CN207060402U - Flapping wing structure and flapping wing aircraft - Google Patents
Flapping wing structure and flapping wing aircraft Download PDFInfo
- Publication number
- CN207060402U CN207060402U CN201721062375.6U CN201721062375U CN207060402U CN 207060402 U CN207060402 U CN 207060402U CN 201721062375 U CN201721062375 U CN 201721062375U CN 207060402 U CN207060402 U CN 207060402U
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- flapping wing
- folding
- folding wings
- bearing
- hinged
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Abstract
The utility model provides a kind of flapping wing structure and flapping wing aircraft, belongs to vehicle technology field, and the flapping wing structure includes bearing, transmission device, mobile link portion and folding flapping wing；Wherein, transmission device is arranged on bearing, and transmission device is connected with mobile link portion, and transmission device can drive mobile link portion to be moved relative to bearing；The both ends in mobile link portion connect a folding flapping wing respectively, also, folding flapping wing is also connected with bearing, are fluttered by mobile link portion Foldable flapping wing.Flapping wing structure provided by the utility model, using transmission device and mobile link portion two folding flapping wings can be driven synchronously to be fluttered, folding wings can be utilized to provide enough motive forces, the stabilized flight of aircraft can be ensured；Flapping wing aircraft provided by the utility model, including above-mentioned flapping wing structure, there is the advantages of flapping wing structure.
Description
Technical field
It the utility model is related to vehicle technology field, and in particular to a kind of flapping wing structure and flapping wing aircraft.
Background technology
In nature, the flapping wings type flying method of birds or insect, which can be realized, quickly to take off, accelerate and hovers, and has
The mobility of height and flexibility.Flapping wing aircraft has more advantage under small space, had good because of its small volume, light weight
Disguise, very wide application prospect is possessed at military, civilian aspect.Various countries expert successively develop " iBird-bot ",
" Microrobotic Fly ", " Hummingbird ", a series of " bionic flapping-wings such as Delfly Micro " and " SmartBird "
Aircraft, fly preceding, retreat, hovering etc. has technical breakthrough.
In the prior art, there is the problem of following several respects in common flapping wing aircraft：Flapping motion is asymmetric.Much flutter
Rotor aircraft realizes flapping motion using asymmetric sliding block or linkage, and this design structure is simple, lift deficiency, can not
Realize aircraft stabilized flight.
Utility model content
First purpose of the present utility model is to provide a kind of flapping wing structure, and the flapping wing structure can realize folding flapping wing
Symmetrically it is synchronized with the movement, and folding wings can be utilized to provide enough motive forces, the stabilized flight of aircraft can be ensured.
Second purpose of the present utility model is to provide a kind of flapping wing aircraft for including above-mentioned flapping wing structure.
Based on above-mentioned first purpose, flapping wing structure provided by the utility model, including bearing, transmission device, mobile link
Portion and folding flapping wing；
The transmission device is arranged on the bearing, and the transmission device is connected with the mobile link portion, the biography
Dynamic device can drive the mobile link portion to be moved relative to the bearing；
The both ends in the mobile link portion connect a folding flapping wing respectively, also, the folding flapping wing also with institute
Bearing connection is stated, drives the folding flapping wing to be fluttered by the mobile link portion.
Further, the folding flapping wing includes the first folding wings, the second folding wings and the first trace；First folding
The folded wing is hinged on the bearing, and described first folding wings one end is hinged with the mobile link portion, and the other end passes through transmission
Part is hinged with second folding wings, and described first trace one end is hinged with the bearing, and the other end is cut with scissors with the driving member
Connect.
Further, the driving member includes power transmission shaft, link and contiguous block, and the power transmission shaft is connecting described
One folding wings and second folding wings, the link are connected with second folding wings, and the contiguous block is to connect
State the first trace and the link.
