CN102815399B - Hummingbird-wing-flapping-imitating micro air vehicle - Google Patents
Hummingbird-wing-flapping-imitating micro air vehicle Download PDFInfo
- Publication number
- CN102815399B CN102815399B CN201210282453.9A CN201210282453A CN102815399B CN 102815399 B CN102815399 B CN 102815399B CN 201210282453 A CN201210282453 A CN 201210282453A CN 102815399 B CN102815399 B CN 102815399B
- Authority
- CN
- China
- Prior art keywords
- wing
- connecting rod
- mav
- frame
- flapping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The invention discloses a mummingbird-wing-flapping-imitating micro air vehicle (MAV) which belongs to a biomimetic MAV field. The MAV comprises: a frame, a reduction gear set, a motor, a transmission mechanism, a parallel shaft structure, and a pair of wings. The reduction gear set, the motor, and the parallel shaft structure are directly arranged on the frame. The transmission mechanism is arranged between the reduction gear set and the parallel shaft structure, and is used for converting continuous rotation outputted by the reduction gear set into reciprocative rotation of the parallel shaft structure. The pair of wings is arranged on the parallel shaft structure, such that self flapping movements can be realized. The pair of wings and other parts form a complete wing-flapping MAV. According to the invention, the flapping movements of the two wings are completely symmetric, such that influences of vibration on the performance of the MAV are greatly reduced, and control difficulty of the MAV is reduced. Also, the MAV provided by the invention has advantages of simple and reasonable structure and convenient processing. The MAV can easily be improved, such that complicated tasks can be completed.
Description
Technical field
The present invention relates to a kind of technical field of bionical micro-aircraft, specifically, what relate to is a kind of imitative hummingbird flapping-wing MAV.
Background technology
Micro-aircraft is an a kind of class aircraft that can yardstick be in any direction all not more than 15cm, and it has purposes very widely in military, industry and civil area---it can go all multitasks such as search and rescue, investigation, supervision.Along with scientific and technological progress, micro-aircraft also to more stable, more flexibly, more energy-conservation future development.
For micro-aircraft, modal several flying methods are no more than the flight of fixed-wing formula, rotor flying and flapping flight.Utilize micro-aircraft of first two flight mechanism to emerge, but can not deny, these two kinds of flying methods have inherent limitation in micro-aircraft field.For example, the micro-aircraft of fixed-wing is faced with the destabilization problems under wind speed, and the micro-aircraft of rotor is faced with the problem that quality factor reduces.Compare with these two kinds of flying methods, flapping flight has impayable advantage in micro-aircraft field; Utilize the birds of this flight mechanism and insect for the research of flapping-wing MAV provides model.Not only differentiability is good for flapping-wing MAV, manoevreability is high, and has the high speed feature of the micro-aircraft of fixed-wing and the hovering function of the micro-aircraft of rotor concurrently, has become the study hotspot of each development group in the world now.
Through the retrieval of prior art is found, Northwestern Polytechnical University has designed a kind of Novel bionic flapping-wing MAV based on " crank-rocking bar " structure in 2008, and this aircraft has been realized free flight, and (particular content can be with reference to Liu, L. & Z.Fang & Z.He.Optimization Design of Flapping Mechanism and Wings for Flapping-Wing MAVs[J] .Lecture Notes in Computer Science, 2008,5314:245-255).But the beating campaign of two wings of this flapping-wing MAV is full symmetric not, to dimensionally-optimised and subsequent control, all brought very large problem, and then had a strong impact on the performance of aircraft.In addition, the structure of this aircraft is also difficult to be further improved, thereby has just been difficult to following various complex tasks.
Summary of the invention
The object of the invention is to solve above-mentioned deficiency of the prior art, a kind of imitative hummingbird flapping-wing MAV is provided, and this Flight Vehicle Structure is compact, Sizes, and total interchangeability is high, be easy to assembling, maintenance, improve, thereby be convenient to produce in enormous quantities, reduce production costs.
For realizing above-mentioned object, a kind of imitative hummingbird flapping-wing MAV of the present invention, comprises frame, train of reduction gears, motor, transmission device, parallel shafts structure and a pair of wing, wherein: frame provides a general frame for whole micro-aircraft; Train of reduction gears is directly installed on above frame; Motor forms a unified integral body by interference fit and frame; Parallel shafts structure by the restriction of geometric relationship and the effect of bearing together with rack; The two ends of transmission device are connected with parallel axle construction with the big gear wheel of train of reduction gears respectively, and a pair of wing is connected with parallel shafts structure by wing attaching parts.
