A multi-degree-of-freedom flapping-wing aircraft takeoff and landing device and a testing device

Abstract

The present invention discloses a take-off and landing device and a test device for a multi-degree-of-freedom flapping-wing aircraft. Taking one of them as an example, a take-off and landing device for a multi-degree-of-freedom flapping-wing aircraft includes: a frame; a controller; a linear module, the linear module is drivingly connected to a sliding frame, and a rotating platform is arranged on the sliding frame; a pitching module; a rolling module, the pitching module drives the rolling module to perform pitching motion; a cantilever, the rolling module drives the cantilever to rotate; a release module, the release module is used to clamp or release the flapping-wing aircraft; a kinetic energy elastic member, its front end is connected to the cantilever and the rear end is connected to the release module, and the kinetic energy elastic member provides kinetic energy for the release module; a traction module, the traction module is drivingly connected to the release module and stretches or releases the kinetic energy elastic member; a position detector, the position detector is used to detect the position where the release module slides to the original length of the kinetic energy elastic member, and the position detector, the traction module, the release module, the rolling module, the pitching module, and the linear module are all electrically connected to the controller.

Description

Technical Field

[0001] The present invention relates to the technical field of take-off and landing test devices, in particular to a multi-degree-of-freedom flapping wing aircraft take-off and landing device and a test device. Background Art

[0002] Bionic flapping wing unmanned aerial vehicles have the characteristics of small size, light weight, good concealment, low cost, convenient carrying, and the ability to work in special aerodynamic fields with low Reynolds number environments, so they are often used in fields such as war reconnaissance, surveillance, intelligence behind enemy lines, and urban information collection.

[0003] To conduct test research on the flight mechanism and control performance of bionic flapping wing unmanned aerial vehicles under the above-mentioned low Reynolds number, it is necessary to imitate the take-off and landing postures of flying organisms during the test, and test the control algorithm according to the preset landing points, so as to obtain the experimental parameters required for studying the flight mechanism and optimizing the control algorithm. Therefore, multiple groups of repeated experiments often need to be carried out. However, through methods such as manual throwing, the take-off and landing postures cannot be accurately controlled, and the experimental parameters cannot be measured either.

[0004] Chinese Utility Model with Publication No. CN215514189U discloses a catapult take-off device for a flapping wing unmanned aerial vehicle, which uses a simple spring and a slide rail to achieve the catapult take-off of the flapping wing unmanned aerial vehicle. Moreover, the above device stretches the spring manually, and its take-off angle is fixed, so it cannot imitate the actual posture of flying organisms. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide a multi-degree-of-freedom flapping wing aircraft take-off and landing device and a test device, so as to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0006] The solution of the present invention to solve its technical problems is:

[0007] A multi-degree-of-freedom flapping-wing aircraft take-off and landing device, which has mutually orthogonal front-back, left-right and up-down directions, comprises: a frame; a controller; a linear module connected to the frame, the linear module drivingly connected to a sliding frame, the sliding frame moves in a vertical direction, the sliding frame is provided with a rotating platform, and the rotation axis of the rotating platform is arranged along the up-down direction; a pitch module connected to the rotating platform; a roll module, the pitch module drives the roll module to perform a pitch movement; a cantilever, the roll module drives the cantilever to rotate, and the rotation axis of the cantilever is arranged along the front-back direction; a release module, which is slidably connected to the cantilever along the front-back direction, A release module is used to clamp or release the flapping-wing aircraft; a kinetic elastic member, a front end of which is connected to the cantilever and a rear end is connected to the release module, the kinetic elastic member provides kinetic energy for the release module; a traction module, which is connected to the rotating platform, the traction module drives the release module and stretches or releases the kinetic elastic member; a position detector, which is connected to the cantilever, the position detector is used to detect the position where the release module slides to the original length of the kinetic elastic member, and the position detector, the traction module, the release module, the roll module, the pitch module, and the linear module are all electrically connected to the controller.

[0008] Under the control of the controller, the linear module, rolling module and pitch module can be adjusted to change the height, pitch angle and roll angle of the cantilever, so as to imitate the actual posture of the flying creature as much as possible; the horizontal swing angle of the rotating platform generally does not need to be adjusted; the flapping-wing aircraft is clamped by the release module, so when the dive needs to be adjusted, the flapping-wing aircraft will not fall out in advance; in actual use, the linear module, rolling module and pitch module change the extension direction of the cantilever in advance, the flapping-wing aircraft is clamped by the release module, and the traction module pulls the release module to move toward the rear side. At this time, the kinetic elastic member is in a stretched state, and then the traction is controlled by the controller The module causes the kinetic elastic part to release kinetic energy to the releasing module, the releasing module moves forward on the cantilever, and the flapping-wing aircraft also moves ahead synchronously until the position detector detects that the releasing module moves to the position of the original length of the kinetic elastic part. At this time, the releasing module releases the flapping-wing aircraft, and the flapping-wing aircraft shoots toward the target direction; that is, the above structure can realize the automatic adjustment of multiple degrees of freedom of the flapping-wing aircraft based on the controller command, reduce the influence of human factors in the experiment, and also reduce the consumption of manpower during repeated tests. Furthermore, the above structure can be used to perform closed-loop control of the take-off height, pitch angle, and roll angle of the flapping-wing aircraft, which can improve the scientific nature of the launch.