Further, the folding flapping wing includes the 3rd folding wings, the 4th folding wings, the 5th folding wings and the second gearing
Bar；3rd folding wings are hinged on the bearing, and described 3rd folding wings one end is hinged with the mobile link portion, separately
One end is hinged with the 4th folding wings, and the one end of the 4th folding wings away from the 3rd folding wings folds with the described 5th
The wing is hinged, and second trace connects the bearing, the 4th folding wings and the 5th folding wings respectively.
Further, second trace includes first point of connecting rod and second point of connecting rod, first point of connecting rod and institute
The 4th folding wings are stated to be hinged, meanwhile, the both ends of first point of connecting rod are respectively articulated with the bearing and second point of connecting rod, institute
End of second point of connecting rod away from first point of connecting rod is stated to be hinged with the 5th folding wings.
Further, the folding flapping wing includes the 6th folding wings, and the 6th folding wings are hinged on the bearing, and
The one end of 6th folding wings is hinged with the mobile link portion.
Further, the transmission device includes using toggle, wherein, crank is hinged with the bearing, even
Bar both ends are respectively articulated with the crank and the mobile link portion.
Further, the mobile link portion is connected with the bearing sliding.
Further, in addition to flapping wing covering of the fan, multiple flapping wing covering of the fans are separately mounted on the folding flapping wing.
Based on above-mentioned second purpose, a kind of flapping wing aircraft provided by the utility model, including above-mentioned flapping wing structure.
Flapping wing structure provided by the utility model includes bearing, transmission device, mobile link portion and folding flapping wing；Wherein,
Transmission device is arranged on bearing, and transmission device is connected with mobile link portion, and transmission device can drive mobile link portion relative
Moved in bearing；The both ends in mobile link portion connect a folding flapping wing respectively, also, folding flapping wing is also connected with bearing, lead to
Mobile link portion Foldable flapping wing is crossed to be fluttered.Flapping wing structure provided by the utility model, utilizes transmission device and movement
Connecting portion can drive two folding flapping wings synchronously to be fluttered, and folding wings can be utilized to provide enough motive forces, can ensured
The stabilized flight of aircraft.
Flapping wing aircraft provided by the utility model, including above-mentioned flapping wing structure, there is the advantages of flapping wing structure.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the folding flapping wing of two-part in the flapping wing structure that the utility model embodiment provides；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the partial enlarged drawing at A in Fig. 2；
Fig. 4 is the structural representation of the folding flapping wing of three-stage in the flapping wing structure that the utility model embodiment provides；
Fig. 5 is Fig. 4 top view；
Fig. 6 is the structural representation of the folding flapping wing of unistage type in the flapping wing structure that the utility model embodiment provides.
Icon：100- folding flapping wings；The folding wings of 101- first；The folding wings of 102- second；The traces of 103- first；104- is passed
Moving part；105- power transmission shafts；106- links；107- contiguous blocks；The first fix bars of 108- A；The first fix bars of 109- B；110-
Two fix bar A；The second fix bars of 111- B；The folding wings of 112- the 3rd；The folding wings of 113- the 4th；The folding wings of 114- the 5th；115-
Two traces；The traces of 116- second；117- second divides connecting rod；The fix bar A of 118- the 3rd；The fix bar B of 119- the 3rd；120-
Six folding wings；200- transmission devices；201- cranks；202- connecting rods；300- mobile links portion；400- bearings.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
A kind of flapping wing structure is present embodiments provided, the flapping wing structure has two symmetrically arranged folding flapping wings 100, and
And two folding flapping wings 100 are connected by transmission device 200 and mobile link portion 300, by the motion in mobile link portion 300,
Drive two folding flapping wings 100 to realize flapping motion, there is raising efficiency and realize aircraft stabilized flight.
It refer to shown in Fig. 1；The flapping wing structure includes：Bearing 400, transmission device 200, mobile link portion 300 and folding
Flapping wing 100.
Bearing 400 plays the supporting role to all parts.
