CN112960141B

CN112960141B - Power test platform for miniature flapping-wing aircraft

Info

Publication number: CN112960141B
Application number: CN202110328861.2A
Authority: CN
Inventors: 李西锋; 修学强; 韩佳; 李智; 郑喜朝
Original assignee: Shaanxi Institute of Technology
Current assignee: Shaanxi Institute of Technology
Priority date: 2021-03-27
Filing date: 2021-03-27
Publication date: 2022-07-08
Anticipated expiration: 2041-03-27
Also published as: CN112960141A

Abstract

The invention provides a power test platform of a miniature flapping-wing aircraft, which comprises a platform plate and two supporting seats fixedly arranged on the platform plate, wherein a test cavity is movably connected between the two supporting seats, the test cavity is movably connected with a test jig, a clamp for clamping and fixing the body of the miniature flapping-wing aircraft is movably connected on the test jig, an inverted U-shaped frame is also fixed on the platform plate, the invention uses two supporting seats to connect the testing cavity on the platform plate, when the supporting rod connected with the bottom plate through the universal joint is acted by external force, the external pressure is transmitted to the pressure test plate through the action of reaction force, the external force acting on the supporting rod can be completed through the pressure test plate, and the test of vertical pulling power and transverse moving power in the power test process of the miniature flapping wing aircraft can be completed.

Description

Power test platform for miniature flapping-wing aircraft

Technical Field

The invention belongs to the technical field of power test platforms of flapping wing aircrafts, and particularly relates to a power test platform of a miniature flapping wing aircraft.

Background

The flapping wing aircraft is an aircraft which generates lift force and forward force through active movement of wings like birds, and is also called a flapping wing aircraft. It is characterized in that the wings actively move; the counter force of flapping air by wings is used as lift force and advancing force; the maneuvering flight is carried out through the position change of the wings and the empennage. The micro flapping wing flight is a product of micro electro mechanical system integration technology, a micro camera, a micro communication system and the like applied to a micro aircraft need to be supported by the MEMS technology to reduce the volume and the weight, and the power of the aircraft also needs to be comprehensively tested.

The existing miniature flapping wing aircraft has the defects that the vertical pulling power and the transverse moving power are troublesome to test in the power test process, and the tests are carried out independently, so that the utilization rate of a test platform is insufficient, and the high efficiency of the power test is influenced.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a power testing platform for a micro flapping wing aircraft, aiming at the defects of the prior art, so as to solve the problems in the background art.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a miniature flapping wing aircraft power test platform, includes the landing slab and two fixed supporting seats of setting on the landing slab, two swing joint has the test chamber between the supporting seat, test chamber swing joint has the test jig, swing joint has the anchor clamps that are used for miniature flapping wing aircraft organism centre gripping to fix on the test jig, still be fixed with the type of falling U frame on the landing slab swing joint has the image to gather the seat on the type of falling U frame, swing joint has the image to gather the head in the seat is gathered to the image.

Preferably, the centre of supporting seat is rotated and is connected with the pivot, the outside of test chamber respectively with two supporting seats between the pivot fixed connection, still there are a plurality of screw pins at the position threaded connection who is close to the pivot periphery on the supporting seat, the medial extremity of screw pin supports in the outside of test chamber, accomplishes the fixed connection between test chamber and the supporting seat under the effect of screw pin.

Preferably, the test chamber includes outer cavity, lower supporting shoe, goes up supporting shoe, compression test board and electro-magnet, outer cavity is the rectangle chamber, and the interior bottom surface of cavity is fixed with the lower supporting shoe outside, be fixed with four electro-magnets on the lower supporting shoe, the interior top surface of cavity is fixed with the upper supporting shoe outside, the bottom surface of going up the supporting shoe is fixed with four compression test boards, forms middle chamber between lower supporting shoe and upper supporting shoe, the bottom swing joint of test jig is in the cavity intracavity.

Preferably, the test jig includes bottom plate, universal joint, branch, U type pole and anchor clamps, the bottom plate cup joints the middle intracavity at the test intracavity, be fixed with the universal joint on the bottom plate, branch cup joints in the middle of last supporting shoe, just the bottom of branch is rotated and is connected in the universal joint, the top of branch is fixed with U type pole, U type pole internal rotation is connected with anchor clamps.

