CN115465472A - Flapping wing aircraft testing device - Google Patents
Flapping wing aircraft testing device Download PDFInfo
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- CN115465472A CN115465472A CN202211196750.1A CN202211196750A CN115465472A CN 115465472 A CN115465472 A CN 115465472A CN 202211196750 A CN202211196750 A CN 202211196750A CN 115465472 A CN115465472 A CN 115465472A
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- flapping wing
- wing aircraft
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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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- Aviation & Aerospace Engineering (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention relates to the technical field of aircraft testing, and discloses a flapping wing aircraft testing device which comprises a supporting frame and a rotating arm, wherein the upper end of the supporting frame is connected with a rotating shaft through a rotating mechanism, the upper end of the rotating shaft is connected with a rocker arm, one end of the rotating arm is rotatably connected with the rocker arm, the angle of the rotating arm is adjusted through a limiting mechanism, the other end of the rotating arm is provided with a fixing frame, the fixing frame is provided with an angle adjusting device for installing a flapping wing aircraft, and the angle adjusting device is provided with a sensor. The flapping wing aircraft testing device provided by the invention can adjust the flight attack angle of the flapping wing aircraft, ensure the initial angle between the wing of the flapping wing aircraft and the horizontal plane, carry out the pivoting flapping wing flight test of the flapping wing aircraft, and facilitate the research personnel to visually observe the flight condition.
Description
Technical Field
The invention relates to the technical field of aircraft testing, in particular to a bird-like flapping-wing aircraft testing device.
Background
The flapping wing aircraft is a novel bionic aircraft which imitates flying organisms in nature, such as birds, insects, bats and the like, and flies in a flapping wing mode, and generates lift force and thrust force required by flight through active movement of wings. Compared with a rotor wing aircraft and a fixed wing aircraft, the flapping wing aircraft has the advantages of easiness in control, high reliability, strong concealment, low noise and the like, and has a wider application prospect in the military and civil fields.
The aerodynamic principles of ornithopters differ from fixed-wing or rotary wing aircraft and therefore require unique testing devices. During the test of the flapping wing air vehicle, the measurement and the record are generally carried out by adopting a field flight test or a wind tunnel test, and in addition, some testing devices of the flapping wing air vehicle also exist.
However, the field flight test is greatly influenced by environmental disturbance, the test cost is high, and the damage rate is high. Wind tunnel tests require wind tunnel equipment and are expensive.
The existing testing device is developed for a micro flapping wing aircraft, is not suitable for a large bird-imitating flapping wing aircraft, and is usually tested by adopting an in-situ flapping wing mode of fixed point and wing flapping of an aircraft body (such as CN 202010769337.4), so that the real flight condition of the flapping wing aircraft cannot be intuitively reflected. Some bird-like aircraft test racks can fly around the shaft flapping wings, but the initial test angle is that the wings are perpendicular to the ground, normal flapping wing flight is to be realized, the requirement on the lift force of the flapping wing aircraft is high, and the bird-like aircraft test rack is not suitable for the trial-and-error test stage of the flapping wing aircraft.
In addition, some adjustable flapping wing aircraft dynamometric platforms (such as patent CN 201811097316.1) are invented, and adjust the position of the fuselage of the flapping wing aircraft by controlling the angle of the steering engine, so as to measure the force and moment of the pose of the flapping wing aircraft under the condition of different pitch angles, and adapt to the flapping wing aircraft with different sizes. But the angle adjusting mechanism comprises a connecting frame, a steering engine and a turntable frame, and the structure is relatively complex; and the test mode is also flutter flight in situ, which is not beneficial to the direct observation of research personnel.