The transmission device 200 is arranged on bearing 400, and transmission device 200 is connected with mobile link portion 300, transmission dress
Putting 200 can drive mobile link portion 300 to be moved relative to bearing 400；During specific setting, mobile link portion 300 can be enable
It is enough to carry out above-below direction movement relative to bearing 400.
Folding flapping wing 100 sets two, and two folding flapping wings 100 are arranged symmetrically in the both sides of mobile link portion 300, mobile to connect
The both ends of socket part 300 connect a folding flapping wing 100 respectively, also, the folding flapping wing 100 is also connected with bearing 400, is passed through
The mobile link portion 300 moves up and down, and drives the folding flapping wing 100 at its both ends to be fluttered.
In the flapping wing structure that the utility model embodiment provides, folding flapping wing 100 can use unistage type structure, can also
Using multi-segment structure.Separately below to folding flapping wing 100, the folding flapping wing 100 and single hop of three-stage using two-part
The structure of folding flapping wing 100 of formula illustrates.
The folding flapping wing of two-part
It refer to shown in Fig. 1-Fig. 3, as a preferred embodiment of the present utility model, using the folding flapping wing of two-part
When 100, the folding flapping wing 100 includes the first folding wings 101, the second folding wings 102 and the first trace 103；First folding wings
101 are hinged on bearing 400, and the one end of the first folding wings 101 and mobile link portion 300 are be hinged, the other end of the first folding wings 101
Be hinged by the folding wings 102 of driving member 104 and second, the one end of the first trace 103 is be hinged with bearing 400, the first trace 103
The other end is be hinged with driving member 104.
First folding wings 101 and the articulated position of bearing 400 be located at the upper limit position of mobile link portion 300 and lower position it
Between.When mobile link portion 300 is moved to lower position, first one end of folding wings 101 away from bearing 400 moves up, by
In the position-limiting action of the first trace 103, now driving member 104 stirs upwards, drives the second folding wings 102 to move up.Phase
Instead, when mobile link portion 300 is moved to upper limit position, first one end of folding wings 101 away from bearing 400 moves down,
Due to the position-limiting action of the first trace 103, now driving member 104 stirs downwards, drives the second folding wings 102 to move down,
So repeatedly, the action of fluttering of the first folding wings 101 and the second folding wings 102 is realized.
As a preferred embodiment of the present utility model, the driving member 104 includes power transmission shaft 105, the and of link 106
Contiguous block 107, power transmission shaft 105 is connecting the first folding wings 101 and the second folding wings 102, the folding wings of link 106 and second
102 connections, contiguous block 107 is connecting the first trace 103 and the link 106.
During specific setting, power transmission shaft 105 is be hinged with the first folding wings 101 and the second folding wings 102 respectively, link 106
It is fixedly connected by bolt with the second folding wings 102, the one end of contiguous block 107 is hinged with being connected the first trace 103, contiguous block
107 other end is fixedly connected with link 106.
When mobile link portion 300 is moved to lower position, first one end of folding wings 101 away from bearing 400 is to moving up
Dynamic, due to the position-limiting action of the first trace 103, now the contiguous block 107 in driving member 104 drives link 106 to turn over upwards
It is dynamic, and then drive the second folding wings 102 to move up.On the contrary, when mobile link portion 300 is moved to lower position, first
The one end of folding wings 101 away from bearing 400 moves down, due to the position-limiting action of the first trace 103, now driving member 104
In contiguous block 107 drive link 106 to stir downwards, and then drive the second folding wings 102 to move down, it is so repeatedly, real
The action of fluttering of existing first folding wings 101 and the second folding wings 102.
