Three-degree-of-freedom miniature flying insect flapping wing motion proportion amplification experiment observation device

Abstract

The invention provides a three-degree-of-freedom miniature flying insect flapping wing motion proportion amplification experiment observation device, which is characterized in that a model flapping wing is arranged in a water tank filled with a simulation medium, and the observation device further comprises a pigment water tank communicated with a tip opening of the model flapping wing through a water pump; the model flapping wing tail end assembly is connected with the follow-up platform through a horizontal rotating center shaft, a wing surface rotating transmission shaft and a vertical rotating transmission shaft; when experimental observation is carried out, the model flapping wing moves in the simulation medium, three-degree-of-freedom flapping wing movement of the miniature flying insect is simulated, a water pump feeds pigment to the simulation medium in a pressed mode through a micropore with an opening in the tip end of the model flapping wing, so that the pigment fed into the simulation medium forms a flow field trace, and a flow field formed by movement of the model flapping wing is visualized; according to the device, the flapping wing motion can be visually observed, the influence of different motion modes on fluid is researched, the device reduces the flapping wing motion speed, enlarges the motion scale, and decouples the three-degree-of-freedom motion so as to conveniently control the change of the motion modes.

Description

Technical Field

[0001] The invention relates to the technical field of micro-flying insect flapping motion observation, in particular to a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device. Background Art

[0002] Micro-flying insects have excellent flight performance, including higher flight efficiency and sensitive steering. Research on them will help develop micro-flapping-wing aircraft and further reveal the unsteady flow characteristics in small-scale low Reynolds number environments. However, there are two difficulties in current observational research. On the one hand, micro-flying insects are too small to cause small disturbances to the surrounding flow field. At the same time, they move fast and their movement patterns change quickly, which places high demands on observation equipment. On the other hand, not only does the flapping wing movement pattern change quickly, but the three-degree-of-freedom movement is coupled with each other. During observation with fixed equipment, it is not easy to determine the influence mechanism between the flapping wing movement change and the flow field change.

[0003] Therefore, there is an urgent need for an observation device that can simulate the flapping motion of real micro-insects and control the changes in its motion pattern. Summary of the invention

[0004] The present invention proposes a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device, which can visualize the flapping motion and study the influence of different motion modes on the fluid. The device reduces the flapping motion speed, amplifies the motion scale, and decouples the three-degree-of-freedom motion to facilitate the control of changes in the motion mode.

[0005] The present invention adopts the following technical solutions.

[0006] A three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device, wherein the observation device places a model flapping wing (62) in a water tank (1) containing a simulation medium, and the observation device also includes a pigment water tank (16) connected to the model flapping wing tip opening via a water pump (15), and the model flapping wing end assembly (6) of the model flapping wing is connected to a follower platform (5) via a horizontal rotation center axis (18), a wing surface rotation transmission axis (11), and a vertical rotation transmission axis (12); when conducting experimental observation, the model flapping wing moves in the simulation medium to simulate the three-degree-of-freedom flapping motion of the micro-flying insect, and the water pump presses the pigment into the simulation medium through the micropores of the model flapping wing tip opening, so that the pigment sent into the simulation medium forms a flow field trace, so that the flow field formed by the model flapping wing motion is visualized.

[0007] The simulation medium is contained in a simulation medium water tank (1) and the model flapping wing end assembly (6) is immersed in the simulation medium. When the model flapping wing is in motion, pigment is released from the opening of the model flapping wing (62). The released pigment acts in the simulation medium as if dyeing the fluid micro-groups flowing through the position at a certain moment, and the dyed fluid micro-groups appear in the transparent simulation medium, so that the fluid micro-groups flowing through the same point form veins, that is, a flow field trace of the flapping wing motion in the simulation medium is formed by a large number of dyed fluid micro-groups. The observable flow field characteristics displayed by the turning and lightness of the flow field traces include the flow direction of the flow field and the occurrence and diffusion of the flow field.

[0008] The simulation medium is a transparent material that facilitates the observation of flow field traces. The dimensionless numbers in the simulated micro-insect flight process are calculated to obtain the relevant parameters that need to be considered when selecting the simulation medium. The dimensionless numbers include the Reynolds number, and the specific calculation formula is:

[0009] Re 实际 =Re 模拟

[0010]

[0011] Wherein ρ, v, L, and μ represent the density, velocity, characteristic length, and dynamic viscosity of the fluid, respectively, and all are in international standard units. The velocity characteristics and length characteristics of the required model flapping wing (62) are compared with the velocity and characteristic length of the actual flapping wing motion in the experiment, and the dynamic viscosity and density of the simulation medium are selected to determine the simulation medium material. Alternatively, conversely, the velocity characteristics and length characteristics of the model flapping wing required in the experiment are calculated based on the material viscosity and the velocity and characteristic scale to be studied.

[0012] The simulated medium material includes water or mineral oil.

[0013] In the observation device, a cam mechanism is used to drive the flapping motion of the model, and the flapping motion of the micro-flying insect with three degrees of freedom is decomposed into wing surface rotation, horizontal rotation and vertical rotation of the model flapping wing. The cam profile of the cam mechanism is adjusted through the speed curve required by the experiment to accurately simulate the different motion modes required by the experiment.

