehicle, makes flapping wing be not easy damaged.Meanwhile, the flapping wing after folding is conducive to saving space, is easy to carry and stores.
3, the employing packaged type structure of flapping wing, is rolled into one drive system and actuating unit, is connected with between aircraft fuselage by interface, only needs the transmission carrying out energy and information, is convenient to disassemble and assemble, can realizes rapid-assembling and replacing.Contribute to the commonality and the interchangeability that improve parts, be convenient to change damage component in time, maximize the value playing parts, improve the service life of minute vehicle.
4, carry out information exchange by data-interface between flapping wing and aircraft fuselage, be convenient to the state that minute vehicle fuselage grasps flapping wing at any time, and adjust accordingly, contribute to the airworthiness keeping aircraft.
5, adopt hydraulic-driven, be convenient to drive system and actuating unit to be packaged in flapping wing inside, the aeroperformance of flapping wing can not be affected because of drive system and actuating unit.
Accompanying drawing explanation
Fig. 1 is complete deployed condition schematic diagram of the present utility model.
Fig. 2 is view after first time of the present utility model folded/expanded.
Fig. 3 is completely folding rear view of the present utility model.
Fig. 4 is components A enlarged diagram of the present utility model;
Fig. 5 is the C place enlarged diagram in Fig. 4.
Fig. 6 is the D place enlarged diagram in Fig. 4.
Fig. 7 is hollow chaining part enlarged diagram of the present utility model.
Fig. 8 is folding device enlarged diagram of the present utility model.
Detailed description of the invention
Refer to shown in Fig. 1, Fig. 2 and Fig. 3, the utility model is made up of an engine installation A, the first hydraulic pipe 1, second hydraulic pipe 2, some folding lines 3, first strut bar 4, second strut bar 6, the 3rd strut bar 7, the 4th strut bar 8, the 5th strut bar 9, the 6th strut bar 10, ala 5 and two folding device B; First hydraulic pipe 1, second hydraulic pipe 2 and the 6th strut bar 10 radially distribute around engine installation A, and the first strut bar 4, second strut bar 6, the 3rd strut bar 7, the 4th strut bar 8, the 5th strut bar 9 and the 6th strut bar 10 end suspend;
Refer to Fig. 4, shown in Fig. 5 and Fig. 6, described engine installation A includes two sap cavities 11, a two-way miniflow pump 12, some nonelastic flexible pipes 13, wing handle 14, two elastic components 15, hollow chaining part 16, common hinge 17, two microsensors 23, a microcontroller 25 and the interface 24 carrying out Energy Transfer and information transmission, wing handle 14 is the agent structure of engine installation A, wing handle 14 is installed two-way miniflow pump 12, common hinge 17 and hollow chaining part 16, one end and the wing handle 14 of elastic component 15 are connected, wing handle 14 offers two sap cavities 11, sap cavity 11 is built-in with microsensor 23, wing handle 14 is equipped with nonelastic flexible pipe 13 and forms hydraulic tubing, hydraulic tubing is connected to miniflow pump 12, sap cavity 11, first hydraulic pipe 1, second hydraulic pipe 2 and strut bar 10, wing handle 14 is also provided with microcontroller 25 and the interface 24 carrying out Energy Transfer and information exchange.
Refer to shown in Fig. 7 and Fig. 8, folding device B is made up of the front end of the fan-shaped chamber of end of the first hydraulic pipe 1 and the second hydraulic pipe 2, the first strut bar 4 and the 3rd strut bar 7, film 18, bearing pin 19, torque spring 20, rigid plate 22 and nonelastic rope 21, the front end of the first hydraulic pipe 1 is connected with engine installation A, the front end tube wall of the first hydraulic pipe 1 is linked by the wing handle 14 of hollow chaining part 16 with portion engine installation A, and the inner sap cavity of the first hydraulic pipe 1 is communicated with the hydraulic tubing in engine installation A by nonelastic flexible pipe 13; Arc-shaped projection is had, for bonding with the end of the nonelastic flexible pipe 13 of the arc-shaped of stretching out from engine installation A in the outside of the first hydraulic pipe 1; The outer wall of the first hydraulic pipe 1 is also connected with elastic component 15, and this elastic component 15 other end is fixed on the wing handle 14 of engine installation A.
