A Hydraulic and Electromagnetic Hybrid Three-DOF Flapping Wing Test Bench

Abstract

A three-degree-of-freedom flapping wing test bench of hydraulic and electromagnetic hybrid belongs to the technical field of flapping wing aircraft test equipment, including: a frame, a flapping mechanism, a torsion mechanism, a yaw mechanism and a flapping wing; the flapping mechanism includes a hydraulic cylinder, a first transmission rod, a second transmission rod, a flexible body, and a flapping wing mounting base; the hydraulic cylinder is fixed on the frame; the hydraulic cylinder is hinged with the first transmission rod; the first transmission rod is hinged with the frame; the first transmission rod is coaxially connected with the second transmission rod and can rotate relatively; the energized coil in the torsion mechanism slides under the action of the magnetic field of the semicircular permanent magnet, driving the second transmission rod to rotate to achieve torsion; the cylindrical permanent magnet in the yaw mechanism slides under the action of the magnetic field of the energized coil, driving the flapping wing mounting base to rotate to achieve yaw; the flapping wing is fixedly mounted on the flapping wing mounting base. The present invention can ensure that the flapping wing has three degrees of rotational freedom, and can be independently controlled and adjusted to meet the experimental research on the flapping wing motion, and is suitable for the experimental process of complex flapping wing motion laws.

Description

Technical Field

[0001] The invention belongs to the technical field of flapping-wing aircraft test equipment, and in particular relates to a hydraulic and electromagnetic hybrid three-degree-of-freedom flapping-wing test bench. Background Art

[0002] There are many flapping flying creatures in nature, and they have evolved to have unique flight characteristics and structures. For example, common birds, insects, hummingbirds and bats all use their own size, weight and other characteristics to form an effective flapping flight method. Through observation, researchers have found that the main flying creatures in the air are birds and insects. Although they all use flapping wing flight, there are still some differences in their flight mechanisms. In the process of flying, the wings of insects not only flap up and down, but also produce a certain degree of twisting and yaw.

[0003] In order to simulate the complex flapping motion of insect wings and reveal the mechanism of high lift generated by insect flight, a test platform is needed that can enable the flapping wing model to achieve three degrees of freedom: flapping, twisting and yaw. However, there are some problems with the existing test platform: the flapping wing drive mechanism is complex, and large errors often occur in multi-stage mechanical transmission; it is impossible to achieve independent control of the three rotational degrees of freedom, or there is coupling, or only a small range of angle changes can be achieved, which is not conducive to collecting experimental data on flapping wing motion in a larger range. Summary of the invention

[0004] The purpose of the present invention is to realize the independent movement process of the flapping-wing model in the three degrees of freedom of flapping, twisting and yaw in a large angle range, and to provide data support for the design of the flapping-wing model and the analysis of aerodynamic characteristics.

[0005] The present invention is composed of a frame 1, a flapping mechanism 2, a torsion mechanism 3, a yaw mechanism 4 and a flapping wing 5, wherein a hydraulic cylinder fixing ring 14 in the frame 1 fixes the hydraulic cylinder 21 at the middle and upper part of the hydraulic cylinder 21, and is threadedly connected and clamped by a screw group d142 through two front and rear threaded holes d141; a hydraulic cylinder positioning device 16 in the frame 1 positions the hydraulic cylinder 21 at the bottom of the hydraulic cylinder 21; a second support rod 15 in the frame is hinged to the first transmission rod 23 at the upper part through a second hinge shaft 24, and is axially positioned by a positioning pin b231 through a positioning hole on the second hinge shaft 24; a semicircular permanent magnet fixing base in the torsion mechanism 3 31 is threadedly connected and fixed by a screw group e311 through a threaded hole group e312 on the upper part of the first transmission rod 23; the torsion connection block 33 of the torsion mechanism 3 is adhesively fixed to the upper left part of the second transmission rod 25; the yaw coil fixing base 41 in the yaw mechanism 4 is threadedly connected and fixed by a screw group f411 through a threaded hole group f412 on the rear part of the second transmission rod 25; the yaw flexible link 44 of the yaw mechanism 4 is connected and fixed to the right side of the flapping wing mounting base 27; the flapping wing 5 is installed on the right side of the flapping wing mounting base 27, threadedly connected and fixed by a bolt 51 and a nut 55 through a threaded hole 52, and positioned by a positioning pin a53 through a positioning hole 54.