Preferably, four iron sheets are fixed on the bottom surface of the bottom plate, and the iron sheets are matched with the electromagnet for use.

Preferably, the image acquisition seat comprises an arc-shaped cylinder and a connecting plate, the arc-shaped cylinder is sleeved outside the arc-shaped section of the inverted U-shaped frame, the connecting plate is fixed on the inner arc surface of the arc-shaped cylinder, a holder is fixed in the connecting plate, and the image acquisition head is fixedly connected with the holder.

Preferably, two auxiliary wheel mechanisms are fixed on the outer side edge of the arc-shaped cylinder, the inner side end of each auxiliary wheel mechanism is movably connected with an auxiliary wheel, a limiting groove is formed in the outer side of the inverted U-shaped frame, and the auxiliary wheels are connected in the limiting grooves in a sliding mode.

Preferably, the auxiliary wheel mechanism includes sleeve, damping spring, connecting rod and auxiliary wheel, the sleeve is fixed at the arc the auxiliary wheel mechanism includes sleeve, damping spring, connecting rod and auxiliary wheel, the sleeve is fixed on an arc section of thick bamboo, the sleeve internal fixation has damping spring, the connecting rod has been cup jointed to the sleeve near the one end of the type of falling U frame, the medial extremity of connecting rod is fixed at damping spring's the other end, the auxiliary wheel rotates the other end of connection at the connecting rod.

Preferably, the gear is rotationally connected to the inner side edge of the arc-shaped cylinder, the gear is driven to rotate by a stepping motor fixed to the arc-shaped cylinder, teeth are arranged on the inner side of the inverted U-shaped frame, and the gear is in meshed connection with the teeth.

Preferably, the four corners of the bottom surface of the platform plate are respectively fixed with a balance foot, and the center of the inverted U-shaped frame and the center of the test cavity are on the same vertical line.

Compared with the prior art, the invention has the following advantages:

1. the invention uses two supporting seats to connect with a testing cavity movably on a platform plate, a middle cavity is formed between a lower supporting block and an upper supporting block in the testing cavity, the bottom of the testing frame is connected in the hollow cavity movably, four pressure testing boards are fixed on the bottom surface of the upper supporting block of the testing cavity, the pressure testing boards are externally connected with a controller, namely the four pressure testing boards transmit the pressure obtained by testing to the controller, the pressure value received by the pressure testing boards in the testing process can be obtained by average calculation and integration of the controller, a bottom plate of the testing frame is sleeved in the middle cavity in the testing cavity, when a supporting rod connected with the bottom plate through a universal joint is acted by external force, the bottom plate is driven to extrude the pressure testing boards, thereby the external pressure is transmitted to the pressure testing boards through the action of reaction force, and the action of the external force acted on the supporting rod can be completed through the pressure testing boards, and the test of vertical pulling power and transverse moving power in the power test process of the miniature flapping wing aircraft can be completed.

2. The invention arranges an inverted U-shaped frame on a platform plate, the inverted U-shaped frame is movably connected with an image acquisition seat, the image acquisition seat consists of an arc-shaped cylinder and a connecting plate, the arc-shaped cylinder is sleeved outside the arc-shaped section of the inverted U-shaped frame, the connecting plate is fixed on the inner arc surface of the arc-shaped cylinder, a pan head is fixed in the connecting plate, the image acquisition head is fixedly connected with the pan head, the image acquisition seat can move along the arc-shaped section of the inverted U-shaped frame under the drive of a stepping motor, can accomplish the adjustment of image acquisition head position on the type of falling U frame, be convenient for in the testing process to the comprehensive observation of miniature flapping wing aircraft state, can also save image equipment's input, reduce the test cost, improved the image information collection that the testing process miniature flapping wing aircraft state can be accomplished to image acquisition head, be convenient for analysis and the timely adjustment of test condition.

