CN109927932B - Adjustable flapping wing aircraft force measuring platform and installation and use method thereof - Google Patents
Adjustable flapping wing aircraft force measuring platform and installation and use method thereof Download PDFInfo
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- CN109927932B CN109927932B CN201811097316.1A CN201811097316A CN109927932B CN 109927932 B CN109927932 B CN 109927932B CN 201811097316 A CN201811097316 A CN 201811097316A CN 109927932 B CN109927932 B CN 109927932B
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Abstract
The invention discloses an adjustable flapping wing aircraft force measuring platform and an installation and use method thereof, which solve the defect that the prior art can not meet the requirement of synchronous measurement of multi-dimensional aerodynamic force and aerodynamic moment of a flapping wing aircraft, and adjust the position of a fuselage of the flapping wing aircraft by controlling the angle of a steering engine, thereby measuring the force and moment of the pose of the flapping wing aircraft under the condition of different pitch angles and being capable of adapting to the flapping wing aircraft with different sizes; the technical scheme is as follows: the flapping wing aircraft clamping device comprises a clamping device for clamping a flapping wing aircraft, wherein an angle adjusting mechanism is arranged at the bottom of the clamping device, and the lower part of the angle adjusting mechanism is connected with a base through a force sensor; the inclination angle of the clamping device is changed through the angle adjusting mechanism, so that the force sensor collects force and moment information of the flapping wing air vehicle at different pitching angles; the clamping device comprises a bedplate, wherein a plurality of adjusting grooves are formed in the bedplate, and clamping plates with adjustable positions are symmetrically arranged on two sides of each adjusting groove to clamp the flapping wing aircrafts with different sizes.
Description
Technical Field
The invention belongs to the field of aerodynamic force testing of flapping wing aircrafts, and particularly relates to an adjustable force measuring platform of a flapping wing aircraft and an installation and use method thereof.
Background
In order to obtain data such as aerodynamic force, aerodynamic moment and the like of an aircraft, people generally adopt a wind tunnel test to measure and record, but due to high manufacturing cost, a plurality of scholars are forbidden to walk. In particular to a flapping wing aircraft, which belongs to a novel bionic aviation model, and the aerodynamic characteristics of the flapping wing aircraft are obviously different from those of the traditional fixed wing aviation model.
At present, the aerodynamic characteristic force measuring platform devices of the flapping wing aircraft are various, the size of the aerodynamic characteristic force measuring platform devices is generally larger than the size of the fuselage of the flapping wing aircraft, each force measuring platform needs to be customized again according to the stress characteristics and the shape characteristics of the flapping wing aircraft, and the universality is not high. In addition, the detection performance of the currently and generally used flapping wing aerodynamic characteristic force measurement platform is single, and the sensors are divided into single-component sensors and three-component sensors according to detection dimensions, so that the requirement for synchronous measurement of the multi-dimensional aerodynamic force and the aerodynamic moment of the flapping wing aircraft cannot be met.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an adjustable flapping wing aircraft force measuring platform and an installation and use method thereof.
The invention adopts the following technical scheme:
an adjustable force measuring platform of a flapping wing aircraft comprises a clamping device for clamping the flapping wing aircraft, wherein an angle adjusting mechanism is arranged at the bottom of the clamping device, and the lower part of the angle adjusting mechanism is connected with a base through a force sensor; the inclination angle of the clamping device is changed through the angle adjusting mechanism, so that the force sensor collects force and moment information of the flapping wing air vehicle at different pitching angles;
the clamping device comprises a bedplate, wherein a plurality of adjusting grooves are formed in the bedplate, and clamping plates with adjustable positions are symmetrically arranged on two sides of each adjusting groove to clamp the flapping wing aircrafts with different sizes.
Furthermore, positioning grooves are respectively formed in two sides of the adjusting groove, and the transverse installation position of the clamping plate is changed through the positioning grooves.
Furthermore, the center of the bedplate is provided with a plurality of fixing holes and positioning holes, and the bedplate is positioned and installed with the angle adjusting mechanism through the fixing holes and the positioning holes.
Further, the splint is L-shaped.
Further, the angle adjusting mechanism comprises a connecting frame, a steering engine and a rotary table frame, wherein the steering engine is arranged on the inner side of the connecting frame, and the top of the steering engine is connected with the table plate through the rotary table frame; the steering engine realizes the inclination of the bedplate angle through the turntable frame.
