CN110435926A - A kind of bionic flapping-wing propulsion trial platform - Google Patents
A kind of bionic flapping-wing propulsion trial platform Download PDFInfo
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- CN110435926A CN110435926A CN201910832010.4A CN201910832010A CN110435926A CN 110435926 A CN110435926 A CN 110435926A CN 201910832010 A CN201910832010 A CN 201910832010A CN 110435926 A CN110435926 A CN 110435926A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
A kind of bionic flapping-wing propulsion trial platform of the present invention, belongs to bionical test field；Including motion module, air-float guide rail and air bearing rail brackets；The air-float guide rail bracket is used to support entire test platform, and both ends are fixed in parallel, and there are two air-float guide rails；The both ends of the motion module are slidably connected with two air-float guide rails respectively, horizontal translation and rotation for realizing bionic flapping-wing；Imitative ray flapping motion is realized by two sets of motion modules；Each motion module includes two stepper motors, for control clamping flapping wing horizontal translation and rotation, it can be achieved that motion module independently moving, the cooperative motion of multiple motion modules also may be implemented；The characteristics of motion of ray can more really be simulated.And it is able to achieve test platform moving freely in direction of propulsion, improves the precision of entire propulsion device come supporting movement part by air-float guide rail；The group number of motion module can directly be increased when being suitable for other bionic flapping-wing Promoting Experiments to reach experiment effect.
Description
Technical field
The invention belongs to bionical test fields, and in particular to a kind of bionic flapping-wing propulsion trial platform.
Background technique
Flapping wing is promoted since its is high-efficient, flexibility is good, low noise advantages, becomes the heat of nearest ocean disciplinary study
Point.And ray promotes representative outstanding in fish as fluttering, forms of motion has obtained extensive concern.People pass through high speed
Camera captures the motion morphology of ray, and establishes the mathematical model of its movement.Based on mathematical model, researcher
Using the movement mechanism of numerous forms the motion morphology of ray is simulated, the correlation in its motion process is analyzed with this
Characteristic.Since actual ray motion morphology is extremely complex, existing experimental provision is all to be reduced to its motion morphology individually
The combination of the pitching movement of axis, heave movement or both, and some position by the way that kinematic axis to be fixed on to direction of propulsion come
Reduce measurement difficulty.Using such test method, fish real related physical property when promoting, limitation can not be obtained
Understandings of the people to ray promotion tactics.
Summary of the invention
Technical problems to be solved:
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of bionic flapping-wing propulsion trial platform, by double
The forms of motion that flapping wing promotes preferably is simulated in axis linkage, while by air-float guide rail, realizing bionic flapping-wing in direction of propulsion
It moves freely, the linear motion of truer accurate simulation ray.
The technical scheme is that a kind of bionic flapping-wing propulsion trial platform, it is characterised in that: including motion module,
Air-float guide rail and air bearing rail brackets；The air-float guide rail bracket is used to support entire test platform, and both ends are fixed in parallel
Two air-float guide rails；The both ends of the motion module are slidably connected with two air-float guide rails respectively, for realizing bionic flapping-wing
Horizontal translation and rotation；
The motion module includes cross motor, rotating electric machine, rotating electric machine bracket, limit switch, six axle powers/torque biography
Sensor, first shaft coupling, second shaft coupling, kinematic axis and movement shaft supporting frame；The movement shaft supporting frame is perpendicular to the gas
Floating guide rail, the both ends of bottom surface are slidably connected with two air-float guide rails respectively, and both ends can be simultaneously along rail length direction level
Movement；The kinematic axis is lead screw, and both ends pass through bearing respectively and connect with the movement shaft supporting frame both ends, the electric rotating
Machine support is installed vertically on the lower section of the lead screw by feed screw nut, and the cross motor is coaxially installed on the kinematic axis
One end further controls the rotating electric machine bracket along the horizontal movement of lead screw for controlling the rotation of the lead screw；The rotation
Rotating motor is fixed on the rotating electric machine bracket, and output shaft is sequentially coaxially equipped with first shaft coupling, six axle powers/torque and passes
Sensor and second shaft coupling；It is connect by the second shaft coupling with tested bionic flapping-wing, the rotating electric machine is for controlling quilt
Survey the rotary motion of bionic flapping-wing.