The end of the first hydraulic pipe 1 connects folding device B, and the end of the first hydraulic pipe 1 expands and forms fan-shaped chamber, and chamber wall has aperture.In fan-shaped chamber, have rigid plate 22 and film 18, film 18 is bag-shaped, and its shape is consistent with fan-shaped chamber, and the entrance that the bag opening part of film 18 is bonded in fan-shaped chamber forms airtight sap cavity, and other parts of film are separated with fan-shaped chamber; Rigid plate 22 cements on film 18, first hydraulic pipe 1 end is hinged by the front end of bearing pin 19 and the first strut bar 4, bearing pin 19 is provided with torque spring 20, a torque arm and first hydraulic pipe 1 of torque spring 20 are connected, another torque arm and first strut bar 4 of torque spring 20 are connected, nonelastic rope 21 is through the aperture on the first hydraulic pipe 1 chamber wall, and one end of nonelastic rope 21 tightens together with rigid plate 22, and the other end of nonelastic rope 21 and the front end of the first strut bar 4 are fastenedly connected.
The tube wall of the second hydraulic pipe 2 and the wing handle 14 of engine installation A are fixed together, and the second hydraulic pipe 2 inside is communicated with the hydraulic tubing in engine installation A by nonelastic flexible pipe 13; The end of the second hydraulic pipe 2 is identical with the first hydraulic pipe 1, and the second hydraulic pipe 2 is connected with the front end of the 3rd strut bar 7 by folding device B.
Second strut bar 6 front end is connected on the first strut bar 4, and the 4th strut bar 8 and the 5th strut bar 9 front end are connected on the second hydraulic pipe 2.
6th strut bar 10 front end is linked on the wing handle 14 of engine installation A by common hinge; There is arc-shaped projection in the outside of the 6th strut bar 10, together with cementing in the arc-shaped end of the nonelastic flexible pipe 13 stretched out from engine installation A; The outer wall of the 6th strut bar 10 is also connected with elastic component 15, and this elastic component 15 other end is fixed on the wing handle 14 of engine installation A.
Ala 5 is bonded on the first hydraulic pipe 1, second hydraulic pipe 2, first strut bar 4, second strut bar 6, the 3rd strut bar 7, the 4th strut bar 8, the 5th strut bar 9 and the 6th strut bar 10 and forms aerofoil, and aerofoil has folding line 3.
Launching there is following a few place with folding line 3 that aerofoil is formed in folding process: the straight line that the end of engine installation A and the 5th strut bar 9 is formed; The straight line formed between two folding device B; The straight line that engine installation A is formed to the mid point of two folding device B lines; The straight line that the end of folding device B and the 4th strut bar 8 is formed; The straight line that folding device B is formed with the end of the second strut 6.
Folding and expansion of the present utility model is divided equally two steps and is carried out, and as shown in Figure 1, as shown in Figure 2, complete folded state as shown in Figure 3 for half-lap/deployed condition for its complete deployed condition.
Folding principle:
Flapping wing is deployed condition before being folded, as shown in Figure 1.Now hydraulic drive first hydraulic pipe 1 and the 6th strut bar 10 keep launching, elastic component 15 applied elongation.In folding device B, torque spring 20 is in free state, does not produce elastic force, and film 18 is in and relaxes and be out of shape.
When flapping wing needs folding, reduce with the hydraulic pressure in the 6th strut bar 10 and the first hydraulic pipe 1 outer wall connected component hydraulic tubing, the 6th strut bar 10 becomes semi-collapsed condition around hinge folding with the first hydraulic pipe 1 gradually under the effect of elastic component 15, as shown in Figure 2.