[0006] The frame 1 is composed of a base 11, a first support rod 12, a hydraulic cylinder fixing rod 13, a hydraulic cylinder fixing clamp 14, a second support rod 15, and a hydraulic cylinder positioning device 16, wherein the first support rod 12 is arranged vertically with the base 11, and is threadedly connected and fixed with the threaded hole group a112 on the left side of the base 11 by a screw group a111; the hydraulic cylinder fixing rod 13 is arranged vertically with the first support rod 12 in the upper middle part, and is threadedly connected and fixed with the first support rod 12; the hydraulic cylinder fixing clamp 14 is bonded and fixed to the hydraulic cylinder fixing rod 13; the second support rod 15 is arranged vertically with the base 11, and is threadedly connected and fixed with the threaded hole group c116 on the right side of the base 11 by a screw group c115; the hydraulic cylinder positioning device 16 is threadedly connected and fixed with the threaded hole group b114 in the middle of the base 11 by a screw group b113.

[0007] The flapping mechanism 2 is composed of a hydraulic cylinder 21, a first hinge shaft 22, a first transmission rod 23, a second hinge shaft 24, a second transmission rod 25, a flexible body 26, and a flapping-wing mounting base 27, wherein the piston rod of the hydraulic cylinder 21 is hinged to the first transmission rod 23 at the upper part through the first hinge shaft 22, and is axially positioned by a positioning pin c232 through a positioning hole c on the first hinge shaft 22; the second transmission rod 25 is coaxially connected to the right end of the first transmission rod 23 and can rotate relatively; the flapping-wing mounting base 27 is connected and fixed to the right end of the second transmission rod 25 through the flexible body 26, ensuring that the flapping-wing mounting base 24 can rotate back and forth around the right end of the second transmission rod 25.

[0008] The torsion mechanism 3 is composed of a semicircular permanent magnet fixing base 31, a semicircular permanent magnet 32, a torsion connection block 33, and a torsion coil 34, wherein the semicircular permanent magnet 32 ​​is bonded to the right side of the semicircular permanent magnet fixing base 31; the torsion coil 34 is arranged vertically to the torsion connection block 33 and bonded to the upper part of the torsion connection block 33; the torsion coil 34 can slide along the inner ring guide rail of the semicircular permanent magnet 32.

[0009] The yaw mechanism 4 is composed of a yaw coil fixing base 41, a yaw coil 42, a cylindrical permanent magnet 43, and a yaw flexible link 44, wherein the yaw coil 42 is bonded and fixed to the yaw coil fixing base 41; the yaw flexible link 44 is bonded and fixed to the right side of the cylindrical permanent magnet 43; the cylindrical permanent magnet 43 can slide left and right in the guide rail inside the yaw coil 42.

