CN113879528A - Pushing and controlling integrated flapping wing mechanism - Google Patents
Pushing and controlling integrated flapping wing mechanism Download PDFInfo
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- CN113879528A CN113879528A CN202111362262.9A CN202111362262A CN113879528A CN 113879528 A CN113879528 A CN 113879528A CN 202111362262 A CN202111362262 A CN 202111362262A CN 113879528 A CN113879528 A CN 113879528A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The present disclosure provides a thrust-control integrated flapping wing mechanism, comprising: the device comprises a machine body, a crank, a first sliding block, an arc-shaped sliding groove rod, a long connecting rod, a second sliding block and a linear sliding groove rod; the middle part of the arc-shaped chute rod is hinged with the machine body, and one end of the arc-shaped chute rod is hinged to the linear chute rod; the first sliding block is arranged at the other end of the arc-shaped sliding groove rod in a sliding mode along an arc-shaped track; the second sliding block is arranged on the linear sliding groove rod in a sliding mode along the extending direction of the linear sliding groove rod; two ends of the long connecting rod are hinged to the first sliding block and the second sliding block respectively; one end of the crank is hinged to the first sliding block, and the other end of the crank is connected with a driving part for driving the first sliding block to rotate; the linear chute rod is provided with a connecting rod for mounting the outer section wing.
Description
Technical Field
The utility model relates to a flapping wing aircraft technical field especially relates to a push away integrative flapping wing mechanism of accuse.
Background
The artificial flapping wing aircraft has very wide application prospect in military and civil aspects, and the realization of the practicability of the flapping wing aircraft needs to solve two problems: the flight endurance is longer and more efficient, and the improvement of the flight endurance needs to improve the aerodynamic efficiency of flapping wing flight and reduce the flight power requirement on one hand; on the other hand, the loading capacity of the flapping wings needs to be improved, and the battery capacity is increased.
The flapping wing air vehicle using the tail wing for the plane balancing can realize the control of lifting and turning through the tail wing, and in the prior art, the lifting control mode is realized by installing a lifting rudder on the tail wing; for relatively difficult turning control, the following two solutions are generally adopted: one is that the turning is realized by adopting the tail layout similar to a fixed wing, including the technical scheme of T-shaped tail, inverted T-shaped tail, V-shaped tail, inverted V-shaped tail and the like, and by a rudder or a mixed control mode of an elevator and the rudder; and the other scheme adopts a control surface differential scheme of a two-degree-of-freedom horizontal tail wing or similar ailerons without a vertical tail scheme, and the defects of the scheme are that the turning radius is large and the control effect is poor.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present disclosure provides a thrust-control integrated flapping wing mechanism.
According to one aspect of the present disclosure, a thrust-controlled integrated flapping wing mechanism comprises: the device comprises a machine body, a crank, a first sliding block, an arc-shaped sliding groove rod, a long connecting rod, a second sliding block and a linear sliding groove rod;
the linear sliding groove rod comprises a linear section and a connecting section which are connected in sequence;
the middle part of the arc-shaped chute rod is hinged with the machine body, and one end of the arc-shaped chute rod is hinged to the connecting section;
the other end of the arc-shaped sliding groove rod is provided with an arc-shaped section, and the first sliding block is arranged on the arc-shaped section in a sliding mode along an arc-shaped track;
the second sliding block is arranged on the sliding section in a sliding manner;
two ends of the long connecting rod are hinged to the first sliding block and the second sliding block respectively;
one end of the crank is hinged to the first sliding block, and the other end of the crank is connected with a driving part for driving the first sliding block to rotate;
and a connecting rod for mounting the outer section wing is further arranged on one side of the sliding section or the second sliding block, which is far away from the long connecting rod.
According to at least one embodiment of the present disclosure, further comprising: the amplitude value controls a steering engine, a steering engine rocker arm, a flexible cable a and a flexible cable b;
two ends of the steering engine rocker arm are respectively connected with one end of a flexible cable a and one end of a flexible cable b, and the middle part of the steering engine rocker arm is connected to an output shaft of the amplitude control steering engine;
the other end of the flexible inhaul cable a and the other end of the flexible inhaul cable b are connected to the linear sliding groove rod, and a hinged point of the second sliding block and the long connecting rod is located between the flexible inhaul cable a and the flexible inhaul cable b.