[0009] As a further improvement of the above technical solution, the release module includes: a support component slidably connected to the cantilever in the front-rear direction, the rear end of the kinetic energy elastic member is connected to the support component, and the traction module is drivingly connected to the support component; a trigger plate connected to the support component and cooperatively connected to the position detector; a clamping component connected to the support component, the clamping component is used to clamp the flapping wing machine; a driving component connected to the support component and used to drive the clamping component to open and close, and the driving component is electrically connected to the controller.

[0010] The kinetic energy elastic member provides kinetic energy for the support component, enabling the support component to move forward along the cantilever. When the trigger plate slides synchronously to the position detector, the position detector outputs a signal to the controller. At this time, the controller activates the driving component, and the driving component controls the clamping component to be in a released state, capable of promptly releasing the flapping wing machine.

[0011] As a further improvement of the above technical solution, the clamping component includes two clamping jaws for clamping the flapping wing machine, and both of the two clamping jaws are arranged on the support component, and the driving component is used to drive the two clamping jaws to open and close.

[0012] The form of the clamping component where two clamping jaws open and close is relatively simple and convenient to use; moreover, the above structure uses the clamping force of the two clamping jaws to clamp the flapping wing machine. When the flapping wing machine conducts a dive experiment and is in the state before launch, the clamping component can also stably clamp the flapping wing machine.

[0013] As a further improvement of the above technical solution, the clamping component further includes a clamping elastic member connected between the two clamping jaws, and the clamping elastic member is used to pull the two clamping jaws closer to each other.

[0014] Adding a clamping elastic member to enhance the clamping force between the two clamping jaws. When the flapping wing machine conducts a dive experiment and is in the state before launch, the clamping component can also stably clamp the flapping wing machine.

[0015] As a further improvement of the above technical solution, the support component includes: a lower support frame slidably connected to the cantilever in the front-rear direction, the rear end of the kinetic energy elastic member is connected to the lower support frame, the driving component is drivingly connected to the lower support frame, and the trigger plate is connected to the lower support frame; an upper support frame mortise-tenon connected to the lower support frame, and the clamping component and the driving component are connected to the upper support frame.

[0016] The upper support frame and the lower support frame are mortise-tenon connected, and their assembly is simple and convenient for installation.

[0017] As a further improvement of the above technical solution, a damping layer is provided on the upper support frame or the lower support frame at a position corresponding to the mortise-tenon connection.

[0018] A damping layer is added to achieve the effect of buffering and vibration absorption.

[0019] The present invention also provides a detection device for a multi-degree-of-freedom flapping wing aircraft takeoff and landing device, including a test platform, a visual recorder, a reader, a marker, a speed detector, and the above-mentioned multi-degree-of-freedom flapping wing aircraft takeoff and landing device. The speed detector is connected to the front end of the cantilever and is electrically connected to the controller, and the frame body is located at the rear side of the test platform.

[0020] The marker can project the theoretical landing point. The flapping wing aircraft is launched onto the test platform through a multi-degree-of-freedom flapping wing aircraft takeoff and landing device. The reader can be pushed manually outside the test platform and aligned with the actual landing point and the theoretical landing point for reading; the visual recorder is used to record the attitude of the flapping wing aircraft during actual flight; the speed detector is used to detect the speed of the flapping wing aircraft when it is launched.

[0021] As a further improvement of the above technical solution, it further includes an attitude detector connected to the release module, and the attitude detector is electrically connected to the controller.

[0022] The attitude detector can measure the actual attitude of the release module.

[0023] As a further improvement of the above technical solution, the marker includes: a turntable rotatably connected to the frame body, the rotation axis of the turntable is arranged in the left-right direction; a marking motor connected to the frame body and used to drive the turntable to rotate, the marking motor is electrically connected to the controller; a marking lamp connected to the turntable.

[0024] The controller calculates the height that the marker needs to reach according to the preset landing point, and then controls the marking motor through the controller. The marking motor outputs corresponding pulse signals according to the instruction to drive the turntable to rotate, so that the marking lamp rotates to the target position.