Flapping wing continues folding, and the hydraulic pressure of the first hydraulic pipe 1 and the second hydraulic pipe 2 interior lumen raises hydraulic pressure gradually, and liquid is full of the fan-shaped chamber in Fig. 8 gradually, promotes rigid plate 22 and pulls nonelastic rope 21.Under a stretching force, the elastic force that the first strut bar 4 and the 3rd strut bar 7 overcome torque spring 20 rotates around bearing pin 19, and flapping wing is folded to Fig. 3 state.
Spreading principle:
In the pre-deployed, flapping wing is folded state, as shown in Figure 3.At this moment elastic component 15 freely extends, inelastic, and torque spring 20 reverses under the pressure of nonelastic rope 21.
When flapping wing needs to launch, the hydraulic pressure in fan-shaped chamber reduces gradually, and torque spring 20 recovers gradually under elastic reaction, and aerofoil is launched into half deployed condition, as shown in Figure 2.
Flapping wing continues to launch, the hydraulic tubing internal pressure be connected with the first hydraulic pipe 1 outer wall with the 6th strut bar 10 raises, promote the first hydraulic pipe 1 and the 6th strut bar 10 respectively around its linking point conter clockwise with rotate clockwise, aerofoil is expanded to shown in Fig. 1, the stressed stretching of elastic component 15.
Folding process:
Flapping wing need folding before, minute vehicle by the microsensor in sap cavity survey each sap cavity inside pressure judge the current state of flapping wing.For complete deployed condition, now in Fig. 5 the left side sap cavity 11 in pressure high, two-way miniflow pump 12 is communicated with the left side sap cavity microfluidic valve held and remains on closed condition, liquid is full of the whole pipeline that left side sap cavity 11 is communicated with, first hydraulic pipe 1 and the 6th strut bar 10 are deployed condition, nonelastic flexible pipe 13 is normal length, the stressed stretching of elastic component 15.In folding device B, torque spring 20 is in free state, does not produce elastic force, and the lax distortion of film 18, forms cavity in fan-shaped chamber.
After minute vehicle sends folding instruction to flapping wing, on the left of the two-way miniflow pump 12 of the microprocessor control on flapping wing, microfluidic valve is opened, and by the sap cavity 11 to the right of the liquor pump in left side sap cavity 11.Hydraulic pressure in left side sap cavity 11 and UNICOM's pipeline thereof reduces gradually, and the 6th strut bar 10 and the first hydraulic pipe 1 are folding under the elastic reaction of elastic component 15 respectively, and nonelastic flexible pipe 13 stress deformation shortens.Final flapping wing is folded to semi-collapsed condition as shown in Figure 2, and now the 6th strut bar 10 drives coupled part ala 5 to be folded to aerofoil rear portion, and forms a fold line; First hydraulic pipe 1 is folded to the position near the second hydraulic pipe 2, forms twice fold line.The position of fold line is with reference to shown in Fig. 1 dotted line.
Two-way miniflow pump 12 continues liquid to pump into right side sap cavity 11 by left side sap cavity 11, and the fan-shaped intraluminal fluid pressure in right side continues to raise promotion rigid plate 22 and rotates clockwise; Nonelastic rope 21 pulls the first strut bar 4 and the 3rd strut bar 7 to rotate clockwise around bearing pin 19, the stressed generation elastic force of torque spring 20.Final liquid is full of fan-shaped chamber, and ala is folded into complete folded state shown in Fig. 3.Now, the first strut bar 4 and the second strut bar 6 and connected ala 5 are positioned at innermost layer, and the 6th strut bar 10 and ala 5 thereof are positioned at interlayer.Respective folded line can refer to Fig. 1.
Folded, the microfluidic valve that two-way miniflow pump 12 is connected with right side sap cavity 11 is closed, and keeps flapping wing to be in complete folded state.
Expansion process:
Flapping wing expansion process is roughly folding inverse process, no longer describes in detail.