Drawings

FIG. 1 is a test chart of the overall structure of the present invention;

FIG. 2 is a schematic view of a vertical cross-section of a test chamber according to the present invention;

FIG. 3 is a schematic cross-sectional view of a test chamber according to the present invention;

FIG. 4 is a schematic view of the internal structure of the image capturing base according to the present invention;

FIG. 5 is a cross-sectional view of the auxiliary wheel mechanism of the present invention.

Description of reference numerals:

1-a platform plate; 11-a balance foot; 2-a support seat; 21-a rotating shaft; 22-a threaded pin; 3-a test chamber; 31-an outer cavity; 32-a lower support block; 33-upper support block; 34-a pressure test plate; 35-an electromagnet; 4-a test jig; 41-a bottom plate; 42-iron sheet; 43-universal joint; 44-struts; a 45-U shaped rod; 46-a clamp; 5-an inverted U-shaped frame; 51-teeth; 52-a limit groove; 6-image acquisition seat; 61-arc cylinder; 62-an auxiliary wheel mechanism; 621-a sleeve; 622-damping spring; 623-connecting rod; 624-auxiliary wheel; 63-gear; 64-a connecting plate; 7-image acquisition head.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, the present invention provides a technical solution: the utility model provides a miniature flapping wing aircraft power test platform, includes landing slab 1, and the bottom surface four corners of landing slab 1 is fixed with balanced foot 11 respectively, utilizes four balanced foot 11 to mutually support the adjustment of accomplishing 1 horizontality of landing slab.

With fixed two supporting seats 2 that set up on the landing slab 1, two swing joint has test chamber 3 between the supporting seat 2, the centre of supporting seat 2 is rotated and is connected with pivot 21, test chamber 3's the outside respectively with two supporting seat 2's pivot 21 between fixed connection, still there are four screw thread round pins 22 at the position threaded connection who is close to pivot 21 periphery on the supporting seat 2, the medial extremity of screw thread round pin 22 supports in test chamber 3's the outside, accomplishes the fixed connection between test chamber 3 and supporting seat 2 under screw thread round pin 22's effect, and the adjustment of the level or the vertical state of test chamber 3 can be accomplished in pivot 21 mutually supporting, utilizes four screw thread round pin 22 cooperations to fix test chamber 3 between two supporting seats 2 after the adjustment is suitable, can accomplish the fixed connection between test chamber 3 and the supporting seat 2.

Test chamber 3 includes outer cavity 31, bottom suspension splice 32, goes up supporting block 33, compression test board 34 and electro-magnet 35, outer cavity 31 is the rectangle chamber, and the interior bottom surface of outer cavity 31 is fixed with bottom suspension splice 32, be fixed with four electro-magnet 35 on the bottom suspension splice 32, be fixed with supporting block 33 at the interior top surface of outer cavity 31, the bottom surface of going up supporting block 33 is fixed with four compression test board 34, and compression test board 34 is external to have the controller, and the pressure transmission that four compression test board 34 obtained will test promptly reaches the controller, through the average calculation integration of controller, can obtain the size of the pressure value that compression test board 34 received in the testing process.

Cavity in the middle of forming between lower supporting shoe 32 and last supporting shoe 33, the bottom swing joint of test jig 4 is at the cavity intracavity, test jig 4 includes bottom plate 41, universal joint 43, branch 44, U type pole 45 and anchor clamps 46, bottom plate 41 cup joints the middle intracavity in test chamber 3, be fixed with universal joint 43 on the bottom plate 41, branch 44 cup joints in last supporting shoe 33 in the middle of, just the bottom of branch 44 is rotated and is connected in universal joint 43, and branch 44 receives external power's effect after, drives bottom plate 41 extrusion ressure testing board 34 to pass through the effect conveying of reaction force with external pressure to the ressure testing board 34 on, can accomplish the effect of the external power of effect on branch 44 through ressure testing board 34.

The bottom surface of bottom plate 41 is fixed with four iron sheets 42, iron sheet 42 uses with electro-magnet 35 mutually supporting, opens electro-magnet 35 when not testing and fixes bottom plate 41 on lower supporting shoe 32, is convenient for accomplish the stable of test cavity 3 when not using and places.

