A micro flapping wing lift test platform based on electromagnetic drive and its test method

Abstract

The present invention discloses a micro flapping wing lift test platform based on electromagnetic drive and a test method thereof. The test platform includes a sensor base, a force sensor, and a flapping wing mechanism, and the flapping wing mechanism includes a coil terminal, a coil sleeve, a coil, a carbon fiber five-link flexible hinge, a magnetic column sleeve, and a magnetic column. Through this platform, key parameters such as the energy conversion efficiency and thrust coefficient of the bionic flapping wing can be tested. These parameters can not only provide a reference for the design of bionic flapping wing engineering prototypes and provide an experimental basis for CFD numerical simulation and theoretical research on the lift performance of bionic flapping wings, but also may help to better understand insects, birds and marine life. In addition, the electromagnetic induction drive can adapt to various complex environments, such as deep sea, extreme cold, etc.

Description

Technical Field

[0001] The invention belongs to the field of micro flapping wing testing, and in particular relates to a micro flapping wing lift testing platform based on electromagnetic drive and a testing method thereof. Background Art

[0002] A flapping-wing robot is a robot system that generates propulsion by imitating the flapping motion of wings of natural flying and underwater creatures, thereby achieving aerial and underwater movement. The system has the characteristics of small size, light weight, low cost, low energy consumption and low noise, and is widely used in defense fields such as low-altitude reconnaissance, urban warfare, electronic jamming, communication relay, nuclear / biological and chemical detection, and precision delivery, as well as in civil fields such as natural disaster monitoring and support, water environment and pollution monitoring, and pipeline inspection.

[0003] Unlike traditional propeller-driven underwater robot systems, micro flapping-wing robot systems can achieve underwater multi-degree-of-freedom motion at insect scale (centimeter scale) with less working noise and stronger maneuverability, and achieve higher driving efficiency than the previous two. As the size of the robot system decreases, traditional driving methods (such as motors) and propulsion methods face problems such as insufficient driving force, sharply increased friction loss, and inability to provide sufficient thrust. Therefore, in the field of micro underwater robots, flapping-wing robots naturally have better advantages and research prospects. Summary of the invention

[0004] The purpose of the present invention is to provide a micro flapping-wing lift test platform based on electromagnetic drive and a test method thereof in view of the complexity, costliness and technical deficiencies of existing bionic lift measurement and prediction experiments.

[0005] The objective of the present invention is achieved through the following technical solutions: a micro flapping-wing lift test platform based on electromagnetic drive, comprising a sensor base, a force sensor, a connecting line, and a flapping-wing mechanism; the flapping-wing mechanism comprises: a coil terminal, a coil sleeve, a coil, a carbon fiber five-link flexible hinge, a magnetic column sleeve and a magnetic column, the coil terminal is combined with the upper end of the coil sleeve to fix the coil inside; the lower end of the coil sleeve and the upper end of the magnetic column sleeve are sleeved on the magnetic column and can move up and down; the magnetic column sleeve is fixedly connected to the carbon fiber five-link flexible hinge, and the magnetic column moves up and down periodically due to changes in the electromagnetic field, pushing the magnetic column sleeve to drive the carbon fiber five-link flexible hinge to reciprocate.

[0006] Furthermore, the sensor base, coil segment, coil sleeve, and magnetic column sleeve are prepared by a 3D printer; and the carbon fiber five-link flexible hinge is prepared by laser cutting after carbon fiber stacking.

[0007] Furthermore, the coil is a pure copper enameled coil, and the coil generates electromagnetic force between the internal magnetic field and the magnetic column by changing the oscilloscope and the power supply, pushing the magnetic column to drive the magnetic column sleeve and the carbon fiber five-link flexible hinge to reciprocate.

[0008] Furthermore, the sensor base is a 3D printed component, the upper end of the sensor base is fixed to the edge of the static table by screws, and the lower end of the sensor base is fixed to the force sensor by screws, so that the force sensor is suspended on the edge of the table.

[0009] Furthermore, the force sensor is suspended and connected to the central hole of the coil terminal by a connecting wire.

[0010] The present invention also provides a micro flapping wing lift test method based on electromagnetic drive, which is implemented by the micro flapping wing lift test platform, including flapping wings and a test system, wherein the test system is a six-axis force / torque sensor;

[0011] The specific steps of the test method are as follows:

[0012] Step 1: Experimental calibration: when measuring the force / torque in each direction of the flapping wing, calibrate the power generation direction of the flapping wing with the force conduction direction of the six-axis force / torque sensor;

[0013] Step 2: The flapping wing is installed under the flapping wing motion propulsion platform by being fixed on a carbon fiber five-link flexible hinge, and after the installation is completed, the six-axis force / torque sensor is reset to zero;

[0014] Step 3: Start the micro flapping-wing lift test platform to ensure that the propulsion platform moves stably in the propulsion direction;

[0015] Step 4: Setting the motion parameters of the flapping wings by controlling the oscilloscope, and generating an alternating magnetic field of the pure copper enameled wire by electromagnetic induction through the circuit board control. The alternating magnetic field drives the cylindrical magnet to push the hinge up and down to make the flapping wings flap at different flapping frequencies, wherein the different flapping frequencies are 1-100 Hz;

[0016] Step 5: measuring the force and torque in each direction of the flapping wing under different motion parameters, and transmitting the experimental data to the recording software on the computer through the six-axis force / torque sensor through the data cable, and storing and exporting the mechanical data through the recording software;

[0017] Step 6: Use a high-speed camera to shoot the motion trajectory of the flapping wing under different motion parameters, and store and export the video files;

[0018] Step 7: Shoot the flow field of the flapping wing under different motion parameters, and store and export the video files;

[0019] Step 8: After completing a set of flapping wing experiments under different motion parameters, turn off all experimental equipment.