Furthermore, the bottom of the connecting frame is fixedly connected with the force sensor through a top plate.
Further, the force sensor adopts a six-component sensor.
Furthermore, the steering engine is a double-shaft steering engine.
Furthermore, the bedplate is made of light high-strength metal or nonmetal materials, and the base is made of light alloy or nonmetal materials.
An installation and use method of an adjustable flapping wing aircraft force measuring platform comprises the following steps:
horizontally placing a base on a workbench, and fixing a bottom plate and the workbench by using a fixing clamp;
step (2) a force sensor, a top plate, a connecting frame, a steering engine and a top plate are sequentially arranged above a base, and clamping plates are symmetrically arranged on two sides of a top plate adjusting groove;
step (3) placing the body of the flapping wing aircraft between two symmetrical clamping plates, and fastening the two clamping plates through bolts;
connecting an output data line of the force sensor with a data acquisition card, and inserting the data acquisition card into a computer host;
and (5) starting the steering engine to change the pitching angle of the flapping wing aircraft, and acquiring data of lift force, thrust force, lateral force, rolling moment, pitching moment and yawing moment of the flapping wing aircraft at different pitching angles.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the six-component sensor is arranged, and the force measuring platform is built on the basis of the six-component sensor, so that the problems of single testing function, complex structure, large size, low universality and the like of the traditional single-component or three-component sensor force measuring platform are effectively solved; the lift force, the thrust force and the lateral force of the flapping wing air vehicle, as well as the rolling moment, the pitching moment and the yawing moment can be obtained more efficiently; meanwhile, the force measuring platform has smaller integral volume and simpler structure, effectively reduces the manufacturing cost and is convenient to install;
(2) the force measuring platform has higher universality and can adapt to flapping wing aircrafts with various sizes through the positions of the bolts on the positioning grooves; meanwhile, the invention can measure the flapping wing aircraft with a single longitudinal flat plate type fuselage structure and can also measure the flapping wing aircraft with a transverse multilayer flat plate fuselage structure;
(3) the invention can adjust the body position of the flapping wing air vehicle by controlling the angle of the steering engine, thereby measuring the force and moment of the pose of the flapping wing air vehicle under the condition of different pitch angles and meeting the requirement of synchronous measurement of multi-dimensional aerodynamic force and aerodynamic moment of the flapping wing air vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a schematic view of the platen configuration of the present invention;
FIG. 3 is a schematic structural view of an angle adjustment mechanism of the present invention;
FIG. 4 is a schematic view of the force sensor and base mounting of the present invention;
FIG. 5 is a schematic view of a base structure of the present invention;
FIG. 6 is a bottom view of the force sensor of the present invention;
FIG. 7 is an isometric view of the cleat of the present invention;
FIG. 8 is a schematic view of the horizontal configuration of the present invention;
FIG. 9 is a schematic diagram of the inclined state structure of the present invention;
the device comprises a table plate 1, a clamp plate 2, a connecting frame 3, a rotating table 4, a steering engine 5, a top plate 6, a force sensor 7, a base 8, a positioning groove 9, an adjusting groove 10, a clamp plate fixing hole 11, a clamp plate positioning hole 12, a top threaded hole 13, a top positioning hole 14, a base fixing hole 15, a base positioning hole 16, a bottom positioning hole 17, a bottom threaded hole 18, a transverse fixing hole 19 and a longitudinal fixing hole 20.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As introduced by the background art, the prior art has the defect that the requirement for synchronous measurement of multi-dimensional aerodynamic force and aerodynamic moment of a flapping wing aircraft cannot be met, and in order to solve the technical problem, the application provides an adjustable force measuring platform of the flapping wing aircraft and an installation and use method thereof.
In a typical embodiment of the present application, as shown in fig. 1 to 9, an adjustable ornithopter force measuring platform is provided, which comprises a clamping device, an angle adjusting mechanism, a force sensor 7 and a base 8, wherein the clamping device comprises a bedplate 1 and a plurality of clamping plates 2, and the angle adjusting mechanism comprises a steering engine 5, a connecting frame 3 and a turntable frame 4.
The splints 2 are arranged in groups at the upper part of the bedplate 1.
Because the clamping plates 2 need to bear most of aerodynamic force and inertia force generated by the flapping wing aircraft in the flapping process and the gravity of the flapping wing aircraft, the lower edge of the fuselage of the flapping wing aircraft is clamped by four to six clamping plates, and the functions of fixing the flapping wing aircraft and ensuring the high-precision measurement of the force sensor 7 are achieved.