[0010] When the present invention is working, the stroke of the piston rod of the hydraulic cylinder 21 is controlled by the hydraulic control circuit, so that the amplitude of the flapping motion can be changed; the extension and retraction speed of the piston rod of the hydraulic cylinder 21 is controlled by the hydraulic control circuit, so that the frequency of the flapping motion can be adjusted; when it is necessary to realize the torsional motion of the flapping wing, the torsional coil 34 is energized, and the energized torsional coil 34 slides along the inner guide rail of the semicircular permanent magnet 32 ​​under the action of the magnetic field of the semicircular permanent magnet 32, and drives the second transmission rod 25 to rotate through the torsional connecting block 33, thereby realizing the torsional motion of the flapping wing 5. The torsion angle can be adjusted by adjusting the magnitude and direction of the current passed through the torsion coil 34; when the yaw movement of the flapping wing 5 needs to be realized, the yaw coil 42 is energized, and the yaw coil 42 after energization will generate a magnetic field. Under the action of the magnetic field, the cylindrical permanent magnet 43 will slide left and right along the inner guide rail of the yaw coil 42, and drive the flapping wing mounting base 27 to rotate forward and backward through the yaw flexible connecting rod 44, thereby realizing the yaw of the flapping wing 5, and the yaw angle can be adjusted by adjusting the magnitude and direction of the current passed through the yaw coil 42. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Schematic diagram of the structure of a three-degree-of-freedom flapping-wing test bench with a hybrid of hydraulic and electromagnetic

[0012] Figure 2 Schematic diagram of the frame of the hydraulic and electromagnetic hybrid three-degree-of-freedom flapping-wing test bench

[0013] Figure 3 Schematic diagram of the flapping mechanism of the three-degree-of-freedom flapping-wing test bench with a hybrid of hydraulic and electromagnetic

[0014] Figure 4 Schematic diagram of the torsion mechanism of the three-degree-of-freedom flapping-wing test bench with a hybrid of hydraulic and electromagnetic

[0015] Figure 5 Schematic diagram of the yaw mechanism of the three-degree-of-freedom flapping-wing test bench with a hybrid of hydraulic and electromagnetic

[0016] Figure 6 Schematic diagram of flapping wing installation for a three-degree-of-freedom flapping wing test bench with a combination of hydraulic and electromagnetic

[0017] Wherein: 1. Frame 2. Flapping mechanism 3. Torsion mechanism 4. Yaw mechanism 5. Flapping wing 11. Base 12. First support rod 13. Hydraulic cylinder fixing rod 14. Hydraulic cylinder fixing clamp 15. Second support rod 16. Hydraulic cylinder positioning device 21. Hydraulic cylinder 22. First hinge axis 23. First transmission rod 24. Second hinge axis 25. Second transmission rod 26. Flexible body 27. Flapping wing mounting base 31. Semicircular permanent magnet fixing base 32. Semicircular permanent magnet 33. Torsion connecting block 34. Torsion coil 41. Yaw coil fixing base 42. Yaw coil 43. Cylindrical permanent magnet 44. Yaw flexible connecting rod 51. Bolt 52. Threaded hole 53. Positioning pin a 54. Positioning hole 55. Nut 111. Screw group a 112. Threaded hole group a

[0018] 113. Screw group b 114. Threaded hole group b 115. Screw group c 116. Threaded hole group c 141. Screw group d 142. Threaded hole group d 231. Locating pin b 232. Locating pin c 311. Screw group e 312. Threaded hole group e 411. Screw group f 412. Threaded hole group f DETAILED DESCRIPTION

[0019] The present invention will be described below in conjunction with the accompanying drawings.

[0020] like Figures 1 to 6 As shown, the present invention is composed of a frame 1, a flapping mechanism 2, a torsion mechanism 3, a yaw mechanism 4 and a flapping wing 5.

[0021] like Figure 2As shown, the frame 1 is composed of a base 11, a first support rod 12, a hydraulic cylinder fixing rod 13, a hydraulic cylinder fixing snap ring 14, a second support rod 15, and a hydraulic cylinder positioning device 16, wherein the first support rod 12 is arranged vertically with the base 11, and is threadedly connected and fixed with the threaded hole group a112 on the left side of the base 11 by a screw group a111; the hydraulic cylinder fixing rod 13 is arranged vertically with the first support rod 12 in the middle and upper part, and is threadedly connected and fixed with the first support rod 12; the hydraulic cylinder fixing snap ring 14 is bonded and fixed with the hydraulic cylinder fixing rod 13; the second support rod 15 is arranged vertically with the base 11, and is threadedly connected and fixed with the threaded hole group c116 on the right side of the base 11 by a screw group c115; the second support rod 15 is hinged to the first transmission rod 23 at the upper part through the second hinge shaft 24, and is axially positioned by a positioning pin b231 through the positioning hole on the second hinge shaft 24; the hydraulic cylinder positioning device 16 is threadedly connected and fixed with the threaded hole group b114 in the middle of the base 11 by a screw group b113.