[0025] As a further improvement of the above technical solution, both the position detector and the speed detector are detachably connected to the cantilever.

[0026] The position detector and the cantilever are detachably connected, that is, the position of the position detector is adjustable, which can compensate for the time delay error between the position detector level feedback, the controller processing and the driving component response jaw release, as well as the kinetic energy elastic part aging and slight rigidity recovery error after multiple experiments of the release module; the speed detector and the cantilever are detachably connected, that is, the position of the speed detector is adjustable. After the flapping wing aircraft is released, there is still a period of time before it can start the autonomous motion mode, and the position where the actual test speed is taken is preferably the position where the flapping wing aircraft starts autonomous motion. Therefore, the position of the position detector is adjustable to compensate for the error. Description of the Drawings

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all embodiments. Those skilled in the art can obtain other design solutions and drawings based on these drawings without creative efforts.

[0028] Figure 1 is the overall structural schematic diagram of a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device of the present invention;

[0029] Figure 2 is Figure 1 the partial enlarged schematic diagram of part A in

[0030] Figure 3 is the partial structural schematic diagram of a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device of the present invention;

[0031] Figure 4 is Figure 3 the partial enlarged schematic diagram of part B in

[0032] Figure 5 is the structural schematic diagram of the release module in a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device of the present invention;

[0033] Figure 6 is the overall structural schematic diagram of the test device of a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device of the present invention.

[0034] In the figure, 1, frame; 11, controller; 12, linear module; 121, sliding frame; 122, rotating platform; 13, pitching module; 14, rolling module; 15, cantilever; 151, kinetic elastic member; 152, position detector; 153, speed detector; 2, release module; 21, support assembly; 211, lower support frame; 2111, damping layer; 212, upper support frame; 2121, attitude detector; 22, trigger plate; 23, clamping assembly; 231, jaw; 232, clamping elastic member; 24, driving assembly; 3, traction module; 31, traction frame; 32, traction motor; 33, wire reel; 34, rope; 35, rotor; 4, test platform; 5, visual recorder; 6, reader; 7, marker; 71, turntable; 72, marking motor; 73, marking lamp; 74, lamp board; 8, light compensator; 9, flapping-wing aircraft; 91, auxiliary connecting member; 911, connecting plate; 912, first connecting column; 913, second connecting column. Specific embodiments

[0035] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with embodiments and the accompanying drawings to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts all fall within the scope of protection of the present invention. In addition, all the connection / linkage relationships mentioned in the text do not simply refer to the direct connection of components, but refer to the formation of a more optimal connection structure by adding or reducing connection accessories according to specific implementation situations. The various technical features in the present invention can be interactively combined without conflicting with each other.

[0036] Specific reference is made to the attached drawings Figures 1 to 6 。

[0037] The following is a specific implementation manner of a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device of the present invention.

[0038] A multi-degree-of-freedom flapping-wing aircraft takeoff and landing device has mutually orthogonal left-right, front-back and up-down directions. Among them, the front-back direction is the launching direction of the flapping-wing aircraft 9, and the up-down direction is the direction of gravity.

[0039] A multi-degree-of-freedom flapping-wing aircraft takeoff and landing device includes a frame 1, a controller 11, a linear module 12, a pitching module 13, a rolling module 14, a cantilever 15, a release module 2, a kinetic elastic member 151, a traction module 3 and a position detector 152.

[0040] Specifically, the structure of the frame 1 can be adjusted according to actual needs. The material of the frame 1 is selected as aluminum profile material, and the frame 1 is arranged vertically.

[0041] The controller 11 is connected to the frame 1. In other embodiments, the controller 11 may not be connected to the frame 1 either; specifically, the controller 11 includes a control electrical box and a host computer that are electrically connected to each other.

[0042] The linear module 12 is connected to the frame 1. Specifically, the linear module 12 is located on the outer side wall of the frame 1; in other embodiments, the linear module 12 may also be a cylinder, or a combination of a motor and a lead screw.

[0043] The linear module 12 is connected with a sliding frame 121, and the linear module 12 drives the sliding frame 121 to move along the frame 1, and the sliding direction of the sliding frame 121 is arranged along the vertical direction.

[0044] The sliding frame 121 is connected to a rotating platform 122 which is rotatably arranged. The rotation axis of the rotating platform 122 is parallel to the axis extending in the up and down direction. In this embodiment, a U-shaped groove is provided on the sliding frame 121, and a cylinder that slides in the U-shaped groove is provided at the bottom of the rotating platform 122. When the cylinder is clamped at a certain position in the U-shaped groove, the rotation angle of the rotating platform 122 can be limited. In other embodiments, a pin can be inserted through the rotating platform 122 and the sliding frame 121 to limit the rotation angle of the rotating platform 122. In another embodiment, a motor can also be connected to the sliding frame 121, and the motor is drivingly connected to rotate the rotating platform 122 to limit the rotation angle of the rotating platform 122.