According to at least one embodiment of the present disclosure, further comprising: a flexible cable channel a and a flexible cable channel b; the flexible inhaul cable channel a is sleeved outside the flexible inhaul cable a; the flexible inhaul cable channel b is sleeved outside the flexible inhaul cable b.
According to at least one embodiment of the present disclosure, further comprising: the non-return assembly and the glide limiting block;
the gliding limiting block is connected to the crank and is eccentrically arranged relative to the rotation center of the crank;
the check assembly is connected to the machine body; the non-return assembly is arranged corresponding to the glide limiting block, and when the glide limiting block rotates forwards, the non-return assembly does not prevent the glide limiting block from rotating; when the gliding stopper reverses, the non-return assembly offsets with the gliding stopper for preventing the gliding stopper from continuing to rotate.
According to at least one embodiment of the present disclosure, the check assembly includes: the gliding limiting device comprises a gliding limiting spring, a gliding limiting rod and a gliding limiting rod limiting block;
one end of the gliding limiting rod is hinged to the machine body, and the other end of the gliding limiting rod extends to the gliding limiting block;
the gliding limiting rod limiting block is fixed to the machine body and is provided with a limiting groove for limiting the rotation angle of the gliding limiting rod;
the two ends of the gliding limiting spring are respectively connected to the machine body and the gliding limiting rod.
According to at least one embodiment of the present disclosure, the arc-shaped section of the arc-shaped chute rod is provided with an arc-shaped first chute; the first sliding block is arranged in the first sliding groove in a sliding mode.
According to at least one embodiment of the present disclosure, the sliding section of the linear sliding groove rod is provided with a second sliding groove; the second sliding groove is formed along the extending direction of the linear sliding groove rod; the second sliding block is arranged in the second sliding groove in a sliding mode.
According to at least one embodiment of the present disclosure, the first sliding block is slidably sleeved on the arc-shaped section of the arc-shaped sliding groove rod.
According to at least one embodiment of the present disclosure, the second sliding block is slidably sleeved on the sliding section of the linear sliding groove rod.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the composite crank-chute mechanism and the crank-rocker mechanism realize the beating motion with higher bionic degree, improve the pneumatic efficiency and realize the design of large thrust-weight ratio; the flapping amplitude of the outer section of the wing is modulated, and the thrust and lift of the wings on two sides are reduced or increased at the same time, so that the capability of the flapping wing for adapting to different flight modes is improved;
2. the flapping control method directly changes the thrust and lift difference of the wings on two sides by modulating the flapping amplitude of the outer section of the wing, and is direct force control, so that the efficient turning control of the flapping wing is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a schematic illustration of an ornithopter wing half according to the present disclosure.
FIG. 2 is a schematic view of the inner section of the ornithopter of FIG. 1 in flapping mode.
FIG. 3 is a schematic view of the outer section of the ornithopter shown in FIG. 1 in flapping mode.
FIG. 4 is a schematic view of the flapping wing aircraft turning control of FIG. 1.