[0022] like Figure 3 As shown, the flapping mechanism 2 is composed of a hydraulic cylinder 21, a first hinge shaft 22, a first transmission rod 23, a second hinge shaft 24, a second transmission rod 25, a flexible body 26, and a flapping-wing mounting base 27, wherein the piston rod of the hydraulic cylinder 21 is hinged to the first transmission rod 23 at the upper part through the first hinge shaft 22, and is axially positioned by a positioning pin c232 through a positioning hole c on the first hinge shaft 22; the second transmission rod 25 is coaxially connected to the right end of the first transmission rod 23 and can rotate relatively; the flapping-wing mounting base 27 is connected and fixed to the right end of the second transmission rod 25 through the flexible body 26, and the left and right ends of the flexible body 26 are respectively interference fit with the second transmission rod 25 and the flapping-wing mounting base 27, and the upper and lower surfaces of the flexible body 26 are clearance fit with the second transmission rod 25; the hydraulic cylinder fixing clamp 14 fixes the hydraulic cylinder 21 at the middle and upper part of the hydraulic cylinder 21, and is threadedly connected and clamped by a screw group d142 through two front and rear threaded holes d141.

[0023] like Figure 4 As shown, the torsion mechanism 3 is composed of a semicircular permanent magnet fixing base 31, a semicircular permanent magnet 32, a torsion connection block 33, and a torsion coil 34, wherein the semicircular permanent magnet 32 ​​is bonded to the right side of the semicircular permanent magnet fixing base 31; the torsion coil 34 is arranged vertically to the torsion connection block 33 and bonded to the upper part of the torsion connection block 33; the torsion coil 34 can slide along the inner ring guide rail of the semicircular permanent magnet 32; the semicircular permanent magnet fixing base 31 is threadedly connected and fixed by a screw group e311 through a threaded hole group e312 on the upper part of the first transmission rod 23; the torsion connection block 33 is bonded and fixed to the upper left part of the second transmission rod 25.

[0024] like Figure 5As shown, the yaw mechanism 4 is composed of a yaw coil fixing base 41, a yaw coil 42, a cylindrical permanent magnet 43, and a yaw flexible link 44, wherein the yaw coil 42 is bonded and fixed to the yaw coil fixing base 41; the yaw flexible link 44 is bonded and fixed to the right side of the cylindrical permanent magnet 43; the cylindrical permanent magnet 43 can slide left and right in the guide rail inside the yaw coil 42; the yaw coil fixing base 41 is threadedly connected and fixed by a screw group f411 through a threaded hole group f412 at the rear of the second transmission rod 25; the yaw flexible link 44 of the yaw mechanism 4 is connected and fixed to the right side of the flapping wing mounting base 27, and an interference fit is adopted.

[0025] like Figure 6 As shown, the flapping wing 5 is installed on the right side of the flapping wing mounting base 27, and is threadedly fixed by bolts 51 and nuts 55 through threaded holes 52, and is positioned by positioning pins a53 through positioning holes 54.