Disclosure of Invention
In order to solve the technical problems, the invention provides a flapping wing aircraft testing device which can adjust the flight attack angle of a flapping wing aircraft, ensure the initial angle between the wings of the flapping wing aircraft and the horizontal plane, carry out the pivoting flapping wing flight test of the flapping wing aircraft and facilitate the research personnel to visually observe the flight condition.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a flapping wing aircraft testing arrangement, includes support frame and swinging boom, the upper end of support frame is passed through slewing mechanism and is connected the pivot, the upper end of pivot is connected with the rocking arm, the one end of swinging boom with the rocking arm rotates to be connected to adjust through stop gear the angle of swinging boom, the other end of swinging boom is equipped with the mount, be equipped with the angle adjustment device who is used for installing the flapping wing aircraft on the mount, its the last sensor that is equipped with of angle adjustment device.
Preferably, slewing mechanism includes two mounting panels that relative setting, wherein is located the below the mounting panel is connected the support frame, arbitrary one be equipped with driving motor on the mounting panel, the lower extreme of pivot is connected respectively the mounting panel reaches driving motor.
Preferably, the mounting plate is provided with bearings, the lower end of the rotating shaft is respectively sleeved in the two bearings, the rotating shaft is provided with two driven belt wheels arranged between the two bearings, the driving motor is provided with a driving belt wheel, and the driving belt wheel is connected with the driven belt wheels through a belt.
Preferably, the rocker arm comprises a transverse pipe and an inclined pipe which are connected, the transverse pipe is connected with the rotating shaft, the inclined pipe is connected with the rotating arm, and an included angle between the inclined pipe and the transverse pipe is 40-50 degrees.
Preferably, the length from one end of the transverse pipe connected with the inclined pipe to the rotating shaft is L 1 Another part of the transverse tube has a length L 2 。，L 1 ＝(1.05～102)L 2 。
Preferably, the rocking arm is connected the one end of swinging boom is equipped with the connecting rod, the swinging boom is two rotary rods of relative setting, two the upper end of rotary rod is connected respectively the both ends of connecting rod, two the lower extreme of rotary rod is connected respectively the both ends of mount.
Preferably, the limiting mechanism comprises sliding blocks which are in sliding connection with the rotating rod, a first rocker is connected between the two sliding blocks, and a second rocker is hinged between the first rocker and the rocker.
Preferably, stop gear is the gag lever post, the gag lever post with the connecting rod sets up parallelly the end of rocking arm, the both ends of gag lever post are equipped with the bearing piece, work as after the swinging boom rotates to fixed angle the rotary rod with the bearing piece butt.
Preferably, the angle adjusting device includes connecting plate and adjusting plate that sets up relatively, the connecting plate is located the top of adjusting plate is used for installing the flapping wing aircraft, the one end of adjusting plate with the mount is articulated, the other end of adjusting plate with the mount passes through bolted connection, just lie in on the bolt the adjusting plate with the cover is equipped with the spring between the mount.
Preferably, the angle adjusting device comprises a connecting plate and an adjusting plate which are arranged oppositely, the connecting plate is arranged above the adjusting plate and used for installing the flapping wing aircraft, one end of the adjusting plate is hinged to the fixing frame, the other end of the adjusting plate is provided with a first support, a second support is movably arranged on the fixing frame, and the first support and the second support are hinged to an adjusting rod in a right-angle mode.
Compared with the prior art, the flapping wing aircraft testing device provided by the embodiment of the invention has the beneficial effects that: the flapping wing aircraft is installed by arranging the angle adjusting device on the fixed frame, so that the flight attack angle of the aircraft can be changed to carry out flight test, and the optimal flight attack angle is searched. The angle of the rotating arm is adjusted through the mechanism, so that the initial angle between the wing of the flapping wing aircraft and the horizontal plane can be ensured, and the flapping wing aircraft can be conveniently lifted upwards freely through the lifting force generated by the flapping wing aircraft, and the lifting force is raised till the horizontal position. Meanwhile, the flapping wing air vehicle flies around the rotating shaft in the testing process, the testing process is visual, the sensor can obtain the most main data (lift force and thrust) of the flapping wing air vehicle, research and development personnel can conveniently master the basic flight performance of the flapping wing air vehicle, the basic flight performance is conducted according to test feedback, and the structure and the design are adjusted, so that the research and development difficulty is reduced, and the research and development period is shortened. The invention has simple structure, good use effect and easy popularization and use.
