CN110435926A - A bionic flapping wing propulsion test platform - Google Patents

Abstract

The invention relates to a bionic flapping wing propulsion test platform, which belongs to the field of bionic tests; it includes a motion module, an air flotation guide rail and an air flotation guide rail bracket; the air flotation guide rail bracket is used to support the entire test platform, and two air Floating guide rails; the two ends of the motion module are respectively slidingly connected with two air-floating guide rails, which are used to realize the horizontal translation and rotation of the bionic flapping wing; two sets of motion modules are used to realize the imitation ray flapping wing movement; each movement Each module contains two stepper motors, which are used to control the horizontal translation and rotation of the clamping flapping wings, which can realize the independent movement of the movement module, and can also realize the coordinated movement of multiple movement modules; it can more realistically simulate the motion of the ray pattern of motion. And the moving part is supported by the air-floating guide rail, which can realize the free movement of the test platform in the propulsion direction and improve the accuracy of the whole propulsion device; when it is suitable for other bionic flapping wing propulsion experiments, the number of groups of motion modules can be directly increased to achieve the experimental effect .

Description

A bionic flapping wing propulsion test platform

technical field

The invention belongs to the field of bionic tests, in particular to a bionic flapping wing propulsion test platform.

Background technique

Due to its advantages of high efficiency, good flexibility, and low noise, flapping wing propulsion has become a hot spot in marine science research recently. As an outstanding representative of flapping and propulsive fish, rays have received extensive attention in their form of motion. People use high-speed cameras to capture the motion of rays and establish a mathematical model of their motion. Based on the mathematical model, the researchers used various forms of motion mechanisms to simulate the motion form of the ray, so as to analyze the relevant characteristics during its motion. Due to the extremely complex motion of the actual ray, the existing experimental devices simplifies its motion into a single-axis pitching motion, heave motion or a combination of the two, and by fixing the motion axis at a certain point in the propulsion direction position to reduce the difficulty of measurement. Adopting such a test method cannot obtain the real relevant physical characteristics of the fish when propelling, which limits people's understanding of the propulsion mechanism of the ray.

Contents of the invention

Technical problem to be solved:

In order to avoid the deficiencies of the prior art, the present invention proposes a bionic flapping wing propulsion test platform, which better simulates the movement form of the flapping wing propulsion through biaxial linkage, and at the same time realizes the propulsion of the bionic flapping wing Free movement of direction, more realistic and accurate simulation of the linear motion process of rays.

The technical solution of the present invention is: a bionic flapping wing propulsion test platform, characterized in that it includes a motion module, an air flotation guide rail and an air flotation guide rail support; the air flotation guide rail support is used to support the entire test platform, and its two ends are fixed in parallel There are two air bearing guide rails; the two ends of the motion module are respectively slidingly connected with the two air bearing guide rails, which are used to realize the horizontal translation and rotation of the bionic flapping wing;

The motion module includes a transverse motor, a rotary motor, a rotary motor bracket, a limit switch, a six-axis force/torque sensor, a first coupling, a second coupling, a motion shaft and a motion shaft support frame; the motion shaft The support frame is perpendicular to the air-floating guide rail, and the two ends of the bottom surface are respectively slidingly connected with the two air-floating guide rails, and the two ends can move horizontally along the length direction of the guide rail at the same time; Connected to both ends of the movement shaft support frame, the rotating motor bracket is vertically installed below the lead screw through a lead screw nut, and the horizontal motor is coaxially installed at one end of the movement shaft for controlling the The rotation of the leading screw further controls the horizontal movement of the rotating motor bracket along the leading screw; the rotating motor is fixed on the rotating motor bracket, and its output shaft is sequentially coaxially equipped with a first coupling, a six-axis force/ A torque sensor and a second shaft coupling; the second shaft coupling is connected with the tested bionic flapping wing, and the rotating motor is used to control the rotational movement of the tested bionic flapping wing.

A further technical solution of the present invention is: a photoelectric induction limit switch is installed on the output shaft of the rotating motor, which can rotate with the output shaft, and the photoelectric induction limit switch is controlled by the induction of light by the light-shielding plate on the photoelectric induction limit switch. The on-off of the limit switch is used to adjust the rotation speed and angle of the flapping wing when the rotation is out of control.

A further technical solution of the present invention is to include a cover plate and two of the movement modules, the two movement modules are arranged side by side, and the upper surface is fixed as a whole through the cover plate, so as to simultaneously simulate the coordinated movement of the pectoral fin and the caudal fin.

The further technical solution of the present invention is: the air-floating guide rail is made of granite, and the air-floating guide rail is filled with pressure air from the hole through the air compressor, and at the same time, the excess pressure air is extracted by the air pump to maintain the air pressure inside the air-floating guide rail. Saturation allows the test platform to move freely on the air bearing rails.

Beneficial effect

The beneficial effect of the present invention is that: in the present invention, the bionic flapping wing propulsion platform realizes the imitation ray flapping wing motion through two sets of motion modules; each motion module includes two stepping motors, which are used to control the level of the flapping wing Translation and rotation can realize the individual movement of the movement module, and can also realize the coordinated movement of multiple movement modules; it can more realistically simulate the movement law of the ray. And the moving part is supported by the air-floating guide rail, which can realize the free movement of the test platform in the propulsion direction and improve the accuracy of the whole propulsion device; when it is suitable for other bionic flapping wing propulsion experiments, the number of groups of motion modules can be directly increased to achieve the experimental effect .