[0020] Furthermore, the flapping wing and the connecting rod rely on the electromagnetic coil to generate an alternating magnetic field to drive the column magnet to push the hinge transmission to make the flapping wing flap. The experimental data transmitted by the force sensor is plotted in the computer software and the flapping wing motion trajectory captured by the high-speed camera is combined to test the dynamic performance of the flapping wing.

[0021] The beneficial effect of the present invention is that through electromagnetic induction of pure copper enameled wire, column magnet and flexible hinge, key parameters such as lift index of different bionic airfoils can be tested to measure the performance of bionic flapping wings. These parameters can not only provide a reference for the airfoil design of bionic flapping wing robots, but also provide a new perspective for humans to understand winged insects. In addition, the electromagnetic induction drive can adapt to various complex environments, such as deep sea, extreme cold, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a left view of the test platform of the present invention;

[0024] Figure 2 is a front view of the test platform of the present invention;

[0025] Figure 3 It is a three-dimensional diagram of the test platform of the present invention;

[0026] Figure 4 It is a structural diagram of the flapping-wing motion propulsion platform of the present invention;

[0027] Figure 5 It is a side view of the flapping-wing motion propulsion platform of the present invention.

[0028] Explanation of the reference numerals: 1—sensor base, 2—force sensor, 3—connecting wire, 4—coil terminal, 5—coil sleeve, 6—carbon fiber five-link flexible hinge, 7—magnetic column sleeve, 8—magnetic column, 9—coil. DETAILED DESCRIPTION

[0029] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0030] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0031] It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0032] The present invention is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0033] like Figure 1 , Figure 2 , Figure 3 As shown, the embodiment of the present invention provides a micro flapping wing lift test platform based on electromagnetic drive; including a sensor base 1, a force sensor 2, a connecting line 3, and a flapping wing mechanism; Figure 4 and Figure 5 As shown, the flapping mechanism includes: a coil terminal 4, a coil sleeve 5, a coil 9, a carbon fiber five-link flexible hinge 6, a magnetic column sleeve 7 and a magnetic column 8. The coil terminal 4 is combined with the upper end of the coil sleeve 5 to fix the coil 9 inside; the lower end of the coil sleeve 5 and the upper end of the magnetic column sleeve 7 are sleeved on the magnetic column 8 and can move up and down; the magnetic column sleeve 7 is fixedly connected to the carbon fiber five-link flexible hinge 6. Due to the change of the electromagnetic field, the magnetic column 8 moves up and down periodically, pushing the magnetic column sleeve 7 to drive the carbon fiber five-link flexible hinge 6 to reciprocate.

[0034] The test principle of a micro flapping wing lift test platform based on electromagnetic drive provided by an embodiment of the present invention is as follows. First, the upper end of the sensor base 1 is fixed to the edge of a static table by screws, and then the upper end of the force sensor 2 is fixed to the lower end of the sensor base 1 to ensure that the force sensor 2 is stably and horizontally suspended on the edge of the table, and then the coil terminal 4 is suspended below the force sensor 2 through the connecting line 3, and the copper wire of the coil 9 is connected to the DC power supply and the oscilloscope through the circuit board, and the airfoil to be tested is fixedly connected to the carbon fiber five-link flexible hinge 6, and the force sensor 2 is reset to zero after the mechanism is stable, and the power parameters are set through the oscilloscope and the power switch is turned on. The oscilloscope changes the current of the coil 9 through the circuit board to generate an alternating magnetic field so that the magnetic column 8 pushes the magnetic column sleeve 7 to drive the carbon fiber five-link flexible hinge 6 to flap the bionic airfoil to be tested, and the lift is generated to act on the force sensor 2 to generate a lift curve on the computer.

[0035] The coil terminal 4 is combined with the coil sleeve 5 to fix the coil 9, the coil sleeve 5 and the magnetic column sleeve 7 are sleeved on the magnetic column 8, and the magnetic column sleeve 7 is fixed with the carbon fiber five-link flexible hinge 6, so that the movement of the magnetic column 8 drives the movement of the carbon fiber five-link flexible hinge 6, and finally drives the bionic wing to flap.

[0036] The embodiment of the present invention also provides a micro flapping wing lift test method based on electromagnetic drive, which is implemented through the micro flapping wing lift test platform, including flapping wings and a test system, and the test system is a six-axis force / torque sensor.