Preferably, two sets of clamping plates 2 are arranged on the upper part of the bedplate 1, and two clamping plates 2 are arranged on each set.
Two ends of the bedplate 1 are respectively provided with an adjusting groove 10 with a certain length, and two sides of each adjusting groove 10 are symmetrically provided with positioning grooves 9.
Preferably, the width of the adjusting groove 10 is 4mm, and a 'flat-plate type' ornithopter with a fuselage thickness dimension of 4mm can be placed in the adjusting groove.
The clamping plates 2 are fixedly connected with the adjusting grooves 10 through bolts, and the horizontal position of the clamping plates 2 relative to the adjusting grooves 10 is changed to change the distance between the adjacent groups of clamping plates 2, so that the flapping wing air vehicles with different sizes are adapted.
The splint 2 is L-shaped, and the two symmetrical splint 2 are arranged back to back.
The splint 2 comprises a horizontal part and a vertical part, and the horizontal part and the vertical part are respectively provided with longitudinal fixing holes 20 and transverse fixing holes 19 with the same number; wherein the longitudinal fixing hole 20 cooperates with the positioning slot 9.
The central connecting line of the longitudinal fixing holes 20 on the splints 2 is collinear with the central line of the positioning groove 9 on the bedplate 1, when in use, the transverse fixing holes 19 of the two symmetrical splints 2 are concentrically aligned, and after the position of the body of the flapping wing aircraft is determined, the fastening is carried out by bolts.
Preferably, the clamping plate 2 is made of aluminum alloy.
The center of the bedplate 1 is provided with a plurality of splint fixing holes 11 and splint positioning holes 12 for connecting and positioning with an angle adjusting mechanism.
Preferably, the center of the bedplate 1 is provided with three splint fixing holes 11 and two splint positioning holes 12.
The bedplate 1 is made of metal or nonmetal materials with light weight and high strength.
Preferably, the bedplate 1 is made of a carbon fiber plate by adopting a cutting and forming processing technology.
The connecting frame 3 is U-shaped, and steering wheel 5 is installed in the inboard of connecting frame 3, and 5 top connections of steering wheel are the revolving stage frame 4 that the type of falling L set up, offer the third fixed orifices that corresponds with splint fixed orifices 11 the same figure and position on the revolving stage frame 4, and the third locating hole that corresponds with splint locating hole 12 the same figure and position.
The bedplate 1 and the turntable frame 4 are positioned and installed by inserting bolts into the clamping plate fixing holes 11 and the third fixing holes and inserting positioning pins into the clamping plate positioning holes 12 and the third positioning holes, so that the complete positioning effect of one surface and two pins is achieved.
The steering engine 5 is a double-shaft steering engine.
The bottom of the connecting frame 3 is connected with a top plate 6, and a force sensor 7 is arranged between the top plate 6 and a base 8.
The force sensor 7 adopts a six-component sensor, and effectively solves the problems of single testing function, complex structure, large size, low universality and the like of the traditional single-component or three-component sensor force measuring platform.
The top of the force sensor 7 is provided with a top threaded hole 13 and a top positioning hole 14, the bottom of the force sensor 7 is provided with three bottom threaded holes 18 and a bottom positioning hole 17, the upper surface of the base 8 is provided with three base fixing holes 15 and a base positioning hole 16, the base fixing holes 15 correspond to the bottom threaded holes 28 in position, and the base positioning holes 17 correspond to the bottom positioning holes 17 in position.
The base 8 may be any frame structure capable of supporting.
Preferably, the base 8 is in a shape of a Chinese character 'men', and the bottoms of the two ends of the base 8 are respectively provided with a horizontal support plate.
In order to ensure the high precision of the data acquisition of the six-component sensor, the base is made of light alloy or non-metal materials with high strength and good plasticity.
Preferably, the base 8 is formed by cutting and bending an aluminum alloy plate.
Considering the size of the force sensor 7, the size of the top surface of the base 8 is 5cm by 5cm, and under the condition that the force sensor 7 is stably installed, the manufacturing cost of the base 8 can be saved.
The backup pad of 8 sides on base adopts the fixation clamp to clip to accomplish fixedly with the workstation, when flapping wing aircraft size was too big, can punch in backup pad department, fixed with the workstation with the bolt.