[0014] The cam mechanism comprises a horizontal rotating cam assembly (8), a wing surface rotating cam assembly (9), and a vertical rotating cam assembly (10);

[0015] The horizontal rotating cam assembly (8) comprises the following structure: a horizontal rotating cam driving motor (84), a horizontal rotating cam (82), and a horizontal rotating cam push rod (83) are mounted on a horizontal rotating cam fixing frame (81); the horizontal rotating cam fixing frame (81) and the horizontal rotating cam push rod (83) are connected by a horizontal rotating cam spring (85); different output speed curves are formed by replacing the horizontal rotating cam (82);

[0016] The wing surface rotating cam assembly (9) comprises the following structure: an wing surface rotating cam driving motor (94), an wing surface rotating cam (92), and an wing surface rotating cam push rod (93) are installed on an wing surface rotating cam fixing frame (91); the wing surface rotating cam fixing frame (91) and the wing surface rotating cam push rod (93) are connected by an wing surface rotating cam spring (95); different output speed curves are formed by replacing the wing surface rotating cam (92);

[0017] The vertical rotating cam assembly (10) comprises the following structure: a vertical rotating cam driving motor (104), a vertical rotating cam (102), and a vertical rotating cam push rod (103) are installed on a vertical rotating cam fixing frame (101); the vertical rotating cam fixing frame (101) and the vertical rotating cam push rod (103) are connected by a vertical rotating cam spring (105); and different output speed curves are formed by replacing the vertical rotating cam (102).

[0018] The horizontal rotating cam assembly (8) drives the follower platform gear (17) through the horizontal rotating cam push rod (83), so that the combined body formed by the follower platform gear (17) and the follower platform (5) can rotate as a whole around the axis of the horizontal rotating central axis (18);

[0019] The wing surface rotating cam assembly (9) is connected to the wing surface rotating transmission shaft input gear (13) through the wing surface rotating cam push rod (93); the wing surface rotating transmission shaft input gear (13) is fixedly connected to the wing surface rotating transmission shaft (11); and one end of the wing surface rotating transmission shaft is fixedly connected to the wing surface rotating transmission shaft output gear (20);

[0020] The vertical rotating cam assembly (10) is connected to the vertical rotating transmission shaft input gear (14) via a vertical rotating cam push rod (103); the vertical rotating transmission shaft input gear (14) is fixedly connected to the vertical rotating transmission shaft (12); and one end of the vertical rotating transmission shaft (12) is fixedly connected to the vertical rotating transmission shaft output gear (21).

[0021] The model flapping wing end assembly (6) is threadedly connected to the horizontal rotation center shaft (18);

[0022] The wing surface rotation transmission shaft output gear (20) is meshed with the terminal assembly wing surface rotation gear (613), the terminal assembly wing surface rotation gear (613) is fixedly connected to the wing surface rotation shaft (64), one end of the wing surface rotation shaft (64) is rotationally connected to the fixed seat (65), and the other end is connected to the universal joint (66), and the other end of the universal joint is connected to the model flapping wing root extension shaft (67);

[0023] The vertical rotating transmission shaft output gear (21) meshes with the terminal assembly vertical rotating gear (63), the vertical rotating gear (63) is fixedly connected to the rocker arm (68), and the other end of the rocker arm (68) is fixedly connected to the extension shaft sleeve (69) of the model flapping wing root extension shaft.

[0024] The following platform (5) is arranged at the fixed frame (2), and the fixed frame is also provided with a horizontal rotating platform (4) and a lifting platform (3); the lifting platform (3) lifts the following platform (5) and the horizontal rotating platform (4) through a plurality of lifting mechanisms (7) to adjust their vertical positions;

[0025] The follower platform is provided with a cam assembly support (51) containing an airfoil rotating cam assembly (9), and is also provided with an airfoil rotating transmission shaft input gear support (52) containing an airfoil rotating transmission shaft input gear (13);

[0026] The airfoil rotation transmission shaft input gear cooperates with the airfoil rotation cam assembly.

[0027] A method for using a three-degree-of-freedom micro-flying insect flapping wing motion proportional amplification experimental observation device, wherein when the observation device is in use, a lifting motor (71) is used to control a lifting gear (73) to drive a lifting rack (72), thereby achieving the lifting and lowering of a horizontal rotating platform (4) and a follower platform (5), thereby driving a model flapping wing (62) to move vertically in a simulated medium;

[0028] The horizontal rotating cam assembly (8) is used to drive the horizontal rotating central axis (18) and the model flapping wing (62) to rotate horizontally in the simulated medium through the connection between the cam push rod (83) and the follower platform gear (17);

[0029] The wing surface rotating cam assembly and the vertical rotating cam assembly are used to connect the cam push rods corresponding to the two assemblies with multiple transmission shaft input gears, and the model flapping wing (62) is driven through the multiple transmission shafts and the model flapping wing terminal assembly to make the wing surface rotate and rotate vertically in the simulated medium.