Described frame is formed by a plurality of part bondings, or is made by the method for 3 D-printing.The processing mode of making frame by bonding mode is fairly simple, is convenient to implement; Method by 3 D-printing is made frame, can further improve precision.
Described train of reduction gears and motor are installed in above frame.Motor adopts hollow-cup motor, by interference fit, is arranged on above base and is had the hole of maximum gauge to locate; Big gear wheel is common plastic gear, is arranged on and above base, has place, the hole of minimum diameter, can rotate freely; Meanwhile, as the interface with transmission device, be drilled with aperture above big gear wheel, this makes big gear wheel play the effect of crank; Miniature gears is also plastic gear, is arranged on above the output shaft of motor, as reaction gear.
Described train of reduction gears consists of plastic gear, and the big gear wheel of mouth is connected with the bar linkage structure as transmission device.
The bar linkage structure that described transmission device adds " slide block-rocking bar " by a kind of " crank-sliding block " forms, and the material of use is resin.First connecting rod one end is connected with big gear wheel, and the other end is connected with second connecting rod, in " crank-sliding block " structure, plays a part connecting rod; Second connecting rod one end is connected with first connecting rod, and one end is connected with frame attaching parts, and the other end is connected with third connecting rod, in " crank-sliding block " and " slide block-rocking bar " structure, all play a part slide block, difference is, belongs to output element in the former, belongs to input element in the latter; Third connecting rod one end is connected with second connecting rod, and the other end is connected with the 4th connecting rod, in " slide block-rocking bar " structure, plays a part connecting rod; The 4th connecting rod one end is connected with third connecting rod, and the other end is connected with the parallel shafts in parallel shafts structure by interference fit, drives parallel shafts to realize reciprocal rotation.
Described parallel shafts structure is comprised of a pair of stepped shaft, and this parallel shafts structure one end is connected to frame bottom by bearing, and the other end is connected to frame top by free-running fit, thereby can rotate freely around the axis of self.
Described a pair of wing shape full symmetric, and form by the vein of carbon fibre material and the film of polyimide material, the vein here comprises the auxiliary arteries and veins on the master pulse of wing leading edge, the auxiliary arteries and veins of wing root and wing surface, by regulating length and the diameter of these three veins, just can be optimized the performance of wing.
The skeletal system that the present invention mainly imitates hummingbird designs the flapping wing structure of self.Particularly, the present invention utilizes hollow-cup motor as movement output, and pass motion to wing by train of reduction gears, transmission device and parallel axle construction, and finally make two wings be achieved symmetrical beating campaign, make aircraft can carry out smooth flight.And the mounting arrangement of the parts such as the crank motion of wing and hollow-cup motor is also mated, make lift that micro-aircraft produces and the gravity of self make a concerted effort to be on a vertical curve, this just a nearlyer step strengthened the stability of micro-aircraft.Meanwhile, for this member of wing attaching parts, we also can be further improved design, thereby improve controller performance and the aeroperformance of micro-aircraft.
The present invention need to set an initial angle of attack when flight, makes wing along carrying out reciprocal beating campaign from below, the place ahead to this direction of top, rear.Meanwhile, wing is being fluttered in process up and down, because flexible existence can deform, thereby produces passive rotation, makes the angle of attack occur constantly to change.So, micro-aircraft, by not only producing lift upwards, can also produce thrust forward, supports aircraft flight.
Compact conformation of the present invention, Sizes, be applicable on flapping-wing MAV.Frame can be carried out integrated processing, also can be combined by simple part, has processing simply and the high feature of positioning precision, is conducive to realize whole micro-miniaturisation; The existence of wing attaching parts, for follow-up improvement provides very large performance space, can make wing in future, realize the motion of various complexity; Gear cluster, bearing and hollow-cup motor have all adopted standard element, change very convenient; Hollow-cup motor, as drive source of the present invention, does not need very high power line voltage, thereby be convenient to micro-aircraft, oneself carries power supply.Total interchangeability of the present invention is high, is easy to assembling, maintenance, improves, thereby be convenient to produce in enormous quantities, reduces production costs.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention integral shaft mapping.