Reference numerals: 1-driving a motor; 2-a gear transmission mechanism; 3-a crank; 4, a first sliding block; 5-arc chute rod; 6-straight line chute rod; 7-amplitude control steering engine; 8-steering engine rocker arm; 9-flexible guy cable a; 10-flexible cable b; 11-flexible cable channel a; 12-flexible cable channel b; 13-a long connecting rod; 14-a second slide block; 15-organism; 16-a motion track of the sliding block; 17-the motion track of the second sliding block; 18-center of crank rotation; 19-the hinge point of the linear chute rod and the arc chute rod; 20-arc chute rod rotation center; 21-a hinge point of the second sliding block and the long connecting rod; 22-glide limit spring; 23-gliding limit rod; 24-a glide limit stop; 25-glide limit block.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 3, according to a first embodiment of the present disclosure, there is provided a thrust-controlled integrated flapping wing mechanism, comprising: the device comprises a machine body 15, a crank 3, a first sliding block 4, an arc-shaped sliding groove rod 5, a long connecting rod 13, a second sliding block 14 and a linear sliding groove rod 6; the linear sliding groove rod 6 comprises a linear section and a connecting section which are connected in sequence; the middle part of the arc-shaped chute rod 5 is hinged with the machine body 15, and one end of the arc-shaped chute rod 5 is hinged to the connecting section; the other end of the arc-shaped sliding chute rod 5 is provided with an arc-shaped section, and the sliding block I4 is arranged on the arc-shaped section in a sliding mode along an arc-shaped track; the second sliding block 14 is arranged on the sliding section in a sliding mode; two ends of the long connecting rod 13 are respectively hinged to the first sliding block 4 and the second sliding block 14; one end of the crank 3 is hinged to the first sliding block 4, and the other end of the crank is connected with a driving part for driving the first sliding block to rotate; and a connecting rod for mounting the outer section wing is further arranged on one side of the second sliding section or the second sliding block 14 away from the long connecting rod 13.
When the wing mounting structure is used, the outer section of the wing is mounted on the connecting rod of the linear chute rod 6, namely the motion trail of the outer section of the wing is determined by the motion trail of the linear chute rod 6.
In one embodiment, the first sliding block 4 can be sleeved on the arc-shaped section of the arc-shaped sliding groove rod 5, so that the first sliding block 4 can slide along the arc-shaped track; in another embodiment, the arc-shaped section of the arc-shaped chute rod 5 is provided with an arc-shaped first chute; the first sliding block 4 is arranged in the first sliding groove in a sliding mode, namely the first sliding block 4 slides along an arc-shaped track under the guiding of the arc-shaped first sliding groove, and an arc-shaped chain line shown in figure 1 is a motion track of the first sliding block 4 relative to the arc-shaped sliding groove rod.
In one embodiment, the second sliding block 14 can be sleeved on the straight line segment, so that the second sliding block 14 can slide linearly; in another embodiment, the straight section is provided with a second chute; the second sliding groove is formed along the extending direction of the linear sliding groove rod 6; the second sliding block 14 is slidably disposed in the second sliding groove, that is, the second sliding block 14 slides along a straight line under the linear guide of the second sliding groove, and a straight chain line shown in fig. 1 is a motion track of the second sliding block 14 relative to the straight sliding groove rod.
The driving part can be realized by adopting the prior art such as a motor, and in the embodiment, the driving part comprises a driving motor 1 and a gear transmission mechanism 2; the gear transmission mechanism 2 comprises a first-stage gear, a second-stage gear and a third-stage gear; the driving motor 1 is fixed to the machine body 15, an output shaft of the driving motor 1 is fixedly connected with the first-stage gear, the second-stage gear is meshed with the first-stage gear, the third-stage gear is meshed with the second-stage gear, and the first-stage gear, the second-stage gear and the third-stage gear are all rotatably connected to the machine body 15; the crank 3 is fixedly connected to the third stage gear.
The driving motor 1 transmits driving force to the crank 3 through the gear transmission mechanism 2, the crank 3 rotates to drive the first sliding block 4 to slide in the first sliding groove of the arc-shaped sliding groove rod 5, and the arc-shaped sliding groove rod 5 is driven to generate flapping motion; at each moment of movement, a connecting line of a hinged point of the arc-shaped chute rod 5 and the linear chute rod 6 and a rotating center of the crank 3 is a fixed edge, a connecting line of a hinged point 21 of the second sliding block and the long connecting rod and a hinged point 19 of the linear chute rod and the arc-shaped chute rod is a virtual rocker, the fixed edge, the virtual rocker, the crank 3 and the long connecting rod 13 form a crank 3 rocker mechanism, and the crank 3 drives the linear chute rod 6 to generate flapping movement of the outer section of the wing when rotating.