[0030] The present invention proposes a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental device, which relates to the field of micro-flying insect flapping motion observation; the device includes a simulated medium water tank, a fixed frame, on which a lifting platform, a horizontal rotating platform, and a follower platform are sequentially installed, and the model flapping wing terminal assembly is connected to the follower platform through a transmission shaft group; the lifting platform lifts the remaining platforms through four sets of lifting mechanisms; the horizontal rotating platform outputs the horizontal rotation speed through the horizontal rotating cam assembly; the follower platform generates wing surface rotation and vertical rotation through the wing surface rotating cam assembly and the vertical rotating cam assembly respectively, and transmits the motion to the model flapping wing terminal assembly through the gear group and the transmission shaft group, the model flapping wing tip is opened, and the water pump presses out the paint through a hose to visualize the surrounding flow field. The present invention performs proportional amplification experiments through similar principles to solve the problem of inconvenient observation of flying insects due to their small scale; the flapping wing motion is decoupled through three sets of independent cams to achieve accurate motion simulation of flapping, twisting, and tilting of the flapping wings of the flying insect model.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. In the present invention, by selecting appropriate simulation media, model flapping wings and driving motor speed, small-scale high-frequency flapping wing motion is converted into large-scale low-frequency flapping wing motion, ensuring that the flow is close to the flight of real micro-insects.

[0033] 2. In the present invention, the mutually coupled three-degree-of-freedom motions are decoupled through three groups of cam assemblies. Three cam profiles are designed according to the required speed curves to accurately simulate different motion modes. The main driving part is placed outside the simulation medium, which reduces the disturbance to the simulation medium and removes the restrictions of the working environment on the drive motor and transmission gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0035] Attached Figure 1 It is a schematic diagram of the structure of a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to the present invention, excluding the simulation medium water tank;

[0036] Attached Figure 2 It is a front view of the three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device of the present invention, excluding the lifting mechanism (including the state after the pigment is released);

[0037] Attached Figure 3 A schematic diagram of the cam assembly of the present invention (i.e., a schematic diagram of the structure of a horizontal rotating cam assembly, a wing surface rotating cam assembly, and a vertical rotating cam assembly. Since the structures of these three cam assemblies are the same, they are represented by the same figure, and only the numbers in the figure are used to distinguish the three cam assemblies);

[0038] Attached Figure 4 It is a schematic diagram of the follower platform and its components according to the present invention;

[0039] Attached Figure 5 It is a schematic diagram of the driving gear of the follower platform and the pigment delivery system of the present invention;

[0040] Attached Figure 6 Schematic diagram of the flapping wing tip assembly of the model according to the present invention from two perspectives;

[0041] Attached Figure 7 It is a schematic diagram of the jacking mechanism and the jacking rack of the present invention;

[0042] Attached Figure 8 A schematic diagram of the cam profile and a three-degree-of-freedom motion speed scheme according to the present invention.

[0043] In the figure: water tank-1; fixed frame-2; lifting platform-3, lifting rack holder-31; horizontal rotating platform-4; follow-up platform-5;

[0044] Horizontally rotating cam assembly-8, horizontally rotating cam fixing frame-81, horizontally rotating cam-82, horizontally rotating cam push rod-83, horizontally rotating cam spring-85, horizontally rotating cam driving motor-84;

[0045] Wing surface rotating cam assembly-9, wing surface rotating cam fixing frame-91, wing surface rotating cam-92, wing surface rotating cam push rod-93, wing surface rotating cam spring-95, wing surface rotating cam driving motor-94;

[0046] Vertical rotating cam assembly-10, vertical rotating cam fixing frame-101, vertical rotating cam-102, vertical rotating cam push rod-103, vertical rotating cam spring-105, vertical rotating cam driving motor-104

[0047] Wing surface rotation transmission shaft-11; vertical rotation transmission shaft-12; wing surface rotation transmission shaft input gear-13; vertical rotation transmission shaft input gear-14; water pump-15; pigment water tank-16; follower platform gear-17; horizontal rotation center shaft-18; hose-19; wing surface rotation transmission shaft output gear-20; vertical rotation transmission shaft output gear-21;

[0048] Cam assembly bracket-51, wing surface rotation transmission shaft input gear bracket-52;

[0049] Model flapping wing terminal assembly-6, model flapping wing-62, terminal assembly wing surface rotating gear-613, terminal assembly vertical rotating gear-63, wing surface rotating shaft-64, fixing seat-65, universal joint-66, model flapping wing root extension shaft-67, rocker arm-68, extension shaft sleeve-69, round pin-611, slot-612;

[0050] Lifting mechanism-7, lifting motor-71, lifting gear-73, lifting rack-72, lifting rack step-721, and lifting rack groove-722. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] As shown in the figure, a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device is provided. The observation device places a model flapping wing 62 in a water tank 1 containing a simulated medium. The observation device also includes a pigment water tank 16 connected to the tip opening of the model flapping wing via a water pump 15. The model flapping wing end assembly 6 of the model flapping wing is connected to the follow-up platform 5 via a horizontal rotation center axis 18, a wing surface rotation transmission shaft 11, and a vertical rotation transmission shaft 12. When conducting experimental observations, the model flapping wing moves in the simulated medium to simulate the three-degree-of-freedom flapping motion of the micro-flying insect. The water pump presses the pigment into the simulated medium through the micropores of the tip opening of the model flapping wing, so that the pigment delivered into the simulated medium forms a flow field trace, thereby visualizing the flow field formed by the model flapping wing motion.

[0053] The simulation medium is contained in a simulation medium water tank 1 and the model flapping wing terminal component 6 is immersed in the simulation medium. When the model flapping wing is in motion, pigment is released from the opening of the model flapping wing 62. The role of the released pigment in the simulation medium is equivalent to dyeing the fluid micro-clusters flowing through the position at a certain moment, and the dyed fluid micro-clusters appear in the transparent simulation medium, so that the fluid micro-clusters flowing through the same point form veins, that is, the flow field traces of the flapping wing motion in the simulation medium are formed by a large number of dyed fluid micro-clusters, and the observable flow field characteristics are displayed through the turning and light and dark of the flow field traces, including the flow direction of the flow field and the occurrence and diffusion of the flow field.