Fig. 2 is embodiment of the present invention rack construction schematic diagram.
Fig. 3 is embodiment of the present invention gear cluster and motor scheme of installation.
Fig. 4 is embodiment of the present invention transmission device schematic diagram.
Fig. 5 is embodiment of the present invention parallel shafts structure and wing attaching parts scheme of installation.
Fig. 6 is embodiment of the present invention wing structural representation.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the present invention is further explained, but following content is not intended to limit the scope of the invention.
As shown in Figure 1, the present embodiment provides a kind of imitative hummingbird flapping-wing MAV, comprises frame 1, train of reduction gears 2, motor 3, transmission device 4, parallel shafts structure 5 and a pair of wing 6, wherein: frame 1 provides a general frame for whole micro-aircraft; Train of reduction gears 2 is directly installed on above frame 1; Motor 3 forms a unified integral body by interference fit and frame 1; Parallel shafts structure 5 is assembled together by the restriction of geometric relationship and the effect of bearing and frame 1; The two ends of transmission device 4 are connected with parallel axle construction 5 with the big gear wheel of train of reduction gears 2 respectively, and a pair of wing 6 is connected with parallel shafts structure 5 by a wing attaching parts.
As shown in Figure 2, described frame 1 is comprised of with a pair of base baffle 10 top ceiling 7, attaching parts 8, base 9.Together with the two ends of attaching parts 8 are will be respectively bonding with base 9 with top ceiling 7, form the basic framework of frame 1; Top ceiling 7 hole is above used for locating parallel shafts structure 5; Rectangular channel on attaching parts 8 is used for retraining the degree of freedom of transmission device 4; Hole on base 9 is installed with respectively motor 3, parallel shafts structure 5 and train of reduction gears 2 by descending order; Base baffle 10 is bonded in below base 9, plays the effect of the bearing of supports parallel axle construction 5.The processing mode that attention is made frame by bonding mode is fairly simple, is convenient to implement; Also can frame be worked it out by the method for 3 D-printing, can further improve precision like this.
As shown in Figure 3, described train of reduction gears 2 and motor 3 are installed in above frame 1.Motor 3 adopts hollow-cup motor, and by interference fit, being arranged on base 9 has the hole of maximum gauge to locate above; Big gear wheel 11 is common plastic gear, is arranged on the place, hole that base 9 has minimum diameter above, can rotate freely; Meanwhile, as the interface with transmission device 4, big gear wheel 11 is drilled with aperture above, and this makes big gear wheel play the effect of crank; Miniature gears 12 is also plastic gear, is arranged on above the output shaft of motor 3, as reaction gear.
As shown in Figure 4, the bar linkage structure that described transmission device 4 adds " slide block-rocking bar " by a kind of novel " crank-sliding block " forms, and the material of use is resin.Connecting rod 13 one end are connected with big gear wheel 11, and one end is connected with connecting rod 14, in " crank-sliding block " structure, play a part connecting rod; Connecting rod 14 one end are connected with connecting rod 13, and one end is connected with attaching parts 8, in " crank-sliding block " and " slide block-rocking bar " structure, all play a part slide block, and difference is, belongs to output element in the former, belongs to input element in the latter; Connecting rod 15 one end are connected with connecting rod 14, and one end is connected with connecting rod 16, in " slide block-rocking bar " structure, play a part connecting rod; Connecting rod 16 one end are connected with connecting rod 15, and one end is connected with the parallel shafts in parallel shafts structure 5 by interference fit, drive parallel shafts to realize reciprocal rotation.
As shown in Figure 5, described parallel shafts structure 5 is arranged in frame 1, and described wing attaching parts 19 is arranged on the parallel shafts of parallel shafts structure 5.Bearing 17 adopts prevailing deep groove ball bearing, is mainly used to bear axial load; Parallel shafts 18 belongs to typical stepped shaft, and the mouth of transmission device 4 is not only installed above it, and wing attaching parts is installed, thereby wing is realized, pats motion; Wing attaching parts 19, for wing and parallel shafts 18 are linked together, belongs to and is fixed together in this embodiment.