A further technical solution of the present invention is: optoelectronic induction limit switch is installed on the rotating electric machine output shaft,
It can be rotated with the output shaft, the optoelectronic induction is controlled to the induction of light by the barn door on optoelectronic induction limit switch
The on-off of limit switch, for being adjusted when flapping wing rotation is out of control to its rotation speed and angle.
A further technical solution of the present invention is: including cover board and two motion modules, two motion modules
It is set side by side, upper surface is fixed as entirety by the cover board, for simulating pectoral fin and tail fin cooperative motion simultaneously.
A further technical solution of the present invention is: the air-float guide rail uses granite material, and pass through air compressor machine from hole
It is interior to extract excess pressure air out to air-float guide rail charged pressure air, while by air exhauster, keep gas inside air-float guide rail
Pressure saturation, so that test platform carries out free movement on the air-float guide rail.
Beneficial effect
The beneficial effects of the present invention are: bionic flapping-wing promotes platform imitative to realize by two sets of motion modules in the present invention
Ray flapping motion；Each motion module includes two stepper motors, for controlling the horizontal translation of clamping flapping wing and turning
The independently moving, it can be achieved that motion module is moved, the cooperative motion of multiple motion modules also may be implemented；It being capable of more true mould
The characteristics of motion of quasi- ray.And test platform is able to achieve in the freedom of direction of propulsion come supporting movement part by air-float guide rail
It is mobile, improve the precision of entire propulsion device；Motion module can directly be increased when being suitable for other bionic flapping-wing Promoting Experiments
Group number reach experiment effect.
Each rotary shaft installs limit switch additional in test platform, is carried out using limit switch to flapping wing rotary motion real-time
Monitoring can find in time and prevent flapping wing and rotate situation out of control to occur, it is ensured that experiment porch keeps high-precision for a long time
Movement.It is connected to six axle powers/torque sensor below rotary shaft, flapping wing all directions can also be recorded while controlling movement
Stress condition.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of bionic flapping-wing propulsion trial platform；
Fig. 2 is a kind of motion parts schematic diagram of bionic flapping-wing propulsion trial platform；
Fig. 3 is a kind of motion module schematic diagram of bionic flapping-wing propulsion trial platform；
Description of symbols: 1-cover board, 2-motion modules, 3-air-float guide rails, 4-air-float guide rail brackets, 5-laterally
Motor, 6-rotating electric machines, 7-optoelectronic induction limit switches, 8-six axle powers/torque sensor, 9- kinematic axis, 10- kinematic axis
Support frame, 11- rotating electric machine power connection, 12- cross motor power connection, 13- rotating electric machine bracket, 14- first shaft coupling,
15- second shaft coupling.
Specific embodiment
The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to be used to explain the present invention, and cannot understand
For limitation of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
A kind of bionic flapping-wing propulsion trial platform includes motion module, air-float guide rail 3 and air bearing rail brackets 4；Air bearing is led
Rail bracket 4 is used to support entire test platform, and both ends are fixed in parallel, and there are two air-float guide rails 3；The both ends of the motion module
It is slidably connected respectively with two air-float guide rails 3, horizontal translation and rotation for realizing bionic flapping-wing.
Bionic flapping-wing propulsion trial platform includes the motion module 2, two of cover board 1, two 3 and of air-float guide rail in the present embodiment
Air-float guide rail bracket 4；Two motion modules 2 are set side by side, and upper surface is fixed as entirety by cover board 1, for simulating chest simultaneously
Fin and tail fin cooperative motion realize the characteristics of motion of simulation ray by Collaborative Control.Air-float guide rail bracket 4 is steel frame knot
Structure, for carrying air-float guide rail 3 and motion module 2；Two motion modules 2 are mounted on air-float guide rail 3, when motion module 2
It drives flapping wing to generate forward force when moving under water, entire motion parts low friction free movement, energy on air-float guide rail 3 can be made
More really reflect related physical property of the fish when promoting.Air-float guide rail 3 uses granite material, and passes through air compressor machine
From aperture to air-float guide rail charged pressure air, while excess pressure air being extracted out by air exhauster, is kept in air-float guide rail
Portion's air pressure saturation, allows experiment porch to carry out low friction free movement on air-float guide rail, reaches higher precision.