[0054] The simulation medium is a transparent material that facilitates the observation of flow field traces. The dimensionless numbers in the simulated micro-insect flight process are calculated to obtain the relevant parameters that need to be considered when selecting the simulation medium. The dimensionless numbers include the Reynolds number, and the specific calculation formula is:

[0055] Re实际 =Re 模拟

[0056]

[0057] Among them, ρ, v, L, and μ represent the density, velocity, characteristic length, and dynamic viscosity of the fluid, respectively, and all adopt the international standard unit system; the velocity characteristics and length characteristics of the required model flapping wing 62 are compared with the velocity and characteristic length of the actual flapping wing motion in the experiment, and the dynamic viscosity and density of the simulation medium are selected to determine the simulation medium material; or conversely, the velocity characteristics and length characteristics required for the model flapping wing in the experiment are calculated based on the material viscosity and the velocity and characteristic scale to be studied.

[0058] The simulated medium material includes water or mineral oil.

[0059] In the observation device, a cam mechanism is used to drive the flapping motion of the model, and the flapping motion of the micro-flying insect with three degrees of freedom is decomposed into wing surface rotation, horizontal rotation and vertical rotation of the model flapping wing. The cam profile of the cam mechanism is adjusted through the speed curve required by the experiment to accurately simulate the different motion modes required by the experiment.

[0060] The cam mechanism comprises a horizontal rotating cam assembly 8, an airfoil rotating cam assembly 9, and a vertical rotating cam assembly 10;

[0061] The horizontal rotating cam assembly 8 includes the following structure: a horizontal rotating cam driving motor 84, a horizontal rotating cam 82, and a horizontal rotating cam push rod 83 are installed on a horizontal rotating cam fixing frame 81; the horizontal rotating cam fixing frame 81 and the horizontal rotating cam push rod 83 are connected by a horizontal rotating cam spring 85; different output speed curves are formed by replacing the horizontal rotating cam 82;

[0062] The wing surface rotating cam assembly 9 includes the following structure: the wing surface rotating cam driving motor 94, the wing surface rotating cam 92, and the wing surface rotating cam push rod 93 are installed on the wing surface rotating cam fixing frame 91, and the wing surface rotating cam fixing frame 91 and the wing surface rotating cam push rod 93 are connected by the wing surface rotating cam spring 95; different output speed curves are formed by replacing the wing surface rotating cam 92;

[0063] The vertical rotating cam assembly 10 includes the following structure: a vertical rotating cam driving motor 104, a vertical rotating cam 102, and a vertical rotating cam push rod 103 are installed on a vertical rotating cam fixing frame 101, and the vertical rotating cam fixing frame 101 and the vertical rotating cam push rod 103 are connected by a vertical rotating cam spring 105; different output speed curves are formed by replacing the vertical rotating cam 102.

[0064] The horizontal rotating cam assembly 8 drives the follower platform gear 17 through the horizontal rotating cam push rod 83, so that the combination formed by the follower platform gear 17 and the follower platform 5 can rotate as a whole around the horizontal rotating central axis 18;

[0065] The wing surface rotating cam assembly 9 is connected to the wing surface rotating transmission shaft input gear 13 through the wing surface rotating cam push rod 93, the wing surface rotating transmission shaft input gear 13 is fixedly connected to the wing surface rotating transmission shaft 11, and one end of the wing surface rotating transmission shaft is fixedly connected to the wing surface rotating transmission shaft output gear 20;

[0066] The vertical rotating cam assembly 10 is connected to the vertical rotating transmission shaft input gear 14 through the vertical rotating cam push rod 103 . The vertical rotating transmission shaft input gear 14 is fixedly connected to the vertical rotating transmission shaft 12 . One end of the vertical rotating transmission shaft 12 is fixedly connected to the vertical rotating transmission shaft output gear 21 .

[0067] The model flapping wing end assembly 6 is threadedly connected to the horizontal rotation center shaft 18;

[0068] The wing surface rotation transmission shaft output gear 20 is meshed with the terminal assembly wing surface rotation gear 613, the terminal assembly wing surface rotation gear 613 is fixedly connected to the wing surface rotation shaft 64, one end of the wing surface rotation shaft 64 is rotatably connected to the fixed seat 65, and the other end is connected to the universal joint 66, and the other end of the universal joint is connected to the model flapping wing root extension shaft 67;

[0069] The vertical rotating transmission shaft output gear 21 meshes with the terminal assembly vertical rotating gear 63, the vertical rotating gear 63 is fixedly connected to the rocker arm 68, and the other end of the rocker arm 68 is fixedly connected to the extension shaft sleeve 69 of the model flapping wing root extension shaft.

[0070] The following platform 5 is arranged at the fixed frame 2, and the fixed frame is also provided with a horizontal rotating platform 4 and a jacking platform 3; the jacking platform 3 jacks the following platform 5 and the horizontal rotating platform 4 through multiple groups of jacking mechanisms 7 to adjust their vertical positions;

[0071] The following platform is provided with a cam assembly support 51 including an airfoil rotating cam assembly 9, and also provided with an airfoil rotating transmission shaft input gear support 52 including an airfoil rotating transmission shaft input gear 13;

[0072] The airfoil rotation transmission shaft input gear cooperates with the airfoil rotation cam assembly.