In one embodiment, the thrust-controlled integral flapping wing mechanism of the present disclosure further comprises: the amplitude control steering engine 7, the steering engine rocker arm 8, the flexible pull cable a9 and the flexible pull cable b 10; two ends of a steering engine rocker arm 8 are respectively connected with one end of a flexible cable a9 and one end of a flexible cable b10, and the middle part of the steering engine rocker arm 8 is connected to an output shaft of an amplitude control steering engine 7; the other end of the flexible cable a9 and the other end of the flexible cable b10 are both connected to the linear sliding groove rod 6, and the hinge point 21 of the second sliding block and the long connecting rod is located between the flexible cable a9 and the flexible cable b 10. Amplitude control steering wheel 7 drives steering wheel rocking arm 8 swing to through flexible cable a9 and flexible cable b10 pulling the second slider 14 in the second spout of sharp spout pole internal motion, changed the length of virtual rocker in the instantaneous crank rocker mechanism, thereby adjust the flapping amplitude of wing, and then change the thrust and the lift difference of wing, and then realize high-efficient turn control, and improve this disclosed push away the ability of accuse integrative flapping wing mechanism adaptation different flight modes.
In one embodiment, the thrust-controlled integral flapping wing mechanism of the present disclosure further comprises: flexible cable channel a11 and flexible cable channel b 12; the flexible cable channel a11 is sleeved outside the flexible cable a 9; the flexible cable channel b12 is sleeved outside the flexible cable b 10.
In one embodiment, the thrust-controlled integral flapping wing mechanism of the present disclosure further comprises: a non-return assembly and glide limit block 25; the gliding limiting block 25 is connected to the crank 3, and the gliding limiting block 25 is eccentrically arranged relative to the rotation center of the crank 3; the non-return assembly is connected to the machine body 15; the non-return assembly is arranged corresponding to the glide limiting block 25, and when the glide limiting block 25 rotates forwards, the non-return assembly does not prevent the glide limiting block 25 from rotating; when the gliding stopper 25 reverses, the non-return assembly offsets the gliding stopper 25 for preventing the gliding stopper 25 from continuing to rotate.
In one embodiment, a check assembly includes: a glide limit spring 22, a glide limit rod 23, and a glide limit rod limit block 24; one end of the glide limit rod 23 is hinged to the body 15, and the other end of the glide limit rod 23 extends to the glide limit block 25; the glide limit rod limiting block 24 is fixed to the machine body 15, and the glide limit rod limiting block 24 is provided with a limiting groove for limiting the rotation angle of the glide limit rod 23; the two ends of the glide limit spring 22 are connected to the body 15 and the glide limit rod 23, respectively.
Fig. 1 only shows the flapping mechanism on one side of the flapping wing aircraft, and it should be noted that the flapping mechanisms are arranged on both sides of the flapping wing aircraft, and the flapping mechanisms on both sides of the flapping wing aircraft are arranged in a mirror symmetry manner.
The specific processes of flapping motion, turn control, flight mode transition, and glide lock operation of the ornithopter of the present disclosure are now described:
1. the flapping movement comprises inner-segment flapping and outer-segment flapping;
beating at the inner section: as shown in fig. 2, the driving motor 1 rotates, decelerates through the gear transmission mechanism 2 and transmits driving force to the third-stage gear, so as to drive the crank 3 fixedly connected with the third-stage gear to continuously rotate, the crank 3 drives the first slider 4 to reciprocate in the first chute of the arc-shaped chute rod 5, so as to drive the arc-shaped chute rod 5 to reciprocate around the rotation center of the arc-shaped chute rod 5, and thus, flapping of the inner section of the wing is realized;
beating at the outer section: as shown in fig. 3, at each instant of rotation of the driving motor 1, a connecting line of a hinge point of the arc-shaped chute rod 5 and the linear chute rod 6 and a rotation center of the crank 3 is a fixed edge, a connecting line of a hinge point 21 of the second slider and the long connecting rod and a hinge point 19 of the linear chute rod and the arc-shaped chute rod is a virtual rocker, the crank 3 rotates to drive the linear chute rod 6 through the long connecting rod 13 to realize flapping, and the flapping of the outer section of the wing viewed dynamically is the movement of the rocker in the crank 3 rocker mechanism with the length and the position of the fixed edge changing periodically along with time.