Drawings
FIG. 1 is a schematic structural diagram of the flapping wing aircraft testing apparatus of the present invention.
Fig. 2 is a schematic structural diagram of the rotating mechanism of the present invention.
Fig. 3 is a schematic structural view of another embodiment of the middle limiting mechanism of the present invention.
Fig. 4 is a schematic structural diagram of a first embodiment of an angle adjustment apparatus according to the present invention.
FIG. 5 is a schematic structural diagram of a second embodiment of an angle adjustment apparatus of the present invention
Wherein: 1-support frame, 2-rotating arm, 3-rotating shaft, 4-rocker arm, 5-fixing frame, 6-mounting plate, 7-driving motor, 8-bearing, 9-belt wheel, 10-horizontal tube, 11-inclined tube, 12-connecting rod, 13-first rocker, 14-second rocker, 15-limiting rod, 16-connecting plate, 17-adjusting plate, 18-bolt, 19-spring, 20-adjusting rod and 100-flapping wing aircraft.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, the flapping wing aircraft testing apparatus according to the preferred embodiment of the present invention includes a support frame 1 and a rotating arm 2, wherein the support frame 1 is preferably a triangular support, which is not only stable, but also has a small floor space. The upper end of support frame 1 is passed through slewing mechanism and is connected pivot 3, the upper end of pivot 3 is connected with rocking arm 4, the one end of swinging boom 2 with rocking arm 4 rotates to be connected to adjust through stop gear the angle of swinging boom 2, the other end of swinging boom 2 is equipped with mount 5, be equipped with the angle adjusting device who is used for installing flapping wing aircraft 100 on the mount 5, its be equipped with the sensor on the angle adjusting device. The sensors are three-component sensors and are used for measuring the forces (xyz) in three directions of the coordinate system of the body of the ornithopter 100, and the lift force and thrust data of the ornithopter can be obtained.
The flapping wing aircraft testing device based on the technical characteristics can change the flight attack angle of the aircraft to carry out flight testing by arranging the angle adjusting device on the fixing frame 5 and installing the flapping wing aircraft 100 so as to find the optimal flight attack angle. The angle of the rotating arm is adjusted through the mechanism, so that the initial angle between the wings of the flapping wing aircraft 100 and the horizontal plane can be ensured, and the flapping wing aircraft 100 can be conveniently lifted upwards freely through the lifting force generated by the flapping wing aircraft 100 to the horizontal position. Meanwhile, in the testing process, the flapping wing aircraft 100 flies around the rotating shaft 3, the testing process is visual, the sensors can obtain the most main data (lift force and thrust force) of the flapping wing aircraft 100, research and development personnel can conveniently master the basic flight performance of the flapping wing aircraft 100, and the adjustment of the structure and the design is carried out according to the test feedback, so that the research and development difficulty is reduced, and the research and development period is shortened. The invention has simple structure, good use effect and easy popularization and use
Referring to fig. 2, in the present embodiment, the rotating mechanism includes two opposite mounting plates 6, and the two mounting plates 6 are fixedly connected to each other. The mounting plate 6 located below is connected with the support frame 1, a driving motor 7 is arranged on any one of the mounting plates 6, and preferably, the driving motor 7 is arranged on the mounting plate 6 located above. The lower end of the rotating shaft 3 is respectively connected with the mounting plate 6 and the driving motor 7. The driving mechanism can give the flapping wing aircraft 100 the required initial speed at the beginning of the test, and the driving mechanism drives the rotation shaft 3 to rotate through the driving of the motor, so as to drive the aircraft. Meanwhile, the rotating speed of the driving motor 7 can be displayed in real time through the control panel, and the control of the rotating angular speed of the testing device can be realized by accurately adjusting the rotating speed of the driving motor 7, so that the airspeed (relative air movement speed) of the flapping-wing aircraft 100 on the given testing device can be simulated.