[0073] A method for using a three-degree-of-freedom micro-flying insect flapping wing motion proportional amplification experimental observation device, wherein when the observation device is in use, the lifting motor 71 is used to control the lifting gear 73 to drive the lifting rack 72, so as to realize the lifting and lowering of the horizontal rotating platform 4 and the follower platform 5, and drive the model flapping wing 62 to move vertically in the simulation medium; the horizontal rotating cam assembly 8 is used to drive the horizontal rotating central axis 18 and the model flapping wing 62 to rotate horizontally in the simulation medium through the connection between the cam push rod 83 and the follower platform gear 17;

[0074] The wing surface rotating cam assembly and the vertical rotating cam assembly are used to connect the cam push rods corresponding to the two assemblies with multiple transmission shaft input gears, and the model flapping wing 62 is driven through multiple transmission shafts and the model flapping wing terminal assembly to make its wing surface rotate and vertically rotate in the simulated medium.

[0075] Embodiment 1:

[0076] like Figures 1 to 8 As shown, the three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device proposed in this example comprises a simulated medium water tank (1), a fixed frame (2), on which a lifting platform (3), a horizontal rotating platform (4), and a follower platform (5) are sequentially installed, and the model flapping wing terminal assembly (6) is connected to the follower platform (5) through a transmission shaft group (11, 12); the lifting platform (3) lifts the remaining platforms through four groups of lifting mechanisms (7); the horizontal rotating platform (4) outputs a horizontal rotation speed through a horizontal rotating cam assembly (8); the follower platform (5) generates wing surface rotation and vertical rotation through a wing surface rotating cam assembly (9) and a vertical rotating cam assembly (10), respectively, and transmits the motion to the model flapping wing terminal assembly (6) through a gear group (13, 14) and a transmission shaft group (11, 12); the model flapping wing (62) has an opening at the tip, and a water pump (15) presses out pigment water through a hose (19) to visualize the surrounding flow field.

[0077] The pigment water tank (16) and the water pump (15) are fixedly installed on the follower platform (5). The pigment is pressurized by the water pump and passes through the hose (19), through the opening of the cam assembly lifting frame (51) on the follower platform (5), enters the horizontal rotating central axis (18), is connected to the root opening of the model flapping wing (62), and is pressed into the simulated medium contained in the simulated medium water tank (1) through the micropores at the tip of the model flapping wing (62).

[0078] like Figure 3As shown, the horizontal rotating cam assembly (8), the wing surface rotating cam assembly (9) and the vertical rotating cam assembly (10) adopt the same design, and the cam driving motor (84, 94, 104), the cam (82, 92, 102) and the cam push rod (83, 93, 103) are installed on the cam fixing frame (81, 91, 101), and the cam spring (85, 95, 105) connects the cam fixing frame (81, 91, 101) and the cam push rod (83, 93, 103), and different output speed curves are achieved by replacing the cam (82, 92, 102).

[0079] like Figure 1 As shown, the horizontal rotating cam assembly (8) drives the follower platform gear (17) through the cam push rod (83), and the follower platform gear (17) is fixedly connected to the follower platform (5), and the whole rotates around the horizontal rotating central axis (18).

[0080] like Figure 2 As shown, the simulation medium is contained in the simulation medium water tank (1), the model flapping wing end assembly (6) is immersed in the simulation medium, and the pigment is released from the opening of the model flapping wing (62). It is equivalent to think that this process is to dye the fluid micro-groups flowing through the position at a certain moment, and the dyed fluid micro-groups appear in the transparent simulation medium. The fluid micro-groups flowing through the same point form a vein line, and many dyed fluid micro-groups form a trace. The flow field characteristics formed by these fluid micro-groups, including the flow direction and diffusion, are manifested through the turning and thickness of the trace.

[0081] The simulation medium is transparent for easy observation, such as water and mineral oil. The selection of simulation medium in the experiment needs to consider the dimensionless number of the simulated micro-insect flight process, such as the Reynolds number: 实际 =Re 模拟

[0082]

[0083] Where ρ, v, L, and μ represent the density, velocity, characteristic length, and dynamic viscosity of the fluid, respectively, and all are in the international standard system of units. According to the velocity and characteristic length of the actual flapping wing motion under study, the velocity and characteristic length of the possible model flapping wing (62) are compared, and the dynamic viscosity and density of the simulation medium are selected to determine the simulation medium material; or vice versa, according to the material viscosity and the velocity and characteristic scale to be studied, the velocity and characteristic scale of the model flapping wing are calculated.

[0084] like Figure 4 As shown, the wing surface rotating cam assembly (9) is installed on the cam assembly lifting frame (51) of the follower platform and cooperates with the wing surface rotating transmission shaft input gear (13). Figure 5The gear is mounted on a wing surface rotation transmission shaft input gear bracket (52) of a follower platform, and the lower part of the bracket is open to avoid the vertical rotation transmission shaft input gear (14). The vertical rotation cam assembly (10) cooperates with the vertical rotation transmission shaft input gear (14). The input gears (13, 14) are fixedly connected to their respective transmission shafts (11, 12), and the other ends of the transmission shafts (11, 12) are respectively fixedly connected to output gears (20, 21).