[0045] The pitching module 13 is connected to the rotating platform 122. Specifically, the pitching module 13 is a pitching adjustment servo, and the pitching adjustment servo can drive the components connected thereto to swing upward or downward.

[0046] The rolling module 14 is connected to the pitching module 13. The pitching module 13 is drivingly connected to the rolling module 14 and enables the rolling module 14 to perform a pitching motion. Specifically, the rolling module 14 is a rolling adjustment servo.

[0047] The cantilever 15 is connected to the rolling module 14. The rolling module 14 is drivingly connected to the cantilever 15 and enables the cantilever 15 to rotate. The rotation axis of the cantilever 15 is arranged in the front and rear direction. Specifically, the outer side wall of the cantilever 15 is provided with a track, and the cantilever 15 is used to guide the flapping wing aircraft 9 to perform a linear motion.

[0048] The pitching module 13 and the rolling module 14 are connected in series in sequence, so as to realize the adjustment of two degrees of freedom of rolling and pitching of the cantilever 15.

[0049] The flapping wing aircraft 9 is slidably connected to the cantilever 15, and the sliding direction of the flapping wing aircraft 9 is parallel to the front and rear direction. Specifically, reflective points for tracking the flight attitude are arranged on the flapping wing aircraft 9.

[0050] The release module 2 is slidably connected to the cantilever 15, and the sliding direction of the release module 2 is arranged along the front and rear direction; the release module 2 is used to release or clamp the flapping wing aircraft 9. Specifically, when the release module 2 clamps the flapping wing aircraft 9, the release module 2 slides synchronously to drive the flapping wing aircraft 9 to slide synchronously. When the release module 2 releases the flapping wing aircraft 9, the flapping wing aircraft 9 is shot out in the target direction.

[0051] The front end of the kinetic energy elastic member 151 is connected to the cantilever 15, and the rear end of the kinetic energy elastic member 151 is connected to the release module 2. Specifically, the kinetic energy elastic member 151 is located in front of the release module 2, and the kinetic energy elastic member 151 is a spring; the kinetic energy elastic member 151 is used to provide kinetic energy, and the above kinetic energy is used by the release module 2 to drive the flapping wing aircraft 9 to move.

[0052] The traction module 3 is connected to the rotary platform 122; the traction module 3 drives the release module 2 to slide, and causes the kinetic energy elastic member 151 to be released or stretched.

[0053] Specifically, the traction module 3 includes a traction frame 31, a traction motor 32, a wire reel 33, and a rope 34. The traction frame 31 is connected to the rotary platform 122, the traction motor 32 is connected to the traction frame 31, the wire reel 33 is rotatably connected to the traction frame 31, the traction motor 32 drives the wire reel 33 to rotate, the rotation axis of the wire reel 33 is arranged in the left-right direction, the front end of the rope 34 is connected to the release module 2, the rear end of the rope 34 is connected to the wire reel 33, and the rope 34 is wound around the wire reel 33; the traction module 3 further includes a rotor 35, the traction motor 32 is drivingly connected to the rotor 35 and causes the rotor 35 to rotate, the rotation axis of the rotor 35 is arranged in the left-right direction, and the wire reel 33 is connected to the traction motor 32 through the rotor 35. Specifically, a protrusion is provided on the outer sidewall of the wire reel 33, a groove is provided on the outer sidewall of the rotor 35, and the protrusion extends into the groove to define the relative positions of the wire reel 33 and the rotor 35.

[0054] The position detector 152 is connected to the cantilever 15. Specifically, the position detector 152 is an optoelectronic switch; the position detector 152 is used to detect that when the kinetic energy elastic member 151 returns to its original length, the release device slides to the target position.

[0055] The position detector 152, the traction module 3, the release module 2, the roll module 14, the pitch module 13, and the linear module 12 are all electrically connected to the controller 11.