As shown in Figure 6, described wing 6 is comprised of the master pulse 20 of wing attaching parts 19, wing leading edge, the auxiliary arteries and veins 23 of the auxiliary arteries and veins 21 on wing surface, parachute 22 and wing root.Master pulse 20, auxiliary arteries and veins 21, auxiliary arteries and veins 23 all adopt carbon fibre material, and 22 of parachutes adopt polyimide material; Master pulse 20, auxiliary arteries and veins 23 are bonded in the edge of parachute 22 by epoxide-resin glue, and orthogonal; Auxiliary arteries and veins 21 is bonded in wing surface by epoxide-resin glue, has a certain degree with master pulse 20; The structure of " vein+parachute " like this, can improve the aeroperformance of wing well.
The flapping wing mechanism of imitative hummingbird flapping-wing MAV of the present invention imitates the skeletal structure of hummingbird, is easy to realize flight flexibly, and is convenient to carry out follow-up improvement.This device adopts a hollow-cup motor 3 as movement output, and utilize train of reduction gears 2, transmission device 4 and parallel axle construction 5 to pass motion to wing 6, finally make two wings be achieved symmetrical beating campaign, make aircraft can carry out smooth flight.The structural constituent of this device is simpler, has adopted a part of standard element, and remaining part shape specification is also simpler, what material adopted is the materials such as plastics, resin, carbon fiber and Kapton, handling ease, is convenient to adopt the micro-manufacturing batch of numerical control to produce, and is conducive to structural entity micro-miniaturisation.In addition, the hollow-cup motor that this device adopts, as drive source, does not need very high power line voltage, and common poly-lithium battery just can be used as power supply on the market, and this is convenient to micro-aircraft and oneself carries power supply.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.Those skilled in the art, read after foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. an imitative hummingbird flapping-wing MAV, comprise frame, train of reduction gears, motor, transmission device, parallel shafts structure and a pair of wing, it is characterized in that: described train of reduction gears is directly installed on above frame, motor forms a unified integral body by interference fit and frame, parallel shafts structure by the restriction of geometric relationship and the effect of bearing together with rack, the two ends of transmission device are connected with parallel axle construction with the big gear wheel of train of reduction gears respectively, and a pair of wing is connected with parallel shafts structure by a wing attaching parts;
Described parallel shafts structure is comprised of a pair of stepped shaft, and this parallel shafts structure one end is connected to frame bottom by bearing, and the other end is connected to frame top by free-running fit, thereby can rotate freely around the axis of self.
2. a kind of imitative hummingbird flapping-wing MAV according to claim 1, is characterized in that: described frame is formed by a plurality of part bondings, or is made by the method for 3 D-printing.
3. a kind of imitative hummingbird flapping-wing MAV according to claim 2, is characterized in that: described frame is comprised of top ceiling, attaching parts, base and a pair of base baffle; Together with the two ends of attaching parts are bonding with base with top ceiling respectively, form the basic framework of frame; Hole above top ceiling is used for locating parallel shafts structure; Rectangular channel on attaching parts is used for retraining the degree of freedom of transmission device; Hole on base is installed with respectively motor, parallel shafts structure and train of reduction gears by descending order; Base baffle is bonded to below base, has played the effect of the attached bearing of supports parallel axle construction.
4. a kind of imitative hummingbird flapping-wing MAV according to claim 1, it is characterized in that: described train of reduction gears consists of plastic gear, and the big gear wheel of mouth is connected with the bar linkage structure as transmission device.
5. a kind of imitative hummingbird flapping-wing MAV according to claim 1, is characterized in that: described motor adopts hollow-cup motor, by interference fit, is arranged on above base and is had the hole of maximum gauge to locate; Big gear wheel is common plastic gear, is arranged on and above base, has place, the hole of minimum diameter, can rotate freely; Meanwhile, as the interface with transmission device, be drilled with aperture above big gear wheel, this makes big gear wheel play the effect of crank; Miniature gears is also plastic gear, is arranged on above the output shaft of motor, as reaction gear.
6. according to a kind of imitative hummingbird flapping-wing MAV described in claim 1-5 any one, it is characterized in that: described transmission device consists of bar linkage structure, this bar linkage structure belongs to the structure that " crank-sliding block " adds " slide block-rocking bar ".