The top of branch 44 is fixed with U type pole 45, U type pole 45 internal rotation is connected with anchor clamps 46, and anchor clamps 46 are used for accomplishing the centre gripping of miniature flapping wing aircraft's fuselage fixed, and the direction of anchor clamps 46 in U type pole 45 can be adjusted moreover, and then can accomplish the adjustment of the test mode of the vertical power of pulling up of miniature flapping wing aircraft and sideslip power in the test process, convenient and practical.

Still be fixed with the type of falling U frame 5 on the landing slab 1, the center of the type of falling U frame 5 is on same vertical line with the center in test chamber 3, is convenient for with the concerted action between type of U frame 5 and the test chamber 3.

Namely when the vertical pulling power of the micro flapping wing aircraft needs to be tested, the test cavity 3 is adjusted to the horizontal direction, meanwhile, the clamp 46 is also adjusted to the horizontal direction, after the micro flapping wing aircraft is fixed in the clamp 46, the electromagnet 35 is turned off, the micro flapping wing aircraft is started to move vertically upwards, and the pressure generated by the bottom plate 41 on the pressure test plate 34 is the vertical pulling power of the micro flapping wing aircraft;

when the transverse movement power of the miniature flapping wing aircraft is tested, the testing cavity 3 is adjusted to the vertical direction, the supporting rod 44 is in the horizontal direction, the clamp 46 is also adjusted to the horizontal direction, the miniature flapping wing aircraft is fixed in the clamp 46, the electromagnet 35 is turned off, the miniature flapping wing aircraft is started to horizontally move transversely along the direction far away from the testing cavity 3, and the pressure generated by the bottom plate 41 on the pressure testing plate 34 is the moving force of the miniature flapping wing aircraft.

The inverted U-shaped frame 5 is movably connected with an image acquisition seat 6, the image acquisition seat 6 is composed of an arc-shaped cylinder 61 and a connecting plate 64, the arc-shaped cylinder 61 is sleeved outside an arc-shaped section of the inverted U-shaped frame 5, the connecting plate 64 is fixed on an inner arc surface of the arc-shaped cylinder 61, a holder is fixed in the connecting plate 64, the image acquisition head 7 is fixedly connected with the holder, image information acquisition of the state of the miniature flapping wing aircraft in the test process can be completed by the image acquisition head 7, and analysis and timely adjustment of the test state are facilitated.

Be fixed with two auxiliary wheel mechanisms 62 on the outside limit of a ARC section of thick bamboo 61, auxiliary wheel mechanism 62 includes sleeve 621, damping spring 622, connecting rod 623 and auxiliary wheel 624, sleeve 621 fixes on a ARC section of thick bamboo 61, sleeve 621 internal fixation has damping spring 622, the connecting rod 623 has been cup jointed to the one end that sleeve 621 is close to type of falling U frame 5, the other end at damping spring 622 is fixed to the medial extremity of connecting rod 623, auxiliary wheel 624 rotates the other end of connecting at connecting rod 623, spacing groove 52 has been seted up in type of falling U frame 5's the outside, auxiliary wheel 624 sliding connection is in spacing groove 52, can make the steady removal of image acquisition seat 6 on type of falling U frame 5 under auxiliary wheel mechanism 62's effect, avoids taking place the derailment phenomenon.

The inner side edge of the arc-shaped cylinder 61 is rotatably connected with a gear 63, the gear 63 is driven to rotate by a stepping motor fixed on the arc-shaped cylinder 61, teeth 51 are arranged on the inner side of the inverted U-shaped frame 5, the gear 63 is meshed with the teeth 51, the gear 63 is driven to rotate by the stepping motor, the gear 63 moves along the arc-shaped section of the inverted U-shaped frame 5 under the action of the teeth meshed with the gear 63, the position of the stepping motor is locked after the stepping motor stops rotating, the position of the image collecting head 7 can be adjusted, comprehensive observation of the state of the miniature flapping wing aircraft in the test process is facilitated, investment of image equipment can be saved, the test cost is reduced, and the test efficiency is improved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a miniature flapping wing aircraft power test platform, its characterized in that includes landing slab (1) and fixed two supporting seats (2) of setting on landing slab (1), two swing joint has test chamber (3) between supporting seat (2), the centre of supporting seat (2) is rotated and is connected with pivot (21), the outside of test chamber (3) respectively with two supporting seat (2) between fixed connection, still there are a plurality of screw thread round pins (22) in the position threaded connection who is close to pivot (21) periphery on supporting seat (2), the inboard end of screw thread round pin (22) supports in the outside of test chamber (3), accomplishes the fixed connection between test chamber (3) and supporting seat (2) under the effect of screw thread round pin (22);