[0056] Under the control of the controller 11, the linear module 12, the roll module 14, and the pitch module 13 can be adjusted, thereby changing the height, pitch angle, and roll angle of the cantilever 15, and imitating the actual posture of flying organisms as much as possible; generally, the horizontal swing angle of the rotating platform 122 does not need to be adjusted; the flapping wing aircraft 9 is clamped by the release module 2, so when it is necessary to adjust the dive, the flapping wing aircraft 9 will not fall out in advance; in actual use, the linear module 12, the roll module 14, and the pitch module 13 change the extension direction of the cantilever 15 in advance, clamp the flapping wing aircraft 9 through the release module 2, and the traction module 3 pulls the release module 2 to move backward. At this time, the kinetic energy elastic member 151 is in a stretched state, and then the controller 11 controls the traction module 3 to make the kinetic energy elastic member 151 release kinetic energy to the release module 2. The release module 2 moves forward on the cantilever 15, and the flapping wing aircraft 9 also moves forward synchronously until the position detector 152 detects that the release module 2 moves to the position where the kinetic energy elastic member 151 is at its original length. At this time, the release module 2 releases the flapping wing aircraft 9, and the flapping wing aircraft 9 shoots out in the target direction; that is, the above structure can realize the multi-degree-of-freedom automatic adjustment of the flapping wing aircraft 9 based on the commands of the controller 11, reducing the influence of human factors in the experiment and also reducing the consumption of manpower during multiple repeated experiments. Furthermore, adopting the above structure can perform closed-loop control on the takeoff height, pitch angle, and roll angle of the flapping wing aircraft 9, improving the scientific nature of the launch.

[0057] Furthermore, the release module 2 includes a support assembly 21, a trigger plate 22, a clamping assembly 23, and a driving assembly 24.

[0058] The support assembly 21 is slidably connected to the cantilever 15. The sliding direction of the cantilever 15 is set in the front-back direction. The rear end of the kinetic energy elastic member 151 is connected to the support assembly 21, and the front end of the traction module 3 is connected to the support assembly 21. The traction module 3 drives the support assembly 21 to slide. Specifically, the rope 34 is connected to the support assembly 21.

[0059] The trigger plate 22 is connected to the support assembly 21. The trigger plate 22 is cooperatively connected with the position detector 152. When the kinetic energy elastic member 151 returns to its original length position, the trigger plate 22 can trigger the position detector 152. Specifically, the trigger plate 22 is a photoelectric trigger plate 22 for triggering an electric level signal.

[0060] The clamping assembly 23 is connected to the support assembly 21. Specifically, the clamping assembly 23 is located at the top of the support assembly 21; the clamping assembly 23 is used to clamp the flapping wing aircraft 9.

[0061] The driving assembly 24 is connected to the support assembly 21. Specifically, the driving assembly 24 is connected to the side of the support assembly 21. The driving assembly 24 is an electromagnet trigger, and the electromagnet trigger provides power in a short time; the driving assembly 24 is used to drive the clamping assembly 23 to open or close; the driving assembly 24 is electrically connected to the controller 11.

[0062] The kinetic energy elastic member 151 provides kinetic energy for the support assembly 21, enabling the support assembly 21 to move forward along the cantilever 15. When the trigger plate 22 synchronously slides to the position detector 152, the position detector 152 outputs a signal to the controller 11. At this time, the controller 11 activates the drive assembly 24, and the drive assembly 24 controls the clamping assembly 23 to be in a released state, capable of releasing the flapping wing aircraft 9 in a timely manner.

[0063] Furthermore, the clamping assembly 23 includes clamping jaws 231. There are two clamping jaws 231, and both clamping jaws 231 are connected to the support assembly 21; the drive assembly 24 is drivingly connected to the two clamping jaws 231, thereby causing the two clamping jaws 231 to approach or move away from each other.

[0064] Specifically, both clamping jaws 231 are rotatably connected to the support assembly 21, and the rotation axes of the two clamping jaws 231 are arranged in the front-rear direction.

[0065] To facilitate clamping of the flapping wing aircraft 9, the flapping wing aircraft 9 is provided with an auxiliary connecting member 91, and structures for inserting the auxiliary connecting member 91 are correspondingly provided on the two clamping jaws 231. Specifically, the auxiliary connecting member 91 includes a connecting plate 911 and a first connecting column 912. The connecting plate 911 is arranged vertically, and the first connecting column 912 is connected to the rear side of the connecting plate 911. First connecting grooves for inserting the first connecting column 912 are provided at the tops of the two clamping jaws 231. The corresponding first connecting grooves on the two clamping jaws 231 are interconnected, and the front end of the first connecting groove extends to the front side of the clamping jaw 231, and the rear end of the first connecting groove extends to the rear side of the clamping jaw 231; the first connecting column 912 is provided with a through-hole structure, and the through-hole structure can be connected to the carbon fiber rod-shaped structure of the flapping wing aircraft 9 and glued; for further limitation, the auxiliary connecting member 91 further includes a second connecting column 913. The second connecting column 913 is connected to the rear side of the connecting plate 911 and is located below the first connecting column 912. The axial length of the first connecting column 912 in the front-rear direction is greater than the axial length of the second connecting column 913 in the front-rear direction. Second connecting grooves for inserting the second connecting column 913 are provided on both clamping jaws 231. The corresponding second connecting grooves on the two clamping jaws 231 are interconnected, and the front end of the second connecting groove extends to the front end of the clamping jaw 231, and the rear end of the second connecting groove does not penetrate the outer side wall of the clamping jaw 231.