When it is implemented, the first folding wings 101, the second folding wings 102 in the folding flapping wing 100 include two and put down respectively
The fix bar that row is set, for convenience of description, two fix bars for forming the first folding wings 101 are respectively defined as the first fixation
The fix bar B 109 of bar A 108 and first, two fix bars for forming the second folding wings 102 are respectively defined as the second fix bar A
The 110 and second fix bar B 111.Wherein, the first fix bar A108 and the first fix bar B109 are hinged on bearing 400 by axle
On, and the first fix bar A108 and the first fix bar B109 one end and mobile link portion 300 are be hinged, the first fix bar A108 and
The power transmission shaft 105 being hinged between the first fix bar B109 other end in driving member 104, the second fix bar A 110 and second are solid
Fixed pole B 111 one end is fixedly connected with the link 106 in driving member 104.
Using above-mentioned structure setting, the entirety of folding flapping wing 100 has a higher structural strength, and stability is good.
The folding flapping wing of three-stage
It refer to shown in Fig. 4 and Fig. 5, as a preferred embodiment of the present utility model, flutterred using the folding of three-stage
During the wing 100, the folding flapping wing 100 includes the 3rd folding wings 112, the 4th folding wings 113, the 5th folding wings 114 and second and connected
Lever 115；3rd folding wings 112 are hinged on bearing 400, and the one end of the 3rd folding wings 112 and mobile link portion 300 are be hinged,
The other end of 3rd folding wings 112 and the 4th folding wings 113 are be hinged, the one end of the 4th folding wings 113 away from the 3rd folding wings 112 with
5th folding wings 114 are be hinged, the second trace 115 difference connects bearing 400, the 4th folding wings 113 and the 5th folding wings 114.
As a preferred embodiment of the present utility model, the second trace 115 includes first point of connecting rod 116 and second point
Connecting rod 117, first point of folding wings 113 of connecting rod 116 and the 4th is be hinged, meanwhile, the both ends of first point of connecting rod 116 are respectively articulated with bearing
400 and second point of connecting rod 117, end of second point of connecting rod 117 away from first point of connecting rod 116 is be hinged with the 5th folding wings 114.
3rd folding wings 112 and the articulated position of bearing 400 be located at the upper limit position of mobile link portion 300 and lower position it
Between.When mobile link portion 300 is moved to lower position, the 3rd one end of folding wings 112 away from bearing 400 moves up, by
The position-limiting action of first point of connecting rod 116 in the second trace 115, now the 4th folding wings 113 move up, second interlock
Second point of connecting rod 117 in bar 115 synchronously moves up, and drives the 5th folding wings 114 synchronously to move up, and then completes to fold
Flapping wing 100 is flipped up acting.On the contrary, when mobile link portion 300 is moved to lower position, the 3rd folding wings 112 are remote
One end from bearing 400 moves down, due to the position-limiting action of first point of connecting rod 116 in the second trace 115, now the 4th
Folding wings 113 move down, and second point of connecting rod 117 in the second trace 115 synchronously moves down, and drive the 5th folding wings
114 synchronously move down, and then complete folding flapping wing 100 and downwardly turn over action.
When it is implemented, the 3rd folding wings 112 in the folding flapping wing 100 include two fix bars be arrangeding in parallel, it is
It is easy to illustrate, two fix bars for forming the 3rd folding wings 112 are respectively defined as into the 3rd fix bar A 118 and the 3rd fixes
Bar B 119, wherein, the 3rd fix bar A 118 and the 3rd fix bar B 119 are hinged on bearing 400 by axle, and the 3rd fixes
The fix bar B 119 of bar A 118 and the 3rd one end is be hinged with mobile link portion 300, the 3rd fix bar A 118 and the 3rd fix bar
The 4th folding wings 113 are hinged by axle between B 119 other end.
Using above-mentioned structure setting, the entirety of folding flapping wing 100 has a higher structural strength, and stability is good.
The folding flapping wing of two-part
It refer to shown in Fig. 6, as a preferred embodiment of the present utility model, using the folding flapping wing 100 of two-part
When, the folding flapping wing 100 includes the 6th folding wings 120, and the 6th folding wings 120 are hinged on bearing 400, and the 6th folding
The one end of the folded wing 120 and mobile link portion 300 are be hinged.