[0085] like Figure 6 As shown, the model flapping wing terminal assembly (6) is threadedly connected to the horizontal rotation center shaft (18), the wing surface rotation transmission shaft output gear (20) is meshed with the terminal assembly wing surface rotation gear (613), and the vertical rotation transmission shaft output gear (21) is meshed with the terminal assembly vertical rotation gear (63). Through the horizontal rotation center shaft (18), the wing surface rotation transmission shaft (11), and the vertical rotation transmission shaft (12), the model flapping wing terminal assembly transmits three kinds of motion to the model flapping wing. The wing surface rotating gear (613) of the terminal component is fixedly connected to the wing surface rotating shaft (64), one end of the wing surface rotating shaft (64) is rotatably connected to the fixing seat (65), and the other end is connected to the universal joint (66), and the other end of the universal joint (66) is connected to the extended shaft (67) of the model flapping wing root. The terminal vertical rotating gear (63) is installed on the vertical rotating shaft (610) of the terminal component and is fixedly connected to the rocker arm (68), and the other end of the rocker arm (68) is fixedly connected to the extended shaft sleeve (69), and the other end of the sleeve (69) has a pair of round pins (611) that move in the groove (612) of the model flapping wing terminal component.

[0086] like Figure 7 As shown, the lifting rack (72) cooperates with the lifting rack retainer (31) through the lifting rack groove (722) to keep the lifting process stable, and cooperates with the lifting platform (3) through the lifting rack step (721) to keep the static state stable.

[0087] like Figure 8 As shown, the flapping motion of a real micro flying insect is decomposed into three directions, which represent twisting, flapping, and tilting from top to bottom, namely, the wing surface rotation, horizontal rotation, and vertical rotation described in the present invention. Different motion modes can be accurately simulated by designing the cam profile through the speed curve.

[0088] Embodiment 2:

[0089] Common fluid media are transparent. In this example, a transparent fluid medium needs to be selected for experimental observation. The flow process may cause the refractive index to change at a certain position in space, but it is not easy to observe the flow field structure, such as the flow direction, vortex size, and diffusion at a certain position.

[0090] Similar to the smoke lines in the wind tunnel experiment, in this example, since the device models the flapping motion in a static simulation medium, the dyed fluid is added to the flow field from the opening with the help of the pigment released from the flapping opening of the model. This process is equivalent to dyeing the fluid micro-groups flowing through the position at a certain moment. The dyed fluid micro-groups appear in the transparent medium. The fluid micro-groups flowing through the same point form a vein line, and many dyed fluid micro-groups form a trace. The flow field characteristics formed by these fluid micro-groups, including the flow direction and diffusion, are shown through the turning and thickness of the trace. As shown in the attached figure Figure 2 As shown, the pigment is released from the upper and lower surfaces of the airfoil respectively, showing the vortex after separation.

[0091] In this example, the transparent medium is the simulation medium. In order to facilitate observation, transparent materials are selected, such as water and mineral oil. They are commonly contained in a simulation medium water tank. The model flapping wing end assembly including the model flapping wing is installed at the end of the horizontal rotation center axis and extends into the simulation medium. The horizontal rotation center axis is fixedly connected to the follow-up platform, and the follow-up platform is further installed on the horizontal rotation platform, the horizontal rotation platform is installed on the lifting platform, and the lifting platform is installed on the fixed frame.

[0092] In this example, a variety of materials can be selected for the simulation medium. For example, if the Reynolds number remains consistent, three variables are involved: speed, viscosity, and characteristic length. The speed and characteristic length of the actual flapping wing motion under study are compared with the speed and characteristic length of the possible model flapping wing, and the viscosity of the simulation medium is selected to determine the simulation medium material; or vice versa, the speed and characteristic scale of the model flapping wing are calculated based on the material viscosity and the speed and characteristic scale to be studied.

[0093] In this example, the flapping wing of the moving model in the medium will be subject to corresponding resistance, but within the design range, and factors such as suitable transmission shaft materials and cross-sections, specific design dimensions or material selections are given based on computer simulation or manual calculations to overcome the influence of resistance on actual motion frequency, amplitude, etc. This means that the influence of the medium on the flapping wing action is excluded in the scenario of reasonable use of the experimental device.

[0094] Embodiment 3:

[0095] The present invention relates to a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device, comprising: a water tank (1), a fixed frame (2), on which a lifting platform (3), a horizontal rotating platform (4), and a follower platform (5) are sequentially mounted; the lifting platform (3) is fixedly mounted with four groups of lifting mechanisms (7), each group of lifting mechanisms (7) comprising a lifting motor (71), a lifting gear (73) and a corresponding lifting rack (72), and the lifting rack (72) is fixedly connected to the horizontal rotating platform (4); the horizontal rotating platform (4) is fixedly mounted with a horizontal rotating gear (73). The invention relates to a rotating cam assembly (8), a horizontal rotating cam push rod (83) connected to a follower platform gear (17); the follower platform gear (17) is fixedly connected to the follower platform (5); a horizontal rotating central shaft (18) is fixedly installed on the follower platform (5); the other end of the horizontal rotating central shaft (18) is threadedly connected to the model flapping wing terminal assembly (6); a wing surface rotating transmission shaft (11) and a vertical rotating transmission shaft (12) are further connected to connect the follower platform (5) and the model flapping wing terminal assembly (6); and a water pump (15) is connected to a paint water tank (16) and the model flapping wing (62) through a hose (19).