the testing cavity (3) comprises an outer cavity (31), a lower supporting block (32), an upper supporting block (33), a pressure testing plate (34) and electromagnets (35), the outer cavity (31) is a rectangular cavity, the lower supporting block (32) is fixed on the inner bottom surface of the outer cavity (31), the four electromagnets (35) are fixed on the lower supporting block (32), the upper supporting block (33) is fixed on the inner top surface of the outer cavity (31), the four pressure testing plates (34) are fixed on the bottom surface of the upper supporting block (33), a middle cavity is formed between the lower supporting block (32) and the upper supporting block (33), and a testing frame (4) is movably connected in the middle cavity;

the testing frame (4) comprises a bottom plate (41), a universal joint (43), a supporting rod (44), a U-shaped rod (45) and a clamp (46), the bottom plate (41) is sleeved in a middle cavity in the testing cavity (3), the universal joint (43) is fixed on the bottom plate (41), the supporting rod (44) is sleeved in the middle of the upper supporting block (33), the bottom end of the supporting rod (44) is rotatably connected in the universal joint (43), the U-shaped rod (45) is fixed at the top end of the supporting rod (44), the clamp (46) is rotatably connected in the U-shaped rod (45), and the clamp (46) is used for clamping and fixing the micro flapping wing aircraft body;

still be fixed with type of falling U frame (5) on platform board (1) swing joint has image acquisition seat (6) on type of falling U frame (5), image acquisition seat (6) comprise a ARC section of thick bamboo (61) and connecting plate (64), an ARC section of thick bamboo (61) cup joints in the segmental arc outside of type of falling U frame (5), connecting plate (64) are fixed on the intrados of an ARC section of thick bamboo (61), connecting plate (64) internal fixation has the cloud platform, fixedly connected with image acquisition head (7) on the cloud platform.

2. The power test platform of the micro ornithopter according to claim 1, wherein four iron sheets (42) are fixed on the bottom surface of the bottom plate (41), and the iron sheets (42) are matched with the electromagnet (35) for use.

3. The power test platform of the micro ornithopter according to claim 1, wherein two auxiliary wheel mechanisms (62) are fixed on the outer side edges of the arc-shaped cylinder (61), the inner side ends of the auxiliary wheel mechanisms (62) are movably connected with auxiliary wheels (624), the outer side of the inverted U-shaped frame (5) is provided with a limiting groove (52), and the auxiliary wheels (624) are slidably connected in the limiting groove (52).

4. The power test platform of the miniature ornithopter according to claim 3, wherein the auxiliary wheel mechanism (62) comprises a sleeve (621), a damping spring (622), a connecting rod (623) and an auxiliary wheel (624), the sleeve (621) is fixed on the arc-shaped cylinder (61), the damping spring (622) is fixed in the sleeve (621), the connecting rod (623) is sleeved at one end, close to the inverted U-shaped frame (5), of the sleeve (621), the inner side end of the connecting rod (623) is fixed at the other end of the damping spring (622), and the auxiliary wheel (624) is rotatably connected to the other end of the connecting rod (623).

5. The power test platform of the miniature ornithopter according to claim 1, characterized in that a gear (63) is rotatably connected in the inner side of the arc-shaped cylinder (61), the gear (63) is driven to rotate by a stepping motor fixed on the arc-shaped cylinder (61), teeth (51) are arranged on the inner side of the inverted U-shaped frame (5), and the gear (63) is meshed with the teeth (51).

6. The power test platform of the micro flapping wing air vehicle of claim 1, wherein the four corners of the bottom surface of the platform plate (1) are respectively fixed with a balance foot (11), and the center of the inverted U-shaped frame (5) and the center of the test cavity (3) are on the same vertical line.