Each rotating shaft in the test platform is equipped with a limit switch. The limit switch is used to monitor the rotation of the flapping wing in real time, which can detect and prevent the out-of-control of the flapping wing rotation in time, and can ensure that the experimental platform maintains high precision for a long time. sports. A six-axis force/torque sensor is connected under the rotating shaft, which can record the force of the flapping wing in all directions while controlling the movement.

Description of drawings

Fig. 1 is a structural schematic diagram of a bionic flapping wing propulsion test platform;

Fig. 2 is a schematic diagram of the motion part of a bionic flapping wing propulsion test platform;

Fig. 3 is a schematic diagram of a motion module of a bionic flapping wing propulsion test platform;

Explanation of reference signs: 1—cover plate, 2—movement module, 3—air-floating guide rail, 4—air-floating guide rail support, 5—horizontal motor, 6—rotating motor, 7—photoelectric sensor limit switch, 8—six-axis Force/torque sensor, 9-movement shaft, 10-movement shaft support frame, 11-rotating motor power connector, 12-horizontal motor power connector, 13-rotating motor bracket, 14-first coupling, 15-second coupling Axis device.

Detailed ways

The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

A bionic flapping wing propulsion test platform includes a motion module, an air-floating guide rail 3, and an air-floating guide rail support 4; the air-floating guide rail support 4 is used to support the entire test platform, and two air-floating guide rails 3 are fixed in parallel at its two ends; The two ends of the module are respectively slidingly connected with two air bearing guide rails 3, which are used to realize the horizontal translation and rotation of the bionic flapping wing.

In this embodiment, the bionic flapping wing propulsion test platform includes a cover plate 1, two motion modules 2, two air-floating guide rails 3 and an air-floating guide rail support 4; the two motion modules 2 are arranged side by side, and the upper surface is fixed as a whole by the cover plate 1 , which is used to simultaneously simulate the coordinated movement of pectoral fin and caudal fin, and realize the simulation of the motion law of rays through coordinated control. The air-floating rail support 4 is a steel frame structure, used to carry the air-floating rail 3 and the motion module 2; the two motion modules 2 are installed on the air-floating rail 3, and when the motion module 2 drives the flapping wings to move underwater, it will move forward The force can make the whole moving part move freely on the air bearing guide rail 3 with low friction, which can more truly reflect the relevant physical characteristics of the fish when propelling. The air-floating guide rail 3 is made of granite, and the pressure air is filled into the air-floating guide rail through the small hole of the air compressor, and the excess pressure air is extracted through the air pump to keep the air pressure inside the air-floating guide rail saturated, so that the experimental platform can be operated in the air. Low-friction free movement on floating guide rails to achieve higher precision.

The motion module 2 includes a transverse motor 5, a rotary motor 6, a photoelectric sensor limit switch 7, a six-axis force/torque sensor 8, a motion shaft 9, a motion shaft support frame 10, a power connector 11 for a rotating motor, a power connector 12 for a rotating motor, and Motor bracket 13 , first coupling 14 and second coupling 15 . The motion shaft support frame 10 is perpendicular to the two air-floating guide rails 3 and is arranged above them. The two ends of the bottom surface are respectively slidingly connected with the two air-floating guide rails 3, and the two ends can move horizontally along the length direction of the guide rails at the same time; the motion shaft 9 It is a lead screw, the two ends of which are respectively connected to the two ends of the motion shaft support frame 10 through bearings, the rotating motor bracket 13 is vertically installed under the lead screw through the lead screw nut, and the transverse motor 5 is coaxially installed on one end of the motion shaft 9 , used to control the rotation of the leading screw, and further control the horizontal movement of the rotating motor support 13 along the leading screw; the rotating motor 6 is fixed on the rotating motor support 13, and its output shaft is coaxially equipped with the first coupling 14, The six-axis force/torque sensor 8 and the second coupling 15 are connected with the tested bionic flapping wing through the second coupling 15 . The horizontal motor 5 and the rotary motor 6 are used to control the horizontal translation and rotational motion of the flapping wing; two motion modules are used in this test platform, and the two motion modules can work independently or cooperatively. When studying the hydrodynamic characteristics of a single flapping wing, only one motion module 2 is used; when the two motion modules work together, the simultaneous motion simulation of fish pectoral fins and tail fins can be realized. When used in other bionic flapping wing propulsion tests, the experimental effect can also be achieved by continuing to increase the number of motion modules.

In this bionic flapping wing propulsion test platform, photoelectric sensor limit switches 7 are installed on the output shafts of all rotating motors in the motion module. The limit switches adopt photoelectric proximity switches. The principle is that when a reflective object approaches, the photoelectric device receives the reflection After the light, there is a signal output, and it senses that an object is approaching. When the bionic flapping wing moves underwater for a long time, the water surface will fluctuate violently. With the increase of the movement time, the effect of the water surface fluctuation will also increase, and the flapping wing will rotate out of control. The light induction controls the on-off of the limit switch 7, and then monitors the flapping wing rotation in real time, and adjusts the rotation speed and angle when the flapping wing spins out of control, so that the out-of-control flapping wing rotation can be detected and prevented in time , so as to ensure the high-precision movement of the experimental platform.

The bionic flapping wing propulsion test platform is connected with a six-axis force/torque sensor 8 by screws under the rotating shaft, and can record the forces in all directions of the flapping wing while controlling the movement.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present 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.