Motion module 2 includes cross motor 5, rotating electric machine 6, optoelectronic induction limit switch 7, six axle powers/torque sensor
8, kinematic axis 9, movement shaft supporting frame 10, rotating electric machine power connection 11, cross motor power connection 12, rotating electric machine bracket
13, first shaft coupling 14 and second shaft coupling 15.Shaft supporting frame 10 is moved perpendicular to two air-float guide rails 3, and is arranged on
Side, the both ends of bottom surface are slidably connected with two air-float guide rails 3 respectively, and both ends can be transported along rail length direction level simultaneously
It is dynamic；Kinematic axis 9 is lead screw, and both ends pass through bearing respectively and connect with movement 10 both ends of shaft supporting frame, and rotating electric machine bracket 13 is logical
The lower section that feed screw nut is installed vertically on the lead screw is crossed, cross motor 5 is coaxially installed on one end of kinematic axis 9, for controlling
The rotation of the lead screw further controls rotating electric machine bracket 13 along the horizontal movement of lead screw；Rotating electric machine 6 is fixed on electric rotating
On machine support 13, output shaft is sequentially coaxially equipped with first shaft coupling 14, six axle powers/torque sensor 8 and second shaft coupling
15；It is connect by second shaft coupling 15 with tested bionic flapping-wing.Cross motor 5 and rotating electric machine 6 are to realize the water to flapping wing
Average dynamic and rotary motion control；Two motion modules are used in this test platform altogether, two motion modules can work independently
It can also work compound.A motion module 2 is used only when studying single flapping wing hydrodynamic characterisitic；Two motion module work compounds
When, it can be achieved that motion simulation while to fish pectoral fin, tail fin.When be used for other bionic flapping-wing propulsion trials when can also by after
It is continuous to increase movement mould group number to reach experiment effect.
This bionic flapping-wing propulsion trial platform is mounted with light inductance on the output shaft of all rotating electric machines in motion module
Limit switch 7 is answered, limit switch uses photoelectric proximity switch, and principle is when there is reflective object close, and photoelectric device receives
Just there is signal output after to reflected light, perception has object close.Bionic flapping-wing under water prolonged exercise when the water surface can be caused acute
Strong fluctuation, with the increase of run duration, water level fluctuation effect also enhances, it may appear that flapping wing rotates situation out of control, passes through light
Barn door on electric induction limit switch 7 controls the induction of light the on-off of limit switch 7, and then carries out to flapping wing rotary motion
Real time monitoring, and its rotation speed and angle are adjusted when flapping wing rotation is out of control, it can find in time and prevent flapping wing
It rotates situation out of control to occur, to guarantee experiment porch high-precision motion.
This bionic flapping-wing propulsion trial platform has been connected by screw to six axle powers/torque sensor 8, In below rotary shaft
The stress condition of flapping wing all directions can also be recorded while control movement.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (4)
1. a kind of bionic flapping-wing propulsion trial platform, it is characterised in that: including motion module, air-float guide rail and air-float guide rail branch
Frame；The air-float guide rail bracket is used to support entire test platform, and both ends are fixed in parallel, and there are two air-float guide rails；The movement
The both ends of module are slidably connected with two air-float guide rails respectively, horizontal translation and rotation for realizing bionic flapping-wing；
The motion module includes cross motor, rotating electric machine, rotating electric machine bracket, limit switch, six axle powers/moment sensing
Device, first shaft coupling, second shaft coupling, kinematic axis and movement shaft supporting frame；The movement shaft supporting frame is perpendicular to the air bearing
Guide rail, the both ends of bottom surface are slidably connected with two air-float guide rails respectively, and both ends can be transported along rail length direction level simultaneously
It is dynamic；The kinematic axis is lead screw, and both ends pass through bearing respectively and connect with the movement shaft supporting frame both ends, the rotating electric machine
Bracket is installed vertically on the lower section of the lead screw by feed screw nut, and the cross motor is coaxially installed on the one of the kinematic axis
End, for controlling the rotation of the lead screw, further controls the rotating electric machine bracket along the horizontal movement of lead screw；The rotation
Motor is fixed on the rotating electric machine bracket, and output shaft is sequentially coaxially equipped with first shaft coupling, six axle powers/moment sensing
Device and second shaft coupling；It is connect by the second shaft coupling with tested bionic flapping-wing, the rotating electric machine is tested for controlling
The rotary motion of bionic flapping-wing.