Claims (2)
1. flapping-wing modal can auto-folder and launch a flapping wing, it is characterized in that: be made up of an engine installation (A), the first hydraulic pipe (1), the second hydraulic pipe (2), some folding lines (3), the first strut bar (4), the second strut bar (6), the 3rd strut bar (7), the 4th strut bar (8), the 5th strut bar (9), the 6th strut bar (10), ala (5) and two folding devices (B); First hydraulic pipe (1), the second hydraulic pipe (2) and the 6th strut bar (10) radially distribute in engine installation (A) around, the first strut bar (4), the second strut bar (6), the 3rd strut bar (7), the 4th strut bar (8), the 5th strut bar (9) and the suspension of the 6th strut bar (10) end;
Described engine installation (A) includes two sap cavities (11), a two-way miniflow pump (12), some nonelastic flexible pipes (13), wing handle (14), two elastic components (15), hollow chaining part (16), common hinge (17), two microsensors (23), a microcontroller (25) and carry out the interface (24) that Energy Transfer and information transmits, the agent structure that wing handle (14) is engine installation (A), wing handle (14) is upper installs two-way miniflow pump (12), common hinge (17) and hollow chaining part (16), one end and the wing handle (14) of elastic component (15) are connected, wing handle (14) offers two sap cavities (11), sap cavity (11) is built-in with microsensor (23), wing handle (14) is equipped with nonelastic flexible pipe (13) and forms hydraulic tubing, hydraulic tubing is connected to miniflow pump (12), sap cavity (11), first hydraulic pipe (1), second hydraulic pipe (2) and strut bar (10), wing handle (14) is also provided with microcontroller (25) and carries out the interface (24) of Energy Transfer and information exchange,
Folding device (B) is the fan-shaped chamber of end by the first hydraulic pipe (1) and the second hydraulic pipe (2), the front end of the first strut bar (4) and the 3rd strut bar (7), film (18), bearing pin (19), torque spring (20), rigid plate (22) and nonelastic rope (21) are formed, the front end of the first hydraulic pipe (1) is connected with engine installation (A), the front end tube wall of the first hydraulic pipe (1) is linked with the wing handle (14) of portion's engine installation (A) by hollow chaining part (16), first hydraulic pipe (1) inner sap cavity is communicated with the hydraulic tubing in engine installation (A) by nonelastic flexible pipe (13), arc-shaped projection is had, for bonding with the end of the nonelastic flexible pipe of arc-shaped (13) stretched out from engine installation (A) in the outside of the first hydraulic pipe (1), the outer wall of the first hydraulic pipe (1) is also connected with elastic component (15), this elastic component (15) other end is fixed on the wing handle (14) of engine installation (A),
The end of the first hydraulic pipe (1) connects folding device (B), and the end of the first hydraulic pipe (1) expands and forms fan-shaped chamber, and chamber wall has aperture, have rigid plate (22) and film (18) in fan-shaped chamber, film (18) is for bag-shaped, and its shape is consistent with fan-shaped chamber, and the entrance that the bag opening part of film (18) is bonded in fan-shaped chamber forms airtight sap cavity, and other parts of film are separated with fan-shaped chamber, rigid plate (22) cements on film (18), first hydraulic pipe (1) end is hinged with the front end of the first strut bar (4) by bearing pin (19), bearing pin (19) is provided with torque spring (20), a torque arm and first hydraulic pipe (1) of torque spring (20) are connected, another torque arm and first strut bar (4) of torque spring (20) are connected, nonelastic rope (21) is through the aperture on the wall of the first hydraulic pipe (1) chamber, one end of nonelastic rope (21) tightens together with rigid plate (22), the other end of nonelastic rope (21) and the front end of the first strut bar (4) are fastenedly connected,
The tube wall of the second hydraulic pipe (2) and the wing handle (14) of engine installation (A) are fixed together, and the second hydraulic pipe (2) inside is communicated with the hydraulic tubing in engine installation (A) by nonelastic flexible pipe (13); The end of the second hydraulic pipe (2) is identical with the first hydraulic pipe (1), and the second hydraulic pipe (2) is connected by the front end of folding device (B) with the 3rd strut bar (7);
Second strut bar (6) front end is connected on the first strut bar (4), and the 4th strut bar (8) and the 5th strut bar (9) front end are connected on the second hydraulic pipe (2);
6th strut bar (10) front end is linked on the wing handle (14) of engine installation (A) by common hinge; There is arc-shaped projection in the outside of the 6th strut bar (10), together with cementing in the arc-shaped end of the nonelastic flexible pipe (13) stretched out from engine installation (A); The outer wall of the 6th strut bar (10) is also connected with elastic component (15), and this elastic component (15) other end is fixed on the wing handle (14) of engine installation (A);
Ala (5) is bonded on the first hydraulic pipe (1), the second hydraulic pipe (2), the first strut bar (4), the second strut bar (6), the 3rd strut bar (7), the 4th strut bar (8), the 5th strut bar (9) and the 6th strut bar (10) and forms aerofoil, and aerofoil has folding line (3).