6th folding wings 120 and the articulated position of bearing 400 be located at the upper limit position of mobile link portion 300 and lower position it
Between.When mobile link portion 300 is moved to lower position, the 6th one end of folding wings 120 away from bearing 400 moves up, phase
Instead, when mobile link portion 300 is moved to upper limit position, first one end of folding wings 101 away from bearing 400 moves down,
So repeatedly, the action of fluttering of the 6th folding wings 120 is realized.
When it is implemented, the 6th folding wings 120 in the folding flapping wing 100 include two fix bars be arrangeding in parallel, two
Root fix bar is hinged on bearing 400 by axle, and one end of two fix bars and mobile link portion 300 are be hinged.It is whole to increase
The structural strength of body, improve stability.
As a preferred embodiment of the present utility model, the transmission device 200 includes using toggle, should
Toggle has a crank 201 and a connecting rod 202, wherein, the center of crank 201 is hinged with bearing 400 by axle,
The one end of connecting rod 202 is connected with crank 201 by eccentric shaft, and the other end of connecting rod 202 and mobile link portion 300 are be hinged, driving dress
Put and crankshaft rotation is driven by axle, connecting rod 202 then drives mobile link portion 300 to move up and down, and then Foldable flapping wing 100
Realize the action fluttered up and down.
As a preferred embodiment of the present utility model, the mobile link portion 300 is slidably connected with bearing 400.
When it is implemented, sliding shoe can be set in mobile link portion 300, stopper slot is opened up on bearing 400, is slided
Block and stopper slot are connected, so that mobile link portion 300 can move up and down along stopper slot.It is of course also possible to use phase
Anti- arrangement, i.e. stopper slot is set in mobile link portion 300, opens up sliding shoe on bearing 400, sliding shoe and spacing
Groove is connected, and can equally realize the action that mobile link portion 300 moves up and down along sliding shoe.
As a preferred embodiment of the present utility model, flapping wing structure provided by the utility model also includes flapping wing and fanned
Face, multiple flapping wing covering of the fans are separately mounted on folding flapping wing 100, specifically installed in the same side of folding flapping wing 100.Flapping wing
Covering of the fan can play a part of increasing the motive force of flapping wing structure.
The utility model additionally provides a kind of flapping wing aircraft, and the flapping wing aircraft includes above-mentioned flapping wing structure.Due to
Detailed description has been made above for flapping wing structure, therefore, repeats no more here.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. flapping wing structure, it is characterised in that including：Bearing, transmission device, mobile link portion and folding flapping wing；The transmission device is arranged on the bearing, and the transmission device is connected with the mobile link portion, the transmission dress Putting can drive the mobile link portion to be moved relative to the bearing；The both ends in the mobile link portion connect a folding flapping wing respectively, also, the folding flapping wing also with the branch Seat connection, the folding flapping wing is driven to be fluttered by the mobile link portion.
- 2. flapping wing structure according to claim 1, it is characterised in that the folding flapping wing includes the first folding wings, second Folding wings and the first trace；First folding wings are hinged on the bearing, and described first folding wings one end with it is described Mobile link portion is hinged, and the other end is hinged by driving member and second folding wings, described first trace one end with it is described Bearing is hinged, and the other end is hinged with the driving member.
- 3. flapping wing structure according to claim 2, it is characterised in that the driving member includes power transmission shaft, link and company Connect block, the power transmission shaft is connecting first folding wings and second folding wings, the link and second folding Folded wing connection, the contiguous block is connecting first trace and the link.
- 4. flapping wing structure according to claim 1, it is characterised in that the folding flapping wing includes the 3rd folding wings, the 4th Folding wings, the 5th folding wings and the second trace；3rd folding wings are hinged on the bearing, and the 3rd folding wings One end is hinged with the mobile link portion, and the other end is hinged with the 4th folding wings, and the 4th folding wings are away from described One end of three folding wings is hinged with the 5th folding wings, and second trace connects the bearing, the four fold respectively The folded wing and the 5th folding wings.