[0096] The pigment water tank (16) and the water pump (15) are fixedly mounted on the follower platform (5); the hose (19) passes through the horizontal rotating central axis (18) and is connected to the root opening of the model flapping wing (62), and the pigment is pressed into the simulated medium contained in the simulated medium water tank (1) through the micropores at the tip of the model flapping wing.

[0097] The horizontal rotating cam assembly (8), the wing surface rotating cam assembly (9) and the vertical rotating cam assembly (10) adopt the same design. A cam driving motor (84, 94, 104), a cam (82, 92, 102) and a cam push rod (83, 93, 103) are installed on the cam fixing frame (81, 91, 101). A cam spring (85, 95, 105) connects the cam fixing frame (81, 91, 101) and the cam push rod (83, 93, 103). Different output speed curves can be achieved by replacing the cam (82, 92, 102).

[0098] The horizontal rotating cam assembly (8) is connected to the follower platform gear (17) via a cam push rod (83); the follower platform gear (17) is fixedly connected to the follower platform (5), and the whole rotates around the axis of the horizontal rotating central axis (18).

[0099] The wing surface rotating cam assembly (9) and the vertical rotating cam assembly (10) are respectively connected to the wing surface rotating transmission shaft input gear (13) and the vertical rotating transmission shaft input gear (14) through cam push rods (93, 103); the input gears (13, 14) are fixedly connected to the transmission shafts (11, 12); and the other ends of the transmission shafts are respectively fixedly connected to output gears (20, 21).

[0100] The model flapping wing terminal assembly (6) is threadedly connected to the horizontal rotation center shaft (18); the wing surface rotation transmission shaft output gear (20) is meshed with the terminal assembly wing surface rotation gear (613); the vertical rotation transmission shaft output gear (21) is meshed with the terminal assembly vertical rotation gear (63); the terminal assembly wing surface rotation gear (613) is fixedly connected to the wing surface rotation shaft (64); one end of the wing surface rotation shaft (64) is rotationally connected to a fixed seat (65); the other end is connected to a universal joint (66); the other end of the universal joint is connected to an extension shaft (67) at the root of the model flapping wing; the vertical rotation gear (63) is fixedly connected to a rocker arm (68); and the other end of the rocker arm (68) is fixedly connected to an extension shaft sleeve (69).

[0101] A method for simulating flapping motion by using a micro-flying insect flapping motion proportional amplification experimental observation device comprises the following steps: using a lifting motor (71) to control a lifting gear (73) to drive a lifting rack (72) to achieve the lifting and lowering of a horizontal rotating platform (4) and a follower platform (5), thereby driving a model flapping wing (62) to move relative to a simulation medium;

[0102] The horizontal rotating cam assembly (8) is used to drive the horizontal rotating central axis (18) and the model flapping wing (62) to realize horizontal rotation through the connection between the cam push rod (83) and the follower platform gear (17);

[0103] The wing surface rotating cam assembly (9) and the vertical rotating cam assembly (10) are connected to the transmission shaft input gears (13, 14) through cam push rods (93, 103), and the model flapping wing (62) is driven through the transmission shaft (11, 12) and the model flapping wing terminal assembly (6) to achieve wing surface rotation and vertical rotation.

Claims

1. A three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device, characterized by: The observation device places the model flapping wing (62) in a water tank (1) containing a simulation medium. The observation device also includes a pigment water tank (16) connected to the model flapping wing tip opening via a water pump (15). The model flapping wing tip assembly (6) of the model flapping wing is connected to the follower platform (5) via a horizontal rotation center axis (18), a wing surface rotation transmission axis (11), and a vertical rotation transmission axis (12). When conducting experimental observation, the model flapping wing moves in the simulation medium to simulate the flapping wing movement of the micro-flying insect in three degrees of freedom. The water pump presses the pigment into the simulation medium through the micropores of the model flapping wing tip opening, so that the pigment sent into the simulation medium forms a flow field trace, so that the flow field formed by the model flapping wing movement is visualized.

2. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 1, characterized in that: The simulation medium is contained in a simulation medium water tank (1) and the model flapping wing end assembly (6) is immersed in the simulation medium. When the model flapping wing is in motion, pigment is released from the opening of the model flapping wing (62). The released pigment acts in the simulation medium as if dyeing the fluid micro-groups flowing through the position at a certain moment, and the dyed fluid micro-groups appear in the transparent simulation medium, so that the fluid micro-groups flowing through the same point form veins, that is, a flow field trace of the flapping wing motion in the simulation medium is formed by a large number of dyed fluid micro-groups. The observable flow field characteristics displayed by the turning and lightness of the flow field traces include the flow direction of the flow field and the occurrence and diffusion of the flow field.

3. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 2, characterized in that: The simulation medium is a transparent material that facilitates the observation of flow field traces. The dimensionless numbers in the simulated micro-insect flight process are calculated to obtain the relevant parameters that need to be considered when selecting the simulation medium. The dimensionless numbers include the Reynolds number, and the specific calculation formula is: Re 实际 =Re 模拟 Wherein ρ, v, L, and μ represent the density, velocity, characteristic length, and dynamic viscosity of the fluid, respectively, and all are in international standard units. The velocity characteristics and length characteristics of the required model flapping wing (62) are compared with the velocity and characteristic length of the actual flapping wing motion in the experiment, and the dynamic viscosity and density of the simulation medium are selected to determine the simulation medium material. Alternatively, conversely, the velocity characteristics and length characteristics of the model flapping wing required in the experiment are calculated based on the material viscosity and the velocity and characteristic scale to be studied.

4. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 2, characterized in that: The simulated medium material includes water or mineral oil.

5. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 1, characterized in that: In the observation device, a cam mechanism is used to drive the flapping motion of the model, and the flapping motion of the micro-flying insect with three degrees of freedom is decomposed into wing surface rotation, horizontal rotation and vertical rotation of the model flapping wing. The cam profile of the cam mechanism is adjusted through the speed curve required by the experiment to accurately simulate the different motion modes required by the experiment.

6. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 5, characterized in that: The cam mechanism comprises a horizontal rotating cam assembly (8), a wing surface rotating cam assembly (9), and a vertical rotating cam assembly (10); The horizontal rotating cam assembly (8) comprises the following structure: a horizontal rotating cam driving motor (84), a horizontal rotating cam (82), and a horizontal rotating cam push rod (83) are mounted on a horizontal rotating cam fixing frame (81); the horizontal rotating cam fixing frame (81) and the horizontal rotating cam push rod (83) are connected by a horizontal rotating cam spring (85); different output speed curves are formed by replacing the horizontal rotating cam (82); The wing surface rotating cam assembly (9) comprises the following structure: an wing surface rotating cam driving motor (94), an wing surface rotating cam (92), and an wing surface rotating cam push rod (93) are installed on an wing surface rotating cam fixing frame (91); the wing surface rotating cam fixing frame (91) and the wing surface rotating cam push rod (93) are connected by an wing surface rotating cam spring (95); different output speed curves are formed by replacing the wing surface rotating cam (92); The vertical rotating cam assembly (10) comprises the following structure: a vertical rotating cam driving motor (104), a vertical rotating cam (102), and a vertical rotating cam push rod (103) are installed on a vertical rotating cam fixing frame (101); the vertical rotating cam fixing frame (101) and the vertical rotating cam push rod (103) are connected by a vertical rotating cam spring (105); and different output speed curves are formed by replacing the vertical rotating cam (102).

7. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 6, characterized in that: The horizontal rotating cam assembly (8) drives the follower platform gear (17) through the horizontal rotating cam push rod (83), so that the combined body formed by the follower platform gear (17) and the follower platform (5) can rotate as a whole around the axis of the horizontal rotating central axis (18); The wing surface rotating cam assembly (9) is connected to the wing surface rotating transmission shaft input gear (13) through the wing surface rotating cam push rod (93); the wing surface rotating transmission shaft input gear (13) is fixedly connected to the wing surface rotating transmission shaft (11); and one end of the wing surface rotating transmission shaft is fixedly connected to the wing surface rotating transmission shaft output gear (20); The vertical rotating cam assembly (10) is connected to the vertical rotating transmission shaft input gear (14) via a vertical rotating cam push rod (103); the vertical rotating transmission shaft input gear (14) is fixedly connected to the vertical rotating transmission shaft (12); and one end of the vertical rotating transmission shaft (12) is fixedly connected to the vertical rotating transmission shaft output gear (21).

8. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 7, characterized in that: The model flapping wing end assembly (6) is threadedly connected to the horizontal rotation center shaft (18); The wing surface rotation transmission shaft output gear (20) is meshed with the terminal assembly wing surface rotation gear (613), the terminal assembly wing surface rotation gear (613) is fixedly connected to the wing surface rotation shaft (64), one end of the wing surface rotation shaft (64) is rotationally connected to the fixed seat (65), and the other end is connected to the universal joint (66), and the other end of the universal joint is connected to the model flapping wing root extension shaft (67); The vertical rotating transmission shaft output gear (21) meshes with the terminal assembly vertical rotating gear (63), the vertical rotating gear (63) is fixedly connected to the rocker arm (68), and the other end of the rocker arm (68) is fixedly connected to the extension shaft sleeve (69) of the model flapping wing root extension shaft.

9. The three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device according to claim 8, characterized in that: The following platform (5) is arranged at the fixed frame (2), and the fixed frame is also provided with a horizontal rotating platform (4) and a lifting platform (3); the lifting platform (3) lifts the following platform (5) and the horizontal rotating platform (4) through a plurality of lifting mechanisms (7) to adjust their vertical positions; The follower platform is provided with a cam assembly support (51) containing an airfoil rotating cam assembly (9), and is also provided with an airfoil rotating transmission shaft input gear support (52) containing an airfoil rotating transmission shaft input gear (13); The airfoil rotation transmission shaft input gear cooperates with the airfoil rotation cam assembly.

10. A method for using a three-degree-of-freedom micro-flying insect flapping motion proportional amplification experimental observation device, characterized in that: When the observation device is in use, the lifting motor (71) controls the lifting gear (73) to drive the lifting rack (72), thereby realizing the lifting and lowering of the horizontal rotating platform (4) and the follower platform (5), and driving the model flapping wing (62) to move vertically in the simulated medium; The horizontal rotating cam assembly (8) is used to drive the horizontal rotating central axis (18) and the model flapping wing (62) to rotate horizontally in the simulated medium through the connection between the cam push rod (83) and the follower platform gear (17); The wing surface rotating cam assembly and the vertical rotating cam assembly are used to connect the cam push rods corresponding to the two assemblies with multiple transmission shaft input gears, and the model flapping wing (62) is driven through the multiple transmission shafts and the model flapping wing terminal assembly to make the wing surface rotate and rotate vertically in the simulated medium.

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