2. a kind of flapping-wing modal according to claim 1 can auto-folder and launch flapping wing, it is characterized in that: described folding line (3) has following a few place: the straight line that the end of engine installation (A) and the 5th strut bar (9) is formed; The straight line formed between two folding devices (B); The straight line that engine installation (A) is formed to the mid point of two folding device (B) lines; The straight line that folding device (B) is formed with the end of the 4th strut bar (8); The straight line that folding device (B) is formed with the end of the second strut (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520085604.0U CN204452936U (en) | 2015-02-08 | 2015-02-08 | A kind of flapping-wing modal can auto-folder and launch flapping wing |
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| CN201520085604.0U CN204452936U (en) | 2015-02-08 | 2015-02-08 | A kind of flapping-wing modal can auto-folder and launch flapping wing |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104554721A (en) * | 2015-02-08 | 2015-04-29 | 吉林大学 | Flapping wing capable of automatically folding and unfolding for flapping wing type micro aerial vehicle |
| CN106394897A (en) * | 2016-10-26 | 2017-02-15 | 吉林大学 | Foldable wind-resistant flapping wing of flapping-wing micro air vehicle |
| CN109421928A (en) * | 2017-08-23 | 2019-03-05 | 周袭明 | Flapping wing structure and flapping wing for ornithopter unit |
| CN111017208A (en) * | 2019-12-17 | 2020-04-17 | 深圳先进技术研究院 | Beetle-like folding wing structure and manufacturing method thereof |
| CN113148142A (en) * | 2021-04-22 | 2021-07-23 | 吉林大学 | Pneumatic folding bionic flapping wing micro-aircraft |
-
2015
- 2015-02-08 CN CN201520085604.0U patent/CN204452936U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104554721A (en) * | 2015-02-08 | 2015-04-29 | 吉林大学 | Flapping wing capable of automatically folding and unfolding for flapping wing type micro aerial vehicle |
| CN106394897A (en) * | 2016-10-26 | 2017-02-15 | 吉林大学 | Foldable wind-resistant flapping wing of flapping-wing micro air vehicle |
| CN106394897B (en) * | 2016-10-26 | 2018-09-04 | 吉林大学 | A kind of foldable wind resistance flapping wing of flapping-wing MAV |
| CN109421928A (en) * | 2017-08-23 | 2019-03-05 | 周袭明 | Flapping wing structure and flapping wing for ornithopter unit |
| CN111017208A (en) * | 2019-12-17 | 2020-04-17 | 深圳先进技术研究院 | Beetle-like folding wing structure and manufacturing method thereof |
| CN113148142A (en) * | 2021-04-22 | 2021-07-23 | 吉林大学 | Pneumatic folding bionic flapping wing micro-aircraft |
| CN113148142B (en) * | 2021-04-22 | 2022-07-05 | 吉林大学 | Pneumatic folding bionic flapping wing micro-aircraft |
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