[0066] The form of the clamping assembly 23 being the opening and closing of two clamping jaws 231 is relatively simple and convenient to use; and the above structure uses the clamping force of the two clamping jaws 231 to clamp the flapping wing aircraft 9. When the flapping wing aircraft 9 is in a state before a dive experiment and before launch, the clamping assembly 23 can also stably clamp the flapping wing aircraft 9.

[0067] Further, the clamping assembly 23 further includes a clamping elastic member 232. Specifically, the length direction of the clamping elastic member 232 is arranged along the left - right direction; the left end and the right end of the clamping elastic member 232 are respectively connected to the two jaws 231, and the clamping elastic member 232 is used to pull the two jaws 231 to move towards each other; specifically, the clamping elastic member 232 is a spring.

[0068] A clamping elastic member 232 is added to enhance the clamping force between the two jaws 231. When the flapping - wing aircraft 9 is in a dive experiment and in the state before launch, the clamping assembly 23 can also stably clamp the flapping - wing aircraft 9.

[0069] Further, the support assembly 21 includes a lower support frame 211 and an upper support frame 212.

[0070] The lower support frame 211 is slidably connected to the cantilever 15. The sliding direction of the lower support frame 211 is arranged along the front - rear direction. The rear end of the kinetic energy elastic member 151 is connected to the lower support frame 211, and the driving assembly 24 is drivingly connected to the lower support frame 211 to move it. Specifically, the rope 34 is connected to the lower support frame 211; the trigger plate 22 is connected to the lower support frame 211.

[0071] The upper support frame 212 is inserted into the lower support frame 211. Specifically, the inner side wall of the upper support frame 212 abuts against the outer side wall of the lower support frame 211; the connection between the upper support frame 212 and the lower support frame 211 is a mortise - and - tenon connection; the clamping assembly 23 is connected to the upper support frame 212. Specifically, the two jaws 231 are connected to the upper support frame 212; the driving assembly 24 is connected to the upper support frame 212.

[0072] The upper support frame 212 and the lower support frame 211 are connected by a mortise - and - tenon connection, which is simple in assembly and convenient for installation.

[0073] Further, a damping layer 2111 is provided on the lower support frame 211 or the upper support frame 212. The damping layer 2111 is located at the position of the mortise - and - tenon connection. Specifically, the damping layer 2111 is located on the outer side wall of the lower support frame 211.

[0074] Adding the damping layer 2111 has the effect of buffering and vibration absorption.

[0075] The present invention also provides a detection device for a multi - degree - of - freedom flapping - wing aircraft take - off and landing device.

[0076] A detection device for a multi - degree - of - freedom flapping - wing aircraft take - off and landing device includes a test platform 4, a visual recorder 5, a reader 6, a marker 7, a speed detector 153, and a multi - degree - of - freedom flapping - wing aircraft take - off and landing device.

[0077] The frame 1 is arranged at the rear side of the test platform 4, and the test platform 4 is pasted with orthogonal scales at a distance of 500 * 500.

[0078] The vision recorder 5 is arranged based on the test platform 4 and shoots the trajectory of the flapping-wing aircraft 9 from multiple angles; the vision recorder 5 is electrically connected to the controller 11.

[0079] The reader 6 is used to conveniently measure the landing point. During actual operation, by moving the reader 6, readings are taken on the actual landing point position of the flapping-wing aircraft 9 and the orthogonal grid-like scale of the test platform 4; the reader 6 is electrically connected to the controller 11.

[0080] The marker 7 is specifically a laser marker 7. The marker 7 can adjust its position according to instructions to mark a specified landing area on the test platform 4, and the flapping-wing aircraft 9 lands according to the preset trajectory; the marker 7 is electrically connected to the controller 11.

[0081] The speed detector 153 is connected to the cantilever 15 and is close to the front end of the cantilever 15. The speed detector 153 is electrically connected to the controller 11. Specifically, the speed detector 153 is a light curtain type infrared diffuse reflection switch, and the speed detector 153 is used to measure the actual takeoff speed of the flapping-wing aircraft 9.

[0082] The marker 7 can project the theoretical landing point. The flapping-wing aircraft 9 is launched onto the test platform 4 through a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device. The reader 6 can be pushed manually outside the test platform 4 and aligned with the actual landing point and the theoretical landing point for reading; the vision recorder 5 is used to record the actual flight attitude of the flapping-wing aircraft 9; the speed detector 153 is used to detect the speed of the flapping-wing aircraft 9 during launch.