Because the wingspan of the flapping wing aircraft is about 80-120 cm, the flapping angle is about 20 degrees generally in the lower flapping stroke, the lower flapping amplitude of the wing tip is about 27-40 cm, and in order to avoid the contact with the ground of the wing tip of the wing in the test process, the height of the base 8 is set to be 45 cm; meanwhile, in order to ensure that the bedplate does not interfere with the flapping postures of the flapping-wing aircraft in the lower flapping stroke, the size of the bedplate is set to be about 10cm wide and about 20cm long.
The installation and use method comprises the following steps:
(1) the base 8 is horizontally placed on a workbench surface, the base 8 and the workbench are fixed by a fixing clamp, and bolts and positioning pins respectively penetrate through a base fixing hole 15 and a base positioning hole 16 on the top surface of the base 8 and are placed into a bottom threaded hole 18 and a bottom positioning hole 17 of the force sensor 7 to realize positioning and clamping.
(2) After the clamp plate fixing hole 11 and the base positioning hole 12 of the bedplate 1 are respectively aligned with the third fixing hole and the third positioning hole of the turntable frame 4, bolts and positioning pins are inserted to realize positioning and clamping.
(3) The top plate 6 is placed at the top of the force sensor 7, the connecting frame 3 is vertically placed on the upper portion of the top plate 6, the top of the force sensor 7, the top plate 6 and the central lines of the fixing holes and the positioning holes of the connecting frame 3 are respectively aligned, and then the three are fixed through bolts and positioning pins.
(4) The rotary table frame 4 is fixed in a threaded hole in the back of the double-shaft steering engine through a bolt, threaded holes in two sides of the double-shaft steering engine are aligned with central lines of holes in two sides of the connecting frame 3, one end with a gear is inserted into a reserved gear hole, and two ends of the gear are fixed through bolts.
(5) After the bedplate 1 and the six-component sensor are fixed, the longitudinal fixing hole 20 of the splint 2 is placed in the positioning groove 9 and inserted by a bolt, and the lower end of the longitudinal fixing hole is slightly fixed by a nut;
repeating the operation, inserting all the four positioning grooves 9 by using bolts, slightly fixing by using nuts, then adjusting the position of the flapping wing aircraft to enable the gravity center position of the aircraft to be positioned right above the force sensor 7, clamping by using two groups of symmetrically arranged clamping plates 2, aligning the central lines of the two transverse fixing holes 19 of the clamping plates 2, and then inserting by using the bolts; the outside of the clamping plate 2 at the other side is fixed by a nut;
and finally, fixing the nut at the lower end of the positioning groove 9 to finish the installation.
And repeating the steps to completely install the four flapping wing aircraft clamping plates.
(6) The output data line of the force sensor 7 is connected with a data acquisition card, and the data acquisition card is inserted into a computer host to finish data collection.
(7) When the lifting force, the thrust force, the lateral force, the rolling moment, the pitching moment and the yawing moment of the flapping wing aircraft at different pitching angles need to be acquired, different pitching angles can be acquired only by controlling the double-shaft steering engine to rotate for a certain angle.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. An adjustable force measuring platform of a flapping wing aircraft is characterized by comprising a clamping device for clamping the flapping wing aircraft, wherein an angle adjusting mechanism is arranged at the bottom of the clamping device, and the lower part of the angle adjusting mechanism is connected with a base through a force sensor; the inclination angle of the clamping device is changed through the angle adjusting mechanism, so that the force sensor collects force and moment information of the flapping wing air vehicle at different pitching angles; the angle adjusting mechanism comprises a connecting frame, a steering engine and a rotary table frame, the steering engine is arranged on the inner side of the connecting frame, and the top of the steering engine is connected with the table plate through the rotary table frame; the steering engine realizes the inclination of the bedplate angle through the turntable frame;
the clamping device comprises a bedplate, wherein a plurality of adjusting grooves are formed in the bedplate, and clamping plates with adjustable positions are symmetrically arranged on two sides of each adjusting groove so as to clamp the flapping wing aircrafts with different sizes; and positioning grooves are respectively formed in two sides of the adjusting groove, and the transverse installation position of the clamping plate is changed through the positioning grooves.
2. The adjustable ornithopter force measuring platform as claimed in claim 1, wherein the center of the platform plate is provided with a plurality of fixing holes and positioning holes, and the platform plate is positioned and mounted with the angle adjusting mechanism through the fixing holes and the positioning holes.