2. bionic flapping-wing propulsion trial platform according to claim 1, it is characterised in that: pacify on the rotating electric machine output shaft
Equipped with optoelectronic induction limit switch, can be rotated with the output shaft, by the barn door on optoelectronic induction limit switch to light
Induction control the on-off of the optoelectronic induction limit switch, for when flapping wing rotation is out of control to its rotation speed and angle into
Row adjustment.
3. bionic flapping-wing propulsion trial platform according to claim 1, it is characterised in that: including cover board and two movements
Module, two motion modules are set side by side, and upper surface is fixed as entirety by the cover board, for simultaneously simulate pectoral fin and
Tail fin cooperative motion.
4. bionic flapping-wing propulsion trial platform according to claim 1, it is characterised in that: the air-float guide rail uses granite
Material, and taken out excess pressure air to air-float guide rail charged pressure air, while by air exhauster out of hole by air compressor machine
Out, air-float guide rail air pressure inside saturation is kept, so that test platform carries out free movement on the air-float guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910832010.4A CN110435926A (en) | 2019-09-04 | 2019-09-04 | A kind of bionic flapping-wing propulsion trial platform |
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| CN201910832010.4A CN110435926A (en) | 2019-09-04 | 2019-09-04 | A kind of bionic flapping-wing propulsion trial platform |
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| CN110435926A true CN110435926A (en) | 2019-11-12 |
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| CN201910832010.4A Pending CN110435926A (en) | 2019-09-04 | 2019-09-04 | A kind of bionic flapping-wing propulsion trial platform |
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Cited By (6)
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| CN111268160A (en) * | 2019-12-10 | 2020-06-12 | 上海飞机制造有限公司 | Preparation device and preparation method of bionic layer |
| CN112924138A (en) * | 2021-01-27 | 2021-06-08 | 西北工业大学 | Multifunctional bionic hydrodynamic test platform |
| CN113044216A (en) * | 2019-12-27 | 2021-06-29 | 北京航空航天大学 | Bionic flapping wing three-degree-of-freedom motion force measuring system |
| CN113188757A (en) * | 2021-01-27 | 2021-07-30 | 西北工业大学 | Hydrodynamic performance test platform and test method of simulated bat ray pectoral fin prototype |
| CN113188756A (en) * | 2021-01-27 | 2021-07-30 | 西北工业大学 | Autonomous-moving flapping wing hydrodynamic performance test platform and test method |
| CN114088337A (en) * | 2021-10-18 | 2022-02-25 | 西北工业大学 | Flow field synchronous shooting test platform and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268160A (en) * | 2019-12-10 | 2020-06-12 | 上海飞机制造有限公司 | Preparation device and preparation method of bionic layer |
| CN113044216A (en) * | 2019-12-27 | 2021-06-29 | 北京航空航天大学 | Bionic flapping wing three-degree-of-freedom motion force measuring system |
| CN113044216B (en) * | 2019-12-27 | 2023-02-28 | 北京航空航天大学 | Bionic flapping wing three-degree-of-freedom motion force measuring system |
| CN112924138A (en) * | 2021-01-27 | 2021-06-08 | 西北工业大学 | Multifunctional bionic hydrodynamic test platform |
| CN113188757A (en) * | 2021-01-27 | 2021-07-30 | 西北工业大学 | Hydrodynamic performance test platform and test method of simulated bat ray pectoral fin prototype |
| CN113188756A (en) * | 2021-01-27 | 2021-07-30 | 西北工业大学 | Autonomous-moving flapping wing hydrodynamic performance test platform and test method |
| CN112924138B (en) * | 2021-01-27 | 2023-03-10 | 西北工业大学 | Multifunctional bionic hydrodynamic test platform |
| CN113188757B (en) * | 2021-01-27 | 2024-01-09 | 西北工业大学 | Hydrodynamic performance test platform and test method for simulated ray pectoral fin prototype |
| CN113188756B (en) * | 2021-01-27 | 2024-03-08 | 西北工业大学 | Autonomous swimming ornithopter hydrodynamic performance test platform and test method |
| CN114088337A (en) * | 2021-10-18 | 2022-02-25 | 西北工业大学 | Flow field synchronous shooting test platform and method |
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Application publication date: 20191112 |