[0083] Furthermore, it further includes an attitude detector 2121. The attitude detector 2121 is connected to the release module 2. Specifically, the attitude detector 2121 is connected to the upper support base. The attitude detector 2121 is specifically a six-axis angular acceleration sensor. The attitude detector 2121 is used to measure the actual attitude of the release module 2. The actually measured attitude signal and the input attitude signal form a closed-loop control; the attitude detector 2121 is electrically connected to the controller 11.

[0084] The attitude detector 2121 can measure the actual attitude of the release module 2.

[0085] Furthermore, the marker 7 includes a turntable 71, a marking motor 72, and a marking lamp 73.

[0086] The turntable 71 is rotatably connected to the frame 1, and the rotation axis of the turntable 71 extends parallel to the axis extending in the left-right direction.

[0087] The marking motor 72 is connected to the frame 1. The marking motor 72 is drivingly connected to the turntable 71 and rotates the turntable 71 by a certain angle; the marking motor 72 is electrically connected to the controller 11.

[0088] The marking lamp 73 is connected to the turntable 71. Specifically, the marking lamp 73 is connected to the turntable 71 through the lamp board 74.

[0089] The controller 11 calculates the height that the marker 7 needs to reach according to the preset landing point, and then controls the marking motor 72 through the controller 11. The marking motor 72 outputs corresponding pulse signals according to the instruction to drive the turntable 71 to rotate, so that the marking lamp 73 rotates to the target position.

[0090] Furthermore, it also includes a supplementary light 8, which is used to assist in recording the flight process. The supplementary light 8 is electrically connected to the controller 11.

[0091] The supplementary light 8 is used to assist the flight of the flapping-wing aircraft 9.

[0092] The position detector 152 and the speed detector 153 are both detachably connected to the cantilever 15.

[0093] The position detector 152 and the cantilever 15 are detachably connected, that is, the position of the position detector 152 is adjustable, which can compensate for the time delay error between the level feedback of the position detector 152, the processing by the controller 11 and the response of the driving component 24 to release the gripper 231, as well as the aging of the kinetic energy elastic member 151 and the slight rigidity recovery error after multiple experiments of the release module 2; the speed detector 153 and the cantilever 15 are detachably connected, that is, the position of the speed detector 153 is adjustable. After the flapping-wing aircraft 9 is released, there is still a period of time before the autonomous motion mode can be activated, and the actual test speed point is preferably the position where the flapping-wing aircraft 9 starts autonomous motion. Therefore, the position of the speed detector 153 is adjustable to compensate for the error.

[0094] Specifically, the connection between the position detector 152 and the cantilever 15 adopts a slot connection. The shape of the slot is specifically U-shaped, which can provide a certain clearance for subsequent adjustment.

[0095] Specifically, the speed detector 153 is connected by a protruding rod, so there is a certain adjustable range for the convenient replacement length of the rod and the insertion depth of the rod.

[0096] When using a detection device for a multi-degree-of-freedom flapping-wing aircraft takeoff and landing device, first input relevant commands through the controller 11 to initialize the multi-degree-of-freedom flapping-wing aircraft 9 takeoff and landing device, lower the cantilever 15 to an appropriate height, fix the flapping-wing aircraft 9 between the two grippers 231, and under the constraint of the grippers 231 and the action of the force of the grippers 231, the relative positions of the flapping-wing aircraft 9 and the release module 2 are fixed.

[0097] Check whether the connections among the kinetic energy elastic member 151, the traction module 3 and the release module 2 are reliable, and adjust the horizontal swing angle of the rotating platform 122. Generally, no adjustment or only minor adjustment is required, and then fasten it.

[0098] Input parameters such as the launch height, pitch angle, roll angle, etc. through the controller 11, and then adjust the cantilever 15 to a suitable position. The attitude detector 2121 returns the device attitude data. Observe the feedback parameters through the controller 11 and set an error range value. If the feedback parameters are within the error range, no operation is required.

[0099] Input the ejection speed through the controller 11. According to the stretching formula of the kinetic energy elastic member 151 and the compensation calculation, the controller 11 controls the traction module 3 to reach a suitable position, and the experimental preparation stage is completed.

[0100] The experiment starts. The controller 11 inputs a start command, the traction module 3 starts, the wire reel 33 rotates synchronously, and the release module 2 accelerates under the traction of the kinetic energy elastic member 151. When the original length of the kinetic energy elastic member 151 is reached, through the signal fed back by the position detector 152, the drive assembly 24 in the release module 2 is immediately started, and under the traction of the drive assembly 24, the two jaws 231 open, and the flapping-wing aircraft 9 can be released smoothly.