3. The adjustable ornithopter force measuring platform of claim 1, wherein the clamp plate is L-shaped.
4. The adjustable ornithopter force measuring platform according to claim 1, wherein the bottom of the connecting frame is fixedly connected with the force sensor through a top plate.
5. The adjustable ornithopter force platform of claim 1, wherein the force sensor is a six-component sensor.
6. The adjustable ornithopter force measuring platform according to claim 1, wherein the steering engine is a dual-shaft steering engine.
7. The adjustable ornithopter force measuring platform according to claim 1, wherein the platform is made of a lightweight high-strength metal or non-metal material, and the base is made of a lightweight alloy or non-metal material.
8. The method for installing and using the adjustable ornithopter force measuring platform according to any one of claims 1 to 7, wherein the method comprises the following steps:
horizontally placing a base on a workbench, and fixing a bottom plate and the workbench by using a fixing clamp;
step (2) a force sensor, a top plate, a connecting frame and a steering engine are sequentially arranged above the base, and clamping plates are symmetrically arranged on two sides of a top plate adjusting groove;
step (3) placing the body of the flapping wing aircraft between two symmetrical clamping plates, and fastening the two clamping plates through bolts;
connecting an output data line of the force sensor with a data acquisition card, and inserting the data acquisition card into a computer host;
and (5) starting the steering engine to change the pitching angle of the flapping wing aircraft, and acquiring data of lift force, thrust force, lateral force, rolling moment, pitching moment and yawing moment of the flapping wing aircraft at different pitching angles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811097316.1A CN109927932B (en) | 2018-09-18 | 2018-09-18 | Adjustable flapping wing aircraft force measuring platform and installation and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811097316.1A CN109927932B (en) | 2018-09-18 | 2018-09-18 | Adjustable flapping wing aircraft force measuring platform and installation and use method thereof |
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| CN109927932A CN109927932A (en) | 2019-06-25 |
| CN109927932B true CN109927932B (en) | 2021-06-29 |
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| CN111891384B (en) * | 2020-08-03 | 2021-11-19 | 西北工业大学太仓长三角研究院 | Bird-like flapping-wing aircraft testing device and testing method thereof |
| CN112009722B (en) * | 2020-08-06 | 2021-12-17 | 北京航空航天大学 | Aerodynamic efficiency and mechanical efficiency measuring device of flapping-wing micro aircraft |
| CN114275188B (en) * | 2021-12-29 | 2023-10-17 | 北京理工大学 | Pitch mechanism with adjustable amplitude and aircraft aerodynamic force measurement experiment platform thereof |
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| CN202075115U (en) * | 2011-05-20 | 2011-12-14 | 西北工业大学 | Three degrees of freedom flapping wing integrated experiment platform |
| CN104960673A (en) * | 2015-06-08 | 2015-10-07 | 上海交通大学 | Multi-functional extensible test platform applicable to biomimetic flapping-wing micro air vehicle |
| CN206662787U (en) * | 2017-04-18 | 2017-11-24 | 宁夏飞天科技有限公司 | A kind of machining fixture |
| CN108163229A (en) * | 2018-01-24 | 2018-06-15 | 东南大学 | Flapping wing robot lift thrust detecting system synchronous with wing movable information and method |
| CN207510743U (en) * | 2017-11-14 | 2018-06-19 | 深圳市科比特航空科技有限公司 | Unmanned plane test platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170244904A1 (en) * | 2016-02-18 | 2017-08-24 | The Boeing Company | Optical monitoring system and method for imaging a component under test |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202075115U (en) * | 2011-05-20 | 2011-12-14 | 西北工业大学 | Three degrees of freedom flapping wing integrated experiment platform |
| CN104960673A (en) * | 2015-06-08 | 2015-10-07 | 上海交通大学 | Multi-functional extensible test platform applicable to biomimetic flapping-wing micro air vehicle |
| CN206662787U (en) * | 2017-04-18 | 2017-11-24 | 宁夏飞天科技有限公司 | A kind of machining fixture |
| CN207510743U (en) * | 2017-11-14 | 2018-06-19 | 深圳市科比特航空科技有限公司 | Unmanned plane test platform |
| CN108163229A (en) * | 2018-01-24 | 2018-06-15 | 东南大学 | Flapping wing robot lift thrust detecting system synchronous with wing movable information and method |
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