- 5. flapping wing structure according to claim 4, it is characterised in that second trace includes first point of connecting rod and the Two points of connecting rods, first point of connecting rod are hinged with the 4th folding wings, meanwhile, the both ends of first point of connecting rod are respectively articulated with The bearing and second point of connecting rod, end of the second point of connecting rod away from first point of connecting rod fold with the described 5th The wing is hinged.
- 6. flapping wing structure according to claim 1, it is characterised in that the folding flapping wing includes the 6th folding wings, described 6th folding wings are hinged on the bearing, and the one end of the 6th folding wings is hinged with the mobile link portion.
- 7. according to the flapping wing structure described in claim any one of 1-6, it is characterised in that the transmission device includes using crank Linkage, wherein, crank is hinged with the bearing, and connecting rod two end is respectively articulated with the crank and the mobile link portion.
- 8. according to the flapping wing structure described in claim any one of 1-6, it is characterised in that the mobile link portion and the bearing It is slidably connected.
- 9. according to the flapping wing structure described in claim any one of 1-6, it is characterised in that multiple described also including flapping wing covering of the fan Flapping wing covering of the fan is separately mounted on the folding flapping wing.
- 10. a kind of flapping wing aircraft, it is characterised in that including the flapping wing structure described in claim any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721062375.6U CN207060402U (en) | 2017-08-23 | 2017-08-23 | Flapping wing structure and flapping wing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721062375.6U CN207060402U (en) | 2017-08-23 | 2017-08-23 | Flapping wing structure and flapping wing aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207060402U true CN207060402U (en) | 2018-03-02 |
Family
ID=61516294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721062375.6U Expired - Fee Related CN207060402U (en) | 2017-08-23 | 2017-08-23 | Flapping wing structure and flapping wing aircraft |
Country Status (1)
| Country | Link |
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| CN (1) | CN207060402U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109592031A (en) * | 2018-12-29 | 2019-04-09 | 北京交通大学 | The bionic flapping-wing flying vehicle of unilateral single node |
| CN110077590A (en) * | 2019-04-03 | 2019-08-02 | 深圳先进技术研究院 | A kind of home-services robot |
| CN111099016A (en) * | 2018-10-25 | 2020-05-05 | 青岛海洋科学与技术国家实验室发展中心 | Bionic flapping wing system and bionic flapping wing robot |
| CN112478133A (en) * | 2020-12-02 | 2021-03-12 | 中国航空工业集团公司沈阳飞机设计研究所 | Coupling connecting rod driving mechanism and wing folding rectifying cover plate opening and closing structure thereof |
-
2017
- 2017-08-23 CN CN201721062375.6U patent/CN207060402U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111099016A (en) * | 2018-10-25 | 2020-05-05 | 青岛海洋科学与技术国家实验室发展中心 | Bionic flapping wing system and bionic flapping wing robot |
| CN111099016B (en) * | 2018-10-25 | 2021-05-14 | 青岛海洋科学与技术国家实验室发展中心 | Bionic flapping wing system and bionic flapping wing robot |
| CN109592031A (en) * | 2018-12-29 | 2019-04-09 | 北京交通大学 | The bionic flapping-wing flying vehicle of unilateral single node |
| CN110077590A (en) * | 2019-04-03 | 2019-08-02 | 深圳先进技术研究院 | A kind of home-services robot |
| CN110077590B (en) * | 2019-04-03 | 2020-12-25 | 深圳先进技术研究院 | Home service robot |
| CN112478133A (en) * | 2020-12-02 | 2021-03-12 | 中国航空工业集团公司沈阳飞机设计研究所 | Coupling connecting rod driving mechanism and wing folding rectifying cover plate opening and closing structure thereof |
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Granted publication date: 20180302 |