2. And (3) turning control: as shown in fig. 4, the turning control of the flapping wing aircraft of the present disclosure is realized based on the flapping amplitude differential of the outer sections of the wings on both sides: the amplitude control steering engine 7 rotates, the second sliding block 14 is pulled to rotate upwards through the flexible cable a9 or the second sliding block 14 is pulled to rotate downwards through the flexible cable b10, the length of the virtual rocker is increased or shortened, the flapping amplitude of the outer section of wing is reduced or increased, the thrust and the lift of the wing on the side are reduced or increased, and the turning control of the flapping wing aircraft is realized through the differential motion of the thrust and the lift of the wings on the two sides.
3. And (3) switching the flight mode: the adaptation to different flight modes of the present disclosure is realized based on the equidirectional control of flapping amplitude values of the outer sections of wings on both sides: the amplitude control steering engine 7 rotates, the second sliding block 14 is pulled to rotate upwards through the flexible cable a9 or the second sliding block 14 is pulled to rotate downwards through the flexible cable b10, the length of the virtual rocker is increased or shortened, the flapping amplitude of the outer section of the wing is reduced or increased, the thrust and the lift force of the wing on the side are reduced or increased, the flapping amplitude is reduced to reduce the power requirement of flapping, the flapping mode enters a high-efficiency cruising or hovering mode, and the flapping amplitude is increased to increase the thrust lift force output and enter a high-maneuverability mode.
4. And (3) gliding locking: the disclosed glide locking is implemented using a glide locking device: when normally pounding, driving motor 1 clockwise rotation, drive third level gear clockwise rotation, link firmly gliding stopper 25 in third level gear around 3 rotation center clockwise rotations of crank, at every turn through gliding stopper 23 during the liftoff gag lever post 23 normal rotations of gliding, when driving motor 1 received the locking instruction of gliding, driving motor 1 anticlockwise rotation, drive third level gear anticlockwise rotation, link firmly gliding stopper 25 in third level gear around 3 rotation center anticlockwise rotations of crank, gliding stopper 25 locking is in gliding gag lever post 23 department, driving motor 1 stall, whole wing stops in the position of gliding.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (9)
1. Push away integrative flapping wing mechanism of accuse, its characterized in that includes: the device comprises a machine body (15), a crank (3), a first sliding block (4), an arc-shaped sliding groove rod (5), a long connecting rod (13), a second sliding block (14) and a linear sliding groove rod (6);
the linear sliding groove rod (6) comprises a linear section and a connecting section which are connected in sequence;
the middle part of the arc-shaped sliding chute rod (5) is hinged with the machine body (15), and one end of the arc-shaped sliding chute rod (5) is hinged to the connecting section;
the other end of the arc-shaped sliding groove rod (5) is provided with an arc-shaped section, and the first sliding block (4) is arranged on the arc-shaped section in a sliding mode along an arc-shaped track;
the second sliding block (14) is arranged on the sliding section in a sliding manner;
two ends of the long connecting rod (13) are hinged to the first sliding block (4) and the second sliding block (14) respectively;
one end of the crank (3) is hinged to the first sliding block (4), and the other end of the crank is connected with a driving part for driving the first sliding block to rotate;
and a connecting rod for mounting the outer section of the wing is further arranged on one side of the sliding section or the second sliding block (14) far away from the long connecting rod (13).
2. The thrust controlled integral flapping wing mechanism of claim 1 further comprising: the amplitude control steering engine (7), a steering engine rocker arm (8), a flexible cable a (9) and a flexible cable b (10);
two ends of the steering engine rocker arm (8) are respectively connected with one end of a flexible cable a (9) and one end of a flexible cable b (10), and the middle part of the steering engine rocker arm (8) is connected to an output shaft of the amplitude control steering engine (7);
the other end of the flexible cable a (9) and the other end of the flexible cable b (10) are both connected to the linear sliding groove rod (6), and a hinge point of the second sliding block (14) and the long connecting rod (13) is located between the flexible cable a (9) and the flexible cable b (10).