Claims

1. A hydraulic and electromagnetic hybrid three-degree-of-freedom flapping wing test bench, characterized in that: The invention is composed of a frame (1), a flapping mechanism (2), a torsion mechanism (3), a yaw mechanism (4) and a flapping wing (5), wherein the flapping mechanism (2) is composed of a hydraulic cylinder (21), a first hinge shaft (22), a first transmission rod (23), a second hinge shaft (24), a second transmission rod (25), a flexible body (26) and a flapping wing mounting base (27); the piston rod of the hydraulic cylinder (21) is hinged to the first transmission rod (23) at the upper part through the first hinge shaft (22), and is axially positioned by a positioning pin c (232) through a positioning hole c on the first hinge shaft (22); The second transmission rod (25) is coaxially connected to the right end of the first transmission rod (23) and can rotate relatively; the flapping wing mounting base (27) is connected and fixed to the right end of the second transmission rod (25) through a flexible body (26), ensuring that the flapping wing mounting base (24) can rotate forward and backward around the right end of the second transmission rod (25); the hydraulic cylinder fixing clamp (14) in the frame (1) fixes the hydraulic cylinder (21) at the middle and upper part of the hydraulic cylinder (21), and is threadedly connected and clamped by a screw group a (142) through two front and rear threaded holes a (141); the hydraulic cylinder in the frame (1) The pressure cylinder positioning device (16) positions the hydraulic cylinder (21) at the bottom of the hydraulic cylinder (21); the second support rod (15) in the frame is hinged to the first transmission rod (23) at the upper part through the second hinge shaft (24), and is axially positioned by a positioning pin a (231) through a positioning hole on the second hinge shaft (24); the semicircular permanent magnet fixing base (31) in the torsion mechanism (3) is threadedly connected and fixed by a screw group b (311) through a threaded hole group b (312) on the upper part of the first transmission rod (23); the torsion connection block (33) of the torsion mechanism (3) is adhesively fixed to the The left upper part of the second transmission rod (25); the yaw coil fixing base (41) in the yaw mechanism (4) is threadedly connected and fixed by a screw group c (411) through a threaded hole group c (412) at the rear of the second transmission rod (25); the yaw connecting rod (44) of the yaw mechanism (4) is connected and fixed to the right side of the flapping wing mounting base (27); the flapping wing (5) is mounted on the right side of the flapping wing mounting base (27), threadedly connected and fixed by a bolt d (51) and a nut d (55) through a threaded hole d (52), and positioned by a positioning pin b (53) through a positioning hole b (54); The frame (1) is composed of a base (11), a first support rod (12), a hydraulic cylinder fixing rod (13), a hydraulic cylinder fixing clamp (14), a second support rod (15), and a hydraulic cylinder positioning device (16), wherein the first support rod (12) is arranged vertically with the base (11), and is threadedly connected and fixed to a threaded hole group e (112) on the left side of the base (11) through a screw group e (111); the hydraulic cylinder fixing rod (13) is arranged vertically with the first support rod (12) in the middle and upper part, and is threadedly connected and fixed to the first support rod (12); the hydraulic cylinder fixing clamp (14) is bonded and fixed to the hydraulic cylinder fixing rod (13); the second support rod (15) is arranged vertically with the base (11), and is threadedly connected and fixed to a threaded hole group f (116) on the right side of the base (11) through a screw group f (115); the hydraulic cylinder positioning device (16) is threadedly connected and fixed to a threaded hole group g (114) in the middle of the base (11) through a screw group g (113); The torsion mechanism (3) is composed of a semicircular permanent magnet fixing base (31), a semicircular permanent magnet (32), a torsion connection block (33), and a torsion coil (34), wherein the semicircular permanent magnet (32) is bonded to the right side of the semicircular permanent magnet fixing base (31); the torsion coil (34) is arranged vertically to the torsion connection block (33) and bonded to the upper part of the torsion connection block (33); the torsion coil (34) can slide along the inner ring guide rail of the semicircular permanent magnet (32); The yaw mechanism (4) is composed of a yaw coil fixing base (41), a yaw coil (42), a cylindrical permanent magnet (43), and a yaw connecting rod (44), wherein the yaw coil (42) is bonded and fixed to the yaw coil fixing base (41); the yaw connecting rod (44) is bonded and fixed to the right side of the cylindrical permanent magnet (43); and the cylindrical permanent magnet (43) can slide left and right in a guide rail inside the yaw coil (42).

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