[0101] Since the speed detector 153 is located at the front end of the cantilever 15, the ejection speed of the flapping-wing aircraft 9 can be approximately calculated by the time when the flapping-wing aircraft 9 blocks the light curtain and the geometric dimensions of the flapping-wing aircraft 9. The visual recorder 5 captures the flight process of the flapping-wing aircraft 9 from multiple angles.

[0102] Finally, all the parameters are transmitted to the controller 11.

[0103] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A takeoff and landing device for a flapping-wing aircraft with multiple degrees of freedom, which has front-back, left-right, and up-down directions that are orthogonal to each other, and is characterized in that, Comprising: Frame body; Controller; Linear module, which is connected to the frame body. The linear module is drivingly connected with a sliding frame. The sliding frame moves in the vertical direction. A rotating platform is arranged on the sliding frame. The rotation axis of the rotating platform is arranged in the up-down direction; Pitching module, which is connected to the rotating platform; Rolling module, the pitching module drives the rolling module to perform pitching motion; Cantilever, the rolling module drives the cantilever to rotate. The rotation axis of the cantilever is arranged in the front-back direction; Release module, which is slidably connected to the cantilever in the front-back direction. The release module is used for clamping or releasing the flapping wing aircraft; Kinetic energy elastic member, its front end is connected to the cantilever and its rear end is connected to the release module. The kinetic energy elastic member provides kinetic energy for the release module; Traction module, which is connected to the rotating platform. The traction module is drivingly connected to the release module and stretches or releases the kinetic energy elastic member; Position detector, which is connected to the cantilever. The position detector is used for detecting the position where the release module slides to the original length of the kinetic energy elastic member. The position detector, the traction module, the release module, the rolling module, the pitching module, and the linear module are all electrically connected to the controller; Wherein, The release module includes: Support component, which is slidably connected to the cantilever in the front-back direction. The rear end of the kinetic energy elastic member is connected to the support component. The traction module is drivingly connected to the support component; Trigger plate, which is connected to the support component and is cooperatively connected with the position detector; Clamping component, which is connected to the support component. The clamping component is used for clamping the flapping wing aircraft; Driving component, which is connected to the support component and is used for driving the clamping component to open and close. The driving component is electrically connected to the controller; The clamping component includes two clamping claws for clamping the flapping wing aircraft. Both of the two clamping claws are arranged on the support component. The driving component is used for driving the two clamping claws to open and close.

2. The take-off and landing device of a flapping-wing aircraft with multiple degrees of freedom according to claim 1, characterized in that The clamping component further includes a clamping elastic member, which is connected between the two clamping claws. The clamping elastic member is used for pulling the two clamping claws to approach each other.

3. A multi-degree-of-freedom flapping-wing aircraft takeoff and landing device according to claim 1, characterized in that, The support component includes: Lower support frame, which is slidably connected to the cantilever in the front-back direction. The rear end of the kinetic energy elastic member is connected to the lower support frame. The driving component is drivingly connected to the lower support frame. The trigger plate is connected to the lower support frame; Upper support frame, which is mortise-and-tenon connected to the lower support frame. The clamping component and the driving component are connected to the upper support frame.

4. The take-off and landing device of a flapping-wing aircraft with multiple degrees of freedom according to claim 3, characterized in that, The upper support frame or the lower support frame is provided with a damping layer at the position corresponding to the mortise-and-tenon connection.

5. A detection device for a takeoff and landing device of a multi-degree-of-freedom flapping wing aircraft, characterized in that, Including a test platform, a visual recorder, a reader, a marker, a speed detector, and a multi-degree-of-freedom flapping wing aircraft takeoff and landing device according to any one of claims 1 to 4. The speed detector is connected to the front end of the cantilever and is electrically connected to the controller. The frame body is located at the rear side of the test platform.

6. The detection device of a multi-degree-of-freedom flapping wing aircraft take-off and landing device according to claim 5, characterized in that It further includes an attitude detector connected to the release module. The attitude detector is electrically connected to the controller.

7. The detecting device for the takeoff and landing device of a multi-degree-of-freedom flapping-wing aircraft according to claim 5, characterized in that, The marking device includes: a turntable rotatably connected to the frame, the rotation axis of the turntable being arranged in the left-right direction; a marking motor connected to the frame and used to drive the turntable to rotate, the marking motor being electrically connected to the controller; and a marking lamp connected to the turntable.

8. The detection device for the take-off and landing device of a multi-degree-of-freedom flapping-wing aircraft according to claim 5, characterized in that Both the position detector and the speed detector are detachably connected to the cantilever.

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