Simultaneously, for convenience the rotation of pivot 3, be equipped with bearing 8 on the mounting panel 6, the lower extreme of pivot 3 cup joints respectively two in the bearing 8, lie in two in the pivot 3 be equipped with passive band pulley between the bearing 8, be equipped with driving pulley on the driving motor 7, driving pulley with belt 9 is connected between the passive band pulley, thereby under the effect of belt 9, driven band pulley drives driving pulley rotates. The pulleys may also be replaced by gears or sprockets.
The rotating shaft 3 is a hollow steel shaft shell, the inner core is a carbon fiber pipe, sufficient rigidity and straightness are guaranteed, and the aircraft can be supported to fly around the flapping wings in a rotating mode.
In this embodiment, the rocker arm 4 includes a horizontal tube 10 and an inclined tube 11 connected to each other, the horizontal tube 10 is connected to the rotating shaft 3, the inclined tube 11 is connected to the rotating arm 2, an included angle between the inclined tube 11 and the horizontal tube 10 is 40 to 50 degrees (the angle when the horizontal tube is horizontal), and preferably, an included angle between the inclined tube 11 and the horizontal tube 10 is 45 degrees.
Meanwhile, the length from the end of the horizontal pipe 10 connected with the inclined pipe 11 to the rotating shaft 3 is L 1 Another portion of the cross tube 11 has a length L 2 。，L 1 ＝(1.05～102)L 2 . I.e. the connecting ends of the transverse tube 10 and the inclined tube 11 are slightly longer, which both ensures a sufficient flight radius and at the same time facilitates counterweight balancing. When the inclined tube 11 is connected with the rotating arm 2, any weight member (weighing about 1.5 kg) is placed at the other end of the transverse tube, so that the stress on the rotating shaft 3 can be more balanced.
In this embodiment, rocking arm 4 is connected the one end of swinging boom 2 is equipped with connecting rod 12, swinging boom 2 is two rotary rods that set up relatively, two the upper end of rotary rod is connected respectively the both ends of connecting rod 12, two the lower extreme of rotary rod is connected respectively the both ends of mount 5. On the premise that the flapping wing air vehicle 100 has enough lift force, the flapping wing air vehicle 100 can be supported to lift upwards in the process of flying around the shaft.
In this embodiment, the limiting mechanism includes sliding blocks slidably connected to the rotating rod, a first rocker 13 is connected between the two sliding blocks, and a second rocker 14 is hinged between the first rocker 13 and the transverse tube 10 of the rocker 4. The sliding of the sliding block can change the angles of the two rocking bars, limit the included angle between the rotating arm 2 and the horizontal plane, and further limit the initial angle between the wings of the flapping wing aircraft and the horizontal plane. Meanwhile, the limited angle can be adjusted, the upward limit or the downward limit can be realized, the probability of collision damage can be reduced by the upward limit, and the downward limit is favorable for the flapping-wing aircraft to fly in a more natural flapping-wing manner.
Referring to fig. 3, in another embodiment of the present invention, the limiting mechanism is a limiting rod 15, the limiting rod 15 is disposed at the end of the swing arm 4 (i.e. the end of the inclined tube 11 away from the transverse tube 10) in parallel with the connecting rod 12, two ends of the limiting rod 15 are provided with a support block, and when the rotating arm 2 rotates to a fixed angle (the angle is determined by the angle of the inclined rod, preferably 45 °), the rotating rod abuts against the support block. Namely, when the rotating arm 2 is downward to 45 degrees, the rotating arm can be supported by the supporting block, so that the included angle between the rotating arm 2 and the horizontal plane is limited to 45 degrees or more.