3. The thrust controlled integral flapping wing mechanism of claim 2 further comprising: a flexible cable channel a (11) and a flexible cable channel b (12); the flexible inhaul cable channel a (11) is sleeved outside the flexible inhaul cable a (9); the flexible inhaul cable channel b (12) is sleeved outside the flexible inhaul cable b (10).
4. The thrust controlled integral flapping wing mechanism of claim 2 or 3, further comprising: a non-return component and a glide limit block (25);
the gliding limiting block (25) is connected to the crank (3), and the gliding limiting block (25) is eccentrically arranged relative to the rotation center of the crank (3);
the non-return assembly is connected to the machine body (15); the non-return assembly is arranged corresponding to the glide limiting block (25), and when the glide limiting block (25) rotates forwards, the non-return assembly does not prevent the glide limiting block (25) from rotating; when the gliding limiting block (25) rotates reversely, the non-return assembly is abutted against the gliding limiting block (25) and used for preventing the gliding limiting block (25) from continuing to rotate.
5. The thrust integrated flapping wing mechanism of claim 4, wherein said check assembly comprises: a glide limit spring (22), a glide limit rod (23), and a glide limit rod limit block (24);
one end of the glide limiting rod (23) is hinged to the machine body (15), and the other end of the glide limiting rod (23) extends to the glide limiting block (25);
the gliding limiting rod limiting block (24) is fixed to the machine body (15), and a limiting groove for limiting the rotation angle of the gliding limiting rod (23) is formed in the gliding limiting rod limiting block (24);
the two ends of the gliding limiting spring (22) are respectively connected to the machine body (15) and the gliding limiting rod (23).
6. The thrust-control integrated flapping wing mechanism according to any one of claims 1 to 3, wherein the arc-shaped section of the arc-shaped chute rod (5) is provided with an arc-shaped first chute; the first sliding block (4) is arranged in the first sliding groove in a sliding mode.
7. The thrust-control integrated flapping wing mechanism according to any one of claims 1 to 3, wherein the sliding section of the linear sliding chute rod (6) is provided with a second sliding chute; the second sliding groove is formed along the extending direction of the linear sliding groove rod (6); the second sliding block (14) is arranged in the second sliding groove in a sliding mode.
8. The thrust-controlled integrated flapping wing mechanism according to any one of claims 1 to 3, wherein the first sliding block (4) is slidably sleeved on the arc-shaped section of the arc-shaped chute rod (5).
9. The thrust-controlled integrated flapping wing mechanism according to any one of claims 1 to 3, wherein the second sliding block (14) is slidably sleeved on the sliding section of the linear sliding groove rod (6).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021109408054 | 2021-08-17 | ||
| CN202110940805.4A CN113443139A (en) | 2021-08-17 | 2021-08-17 | Pushing and controlling integrated flapping wing mechanism |
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| Publication Number | Publication Date |
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| CN113879528A true CN113879528A (en) | 2022-01-04 |
| CN113879528B CN113879528B (en) | 2024-07-02 |
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| CN202110940805.4A Pending CN113443139A (en) | 2021-08-17 | 2021-08-17 | Pushing and controlling integrated flapping wing mechanism |
| CN202111362262.9A Active CN113879528B (en) | 2021-08-17 | 2021-11-17 | Push-control integrated flapping wing mechanism |
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2021
- 2021-08-17 CN CN202110940805.4A patent/CN113443139A/en active Pending
- 2021-11-17 CN CN202111362262.9A patent/CN113879528B/en active Active
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| 徐一村;宗光华;毕树生;于靖军;: "空间曲柄摇杆扑翼机构设计分析", 航空动力学报, no. 01, 15 January 2009 (2009-01-15), pages 210 - 214 * |
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| CN113443139A (en) | 2021-09-28 |
| CN113879528B (en) | 2024-07-02 |
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