7. a kind of imitative hummingbird flapping-wing MAV according to claim 6, it is characterized in that: described bar linkage structure comprises that four connecting rods form, wherein one end of first connecting rod is connected with big gear wheel, and the other end is connected with second connecting rod, in " crank-sliding block " structure, plays a part connecting rod; One end of second connecting rod is connected with first connecting rod, and one end is connected with frame attaching parts, and the other end is connected with third connecting rod, in " crank-sliding block " and " slide block-rocking bar " structure, all plays a part slide block; Third connecting rod one end is connected with second connecting rod, and the other end is connected with the 4th connecting rod, in " slide block-rocking bar " structure, plays a part connecting rod; The 4th connecting rod one end is connected with third connecting rod, and the other end is connected with the parallel shafts in parallel shafts structure by interference fit, drives parallel shafts to realize reciprocal rotation.
8. according to a kind of imitative hummingbird flapping-wing MAV described in claim 1-5 any one, it is characterized in that: described a pair of wing shape full symmetric, and form by the vein of carbon fibre material and the film of polyimide material, the vein here comprises the auxiliary arteries and veins on the master pulse of wing leading edge, the auxiliary arteries and veins of wing root and wing surface, by regulating length and the diameter of these three veins, just can be optimized the performance of wing.
9. imitative hummingbird flapping-wing MAV according to claim 8, is characterized in that: described wing attaching parts connects wing and the parallel shafts structure that has realized beating motion, realizes the beating campaign full symmetric of two wings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210282453.9A CN102815399B (en) | 2012-08-09 | 2012-08-09 | Hummingbird-wing-flapping-imitating micro air vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210282453.9A CN102815399B (en) | 2012-08-09 | 2012-08-09 | Hummingbird-wing-flapping-imitating micro air vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102815399A CN102815399A (en) | 2012-12-12 |
| CN102815399B true CN102815399B (en) | 2014-12-10 |
Family
ID=47299932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210282453.9A Expired - Fee Related CN102815399B (en) | 2012-08-09 | 2012-08-09 | Hummingbird-wing-flapping-imitating micro air vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102815399B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103482066A (en) * | 2013-10-14 | 2014-01-01 | 厦门大学 | Micro ornithopter based on ionic polymer metal composite driving |
| CN104971505A (en) * | 2014-04-08 | 2015-10-14 | 李哲 | Bionic toy with multiple flapping wings |
| CN104477383B (en) * | 2014-12-02 | 2017-04-26 | 西北工业大学 | Three-dimensional flapping flapping-wing drive mechanism |
| CN105197121B (en) * | 2015-10-14 | 2017-08-11 | 中国人民解放军国防科学技术大学 | A kind of multiple degrees of freedom bio-mechanism |
| CN106005405B (en) * | 2016-07-18 | 2019-01-25 | 上海交通大学 | It is a kind of with the high frequency flapping wing Bionic insect flight device controllably passively reversed |
| CN106167095B (en) * | 2016-07-18 | 2019-01-25 | 上海交通大学 | A kind of high frequency flapping wing Bionic insect flight device with anti-dislocation mechanism |
| CN108656121A (en) * | 2017-03-29 | 2018-10-16 | 深圳光启合众科技有限公司 | Robot wing device and robot |
| US11479355B2 (en) | 2017-12-20 | 2022-10-25 | The Texas A&M University System | Hover-capable flapping-wing aircraft |
| CN108275270B (en) * | 2018-02-09 | 2021-05-07 | 西北工业大学 | Scull type flapping wing control mechanism |
| CN108438218B (en) * | 2018-02-11 | 2020-09-04 | 北京航空航天大学 | Bionic hummingbird aircraft |
| CN108820207A (en) * | 2018-05-10 | 2018-11-16 | 北京科技大学 | A kind of flapping flight robot driver and flapping flight robot |