In this embodiment, mount 5 is the rectangular carbon fiber plate of box-like structure, and the double-screw bolt mounting hole is left to the centre, adopts box-like structure can reduce the unnecessary wrench movement of mount and rocker, guarantees the precision of test.
Referring to fig. 4, in this embodiment (embodiment one), the angle adjusting device includes a connecting plate 16 and an adjusting plate 17 that are disposed opposite to each other, and the connecting plate 16 and the adjusting plate 17 are fixed to each other. The connecting plate 16 is arranged above the adjusting plate 17 and used for installing the flapping wing aircraft 100 and the sensor, and a hole position is reserved in the fuselage of the flapping wing aircraft 100 and is connected with the connecting plate 16 through screws. One end of the adjusting plate 17 is hinged with the fixing frame 5 (hinged), the other end of the adjusting plate 17 is connected with the fixing frame 5 through a bolt 18, and a spring 19 is sleeved between the adjusting plate 17 and the fixing frame 5 on the bolt 18. When the angle of the flapping wing aircraft 100 needs to be adjusted, the nut on the bolt 18 is only required to be screwed, so that the spring 19 is compressed or loosened, the angle of the adjusting plate 17 is adjusted, and the flight attack angle of the flapping wing aircraft 100 is adjusted (the adjustable angle interval is 1-10 degrees).
Referring to fig. 5, in another embodiment (embodiment two) of the present invention, the angle adjusting device includes a connecting plate 16 and an adjusting plate 17, which are oppositely disposed, the connecting plate 16 is disposed above the adjusting plate 17 for installing the flapping wing aircraft 100, one end of the adjusting plate 17 is hinged to the fixing frame 5, the other end of the adjusting plate 17 is provided with a first support, the fixing frame 5 is movably provided with a second support, and the first support and the second support are hinged to an adjusting rod 20 at a right angle. When the angle of the flapping-wing aircraft 100 needs to be adjusted, the second support is only required to be moved, so that the angle of the adjusting rod 20 is changed, the angle of the adjusting plate 17 is adjusted, and the flight attack angle of the flapping-wing aircraft is adjusted.
The test flow of the test device is as follows:
the flapping wing aircraft body is fixed on the connecting plate 16 by screws, and a limiting device is confirmed (in the embodiment 1, the initial included angle between the wing and the horizontal plane is set through the sliding block, and in the embodiment 2, the wing and the horizontal plane do not need to be set).
The flapping wing aircraft 100 is switched on.
The driving motor 7 is started, the rotating shaft rotates, and the initial takeoff speed of the ornithopter 100 is given.
The flapping wing air vehicle 100 flaps wings, flies around the rotating shaft 3, lifts the rotating arm by means of the lifting force of the wings, and gradually levels the body to be in a normal flying state.
The sensors record flight data of the flapping-wing aircraft, and research personnel can visually observe the flight condition of the flapping-wing aircraft.
And if necessary, adjusting the angle of the adjusting plate 17, changing the flight attack angle of the flapping wing air vehicle 100, and repeating the operation.
Compared with wind tunnel test and prototype test flight test, the test bench provided by the invention has the advantages of simple structure, small floor area and low cost, and can obtain sufficient flight lift force and thrust data to evaluate the basic flight performance of the flapping-wing aircraft on the premise of not damaging the aircraft at the initial stage of flight test. Meanwhile, the invention basically adopts a mechanical structure, and has simple structure and durability; aiming at a large bird-like flapping-wing aircraft, the test bench frame is light (the test bench frame is only about 2 kg), occupies a small area (the radius of a shaft is about 3 m), can integrally move, and greatly reduces the requirements on a test field and test equipment.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a flapping wing air vehicle testing arrangement which characterized in that: including support frame and swinging boom, the upper end of support frame is passed through slewing mechanism and is connected the pivot, the upper end of pivot is connected with the rocking arm, the one end of swinging boom with the rocking arm rotates to be connected to adjust through stop gear the angle of swinging boom, the other end of swinging boom is equipped with the mount, be equipped with the angle adjusting device who is used for installing flapping wing aircraft on the mount, its be equipped with the sensor on the angle adjusting device.