[0037] The specific steps of the test method are as follows:

[0038] Step 1: Experimental calibration: when measuring the force / torque in each direction of the flapping wing, calibrate the power generation direction of the flapping wing with the force conduction direction of the six-axis force / torque sensor;

[0039] Step 2: Install the flapping wing under the flapping wing motion propulsion platform through a carbon fiber five-link flexible hinge, and after installation, perform zeroing processing on the six-axis force / torque sensor;

[0040] Step 3: Start the flapping motion propulsion platform to ensure that the propulsion platform moves stably in the propulsion direction;

[0041] Step 4: Set the motion parameters of the flapping wing by controlling the oscilloscope, generate an alternating magnetic field of the electromagnetically induced pure copper enameled wire through the circuit board, and the alternating magnetic field drives the cylindrical magnet to push the carbon fiber five-link flexible hinge up and down to make the flapping wing flap at different flapping frequencies (1-100Hz);

[0042] Step 5: Measure the force and torque in each direction of the flapping wing under different motion parameters, and store and export the mechanical data through the six-axis force / torque sensor recording software;

[0043] Step 6: Use a high-speed camera to shoot the motion trajectory of the flapping wing under different motion parameters, and store and export the video files;

[0044] Step 7: Shoot the flow field of the flapping wing under different motion parameters, and store and export the video files;

[0045] Step 8: After completing a set of flapping wing experiments under different motion parameters, turn off all experimental equipment.

[0046] Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only.

[0047] It will be appreciated that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A micro flapping wing lift test platform based on electromagnetic drive, characterized in that: It includes a sensor base, a six-axis force sensor, a connecting line, and a flapping mechanism; the flapping mechanism includes: a coil terminal, a coil sleeve, a coil, a carbon fiber five-link flexible hinge, a magnetic column sleeve, and a magnetic column, the coil terminal is combined with the upper end of the coil sleeve to fix the coil inside; the lower end of the coil sleeve and the upper end of the magnetic column sleeve are sleeved on the magnetic column and can move up and down; the magnetic column sleeve is fixedly connected to the carbon fiber five-link flexible hinge, and the magnetic column moves up and down periodically due to the change of the electromagnetic field, pushing the magnetic column sleeve to drive the carbon fiber five-link flexible hinge to reciprocate; The upper end of the sensor base is fixed to the static table by screws, and the lower end of the sensor base is fixed to the six-axis force sensor by screws, so that the six-axis force sensor is suspended on the table; the six-axis force sensor is suspended and connected to the center hole of the coil terminal by a connecting wire; The coil changes the internal magnetic field by an oscilloscope and a power supply to generate electromagnetic force between the coil and the magnetic column, pushing the magnetic column to drive the magnetic column sleeve and the carbon fiber five-link flexible hinge to reciprocate.

2. The electromagnetically driven micro flapping wing lift test platform according to claim 1, characterized in that: The sensor base, coil segment, coil sleeve, and magnetic column sleeve are prepared by a 3D printer; the carbon fiber five-link flexible hinge is prepared by laser cutting after carbon fiber stacking.

3. A micro flapping wing lift test method based on electromagnetic drive, implemented by the micro flapping wing lift test platform according to any one of claims 1-2, characterized in that: It includes a flapping wing and a test system, wherein the test system is a six-axis force / torque sensor; The specific steps of the test method are as follows: Step 1: Experimental calibration: when measuring the force / torque in each direction of the flapping wing, calibrate the power generation direction of the flapping wing with the force conduction direction of the six-axis force / torque sensor; Step 2: The flapping wing is installed under the flapping wing motion propulsion platform by being fixed on a carbon fiber five-link flexible hinge, and after the installation is completed, the six-axis force / torque sensor is reset to zero; Step 3: Start the micro flapping-wing lift test platform to ensure that the propulsion platform moves stably in the propulsion direction; Step 4: Setting the motion parameters of the flapping wings by controlling the oscilloscope, and generating an alternating magnetic field of the pure copper enameled wire by electromagnetic induction through the circuit board control. The alternating magnetic field drives the cylindrical magnet to push the hinge up and down to make the flapping wings flap at different flapping frequencies, wherein the different flapping frequencies are 1-100 Hz; Step 5: measuring the force and torque in each direction of the flapping wing under different motion parameters, and transmitting the experimental data to the recording software on the computer through the six-axis force / torque sensor through the data cable, and storing and exporting the mechanical data through the recording software; Step 6: Use a high-speed camera to shoot the motion trajectory of the flapping wing under different motion parameters, and store and export the video files; Step 7: Shoot the flow field of the flapping wing under different motion parameters, and store and export the video files; Step 8: After completing a set of flapping wing experiments under different motion parameters, turn off all experimental equipment.

4. The method for testing lift of a micro flapping wing based on electromagnetic drive according to claim 3, characterized in that: The flapping wing and the connecting rod rely on the electromagnetic coil to generate an alternating magnetic field to drive the column magnet to push the hinge transmission to make the flapping wing flap. The dynamic performance of the flapping wing is tested by combining the experimental data transmitted by the force sensor and the flapping wing motion trajectory captured by the high-speed camera with the drawing in the computer software.

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