| CN110008639B (en) * | 2019-04-24 | 2020-10-27 | 东莞理工学院 | Intelligent parametric design method for wings of miniature flapping-wing aircraft |
| CN110143280B (en) * | 2019-05-29 | 2022-05-27 | 南开大学 | Driving mechanism of hummingbird-flapping-wing-imitating unmanned aerial vehicle based on connecting rod mechanism |
| CN112078790B (en) * | 2020-09-03 | 2022-04-19 | 哈尔滨工业大学（深圳） | Flapping wing driving device and aircraft |
| CN112078791B (en) * | 2020-09-10 | 2022-07-05 | 哈尔滨工业大学（深圳） | Flapping wing aircraft |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN202226059U (en) * | 2011-07-25 | 2012-05-23 | 中国科学院沈阳自动化研究所 | Two-dimensional flapping micro-scale flapping-wing robot mechanism |
| CN102616375A (en) * | 2012-04-09 | 2012-08-01 | 上海交通大学 | Bevel gear four-wing type flapping wing mini-aircraft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101031869B1 (en) * | 2009-06-08 | 2011-05-02 | 건국대학교 산학협력단 | Flapping system for a large flapping angle generation |
-
2012
- 2012-08-09 CN CN201210282453.9A patent/CN102815399B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249887A (en) * | 2008-04-08 | 2008-08-27 | 北京航空航天大学 | Aileron rotary retractable flapping wing device |
| CN202226059U (en) * | 2011-07-25 | 2012-05-23 | 中国科学院沈阳自动化研究所 | Two-dimensional flapping micro-scale flapping-wing robot mechanism |
| CN102616375A (en) * | 2012-04-09 | 2012-08-01 | 上海交通大学 | Bevel gear four-wing type flapping wing mini-aircraft |
Non-Patent Citations (4)
| Title |
|---|
| 单曲柄双摇杆扑翼驱动机构的优化设计;周凯等;《航空动力学报》;20030131;第23卷(第1期);第184-188页 * |
| 周凯等.单曲柄双摇杆扑翼驱动机构的优化设计.《航空动力学报》.2003,第23卷(第1期),184-188. * |
| 彭松林等.曲柄摇杆扑翼机构的联合仿真及优化设计.《系统仿真学报》.2007,第19卷(第8期),1758-1761. * |
| 曲柄摇杆扑翼机构的联合仿真及优化设计;彭松林等;《系统仿真学报》;20070430;第19卷(第8期);第1758-1761页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102815399A (en) | 2012-12-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102815399B (en) | Hummingbird-wing-flapping-imitating micro air vehicle | |
| CN108438220B (en) | Multi-degree-of-freedom dragonfly-imitating flapping-wing aircraft and control method thereof | |
| CN102616375B (en) | Bevel gear four-wing type flapping wing mini-aircraft | |
| CN105366050B (en) | A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle | |
| CN108438218B (en) | Bionic hummingbird aircraft | |
| CN111301677A (en) | Eight-wing flapping wing aircraft capable of hovering and flight control method thereof | |
| CN103482064A (en) | Bionic flapping wing air vehicle | |
| CN110203388A (en) | A kind of double flapping wing aircrafts of miniature imitative dragonfly | |
| CN105539839A (en) | Miniature mechanical sliding rail type controllable flapping rotor craft | |
| CN112298552A (en) | Miniature double-flapping-wing aircraft capable of being controlled by autonomous stability augmentation and control moment generation method thereof | |
| CN104943862A (en) | Under-actuated flexible flat wing-type flapping wing flight robot | |
| CN110104176A (en) | It is a kind of for flutterring the driving mechanism of rotor craft | |
| CN211996141U (en) | Bionic flapping wing aircraft with self-adaptive attack angle | |
| CN111086634B (en) | Dragonfly-like double-flapping-wing micro aircraft | |
| CN112009681B (en) | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof | |
| CN204399476U (en) | A kind of micro flapping wing air vehicle | |
| CN206871360U (en) | A kind of multiple degrees of freedom flapping-wing modal with high propulsive efficiency | |
| CN206358362U (en) | A kind of manned flapping-wing machine | |
| Shi et al. | Mechanism Design and Motion Analysis of a Flapping‐Wing Air Vehicle | |
| CN116022332B (en) | Line-driven beetle-like miniature ornithopter | |
| CN211869691U (en) | Eight-wing flapping wing aircraft capable of hovering | |
| CN209290686U (en) | Portable modular unmanned vehicle | |
| Liu et al. | Liftoff of a motor-driven flapping wing rotorcraft with mechanically decoupled wings | |
| CN111232198A (en) | Dragonfly-like flapping wing aircraft | |
| CN102815398B (en) | Wing-flapping micro air vehicle based on triangular structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20170809 |