2. The ornithopter testing device of claim 1, wherein: the slewing mechanism comprises two opposite mounting plates, wherein the mounting plate below the slewing mechanism is connected with the support frame and any one of the support frame and the support frame, and the lower end of the slewing shaft is connected with the mounting plate and the driving motor respectively.
3. The ornithopter testing device of claim 2, wherein: the mounting plate is provided with bearings, the lower end of the rotating shaft is respectively sleeved in the two bearings, the rotating shaft is provided with two driven belt wheels arranged between the bearings, the driving motor is provided with a driving belt wheel, and the driving belt wheel is connected with the driven belt wheels through a belt.
4. The ornithopter testing device of claim 1, wherein: the rocker arm comprises a transverse pipe and an inclined pipe which are connected, the transverse pipe is connected with the rotating shaft, the inclined pipe is connected with the rotating arm, and an included angle between the inclined pipe and the transverse pipe is 40-50 degrees.
5. The ornithopter test of claim 4The device is characterized in that: the length from one end of the transverse pipe connected with the inclined pipe to the rotating shaft is L 1 Another part of the transverse tube has a length L 2 。，L 1 ＝(1.05～102)L 2 。
6. The ornithopter testing device of claim 1, wherein: the rocking arm is connected the one end of swinging boom is equipped with the connecting rod, the swinging boom is two rotary rods, two of relative setting the upper end of rotary rod is connected respectively the both ends of connecting rod, two the lower extreme of rotary rod is connected respectively the both ends of mount.
7. The ornithopter test device of claim 6, wherein: the limiting mechanism comprises sliding blocks which are in sliding connection with the rotating rods, a first rocker is connected between the two sliding blocks, and a second rocker is hinged between the first rocker and the rocker.
8. The ornithopter testing device of claim 6, wherein: stop gear is the gag lever post, the gag lever post with the connecting rod sets up parallelly the end of rocking arm, the both ends of gag lever post are equipped with the bearing piece, work as after the swinging boom is rotatory to fixed angle the rotary rod with the bearing piece butt.
9. The ornithopter testing device of claim 1, wherein: the angle adjusting device comprises a connecting plate and an adjusting plate which are arranged oppositely, the connecting plate is arranged above the adjusting plate and used for installing the flapping wing aircraft, one end of the adjusting plate is hinged to the fixing frame, the other end of the adjusting plate is connected with the fixing frame through a bolt, and the bolt is located on the adjusting plate and is sleeved with a spring between the fixing frame.
10. The ornithopter testing device of claim 1, wherein: the angle adjusting device comprises a connecting plate and an adjusting plate which are arranged oppositely, the connecting plate is arranged above the adjusting plate and used for installing the flapping wing aircraft, one end of the adjusting plate is hinged to the fixing frame, a first support is arranged at the other end of the adjusting plate, a second support is movably arranged on the fixing frame, and an adjusting rod is hinged to the first support and the second support at right angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211196750.1A CN115465472A (en) | 2022-09-28 | 2022-09-28 | Flapping wing aircraft testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211196750.1A CN115465472A (en) | 2022-09-28 | 2022-09-28 | Flapping wing aircraft testing device |
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| CN202211196750.1A Pending CN115465472A (en) | 2022-09-28 | 2022-09-28 | Flapping wing aircraft testing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116161237A (en) * | 2023-02-17 | 2023-05-26 | 北京科技大学 | Rotary experiment table for flapping wing flying robot |
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2022
- 2022-09-28 CN CN202211196750.1A patent/CN115465472A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116161237A (en) * | 2023-02-17 | 2023-05-26 | 北京科技大学 | Rotary experiment table for flapping wing flying robot |
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