An airworthiness test method and device for the damage mechanism of a dual-rotor hitting an organism

Abstract

The present invention relates to the technical field of coaxial dual-rotor, and particularly relates to an airworthiness test method and device for the damage mechanism of a dual-rotor hitting a living organism. The test method includes the following steps: preparing a test device; conducting a test on the coaxial dual-rotor blade hitting a living organism; collecting the fragments of the coaxial dual-rotor blade, observing the microscopic fracture morphology of the fragments, and analyzing the differences in the microscopic fracture morphology under different rotational speeds and translational speeds; observing the degree of damage on the surface of the living organism, and based on the theoretical formula of the blade hitting the living organism, analyzing the damage mechanism of the coaxial dual-rotor blade hitting the living organism under multi-factor coupling conditions. The present invention develops a test method for the damage of a coaxial dual-rotor hitting a living organism, which can quantitatively evaluate the influence of translational speed and rotational speed on the damage mechanism, can effectively support the safety design of the unmanned aerial vehicle rotor, can provide original data for the obstacle avoidance function of the unmanned aerial vehicle, and is beneficial to the improvement of the flight control system of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of coaxial dual-rotor, and particularly to an airworthiness test method and device for the damage mechanism of a dual-rotor hitting a living organism. Background Art

[0002] In recent years, with the rapid development of unmanned aerial vehicles (UAVs), incidents of UAVs hurting people have been frequent. UAVs hurting people belong to typical impact dynamics problems. Existing research mainly focuses on studying the translational impact of objects, involving the motion of one degree of freedom. However, in the impact of the coaxial dual-rotor of a UAV, the coaxial dual-rotor has translational and rotational motions of two degrees of freedom, and the involved mechanical motion mechanism is more complex.

[0003] Although the air cannon technology has been widely used in the research of the field of impact dynamics, which can launch translational objects within a large speed range, the related technology cannot be directly applied to the research of the blade hurting a living organism. The main difficulties are as follows: 1. The translational motion speed of a UAV is relatively slow. The air cannon is good at launching objects at a high speed and not good at launching objects at a low speed; 2. Conventional UAVs are relatively large in size and require a large-aperture air cannon to launch, and corresponding projectile holders need to be made, and the test cost is relatively high; 3. A UAV is an irregular object, and its attitude is easily affected by aerodynamics after being launched from the air cannon, and it is difficult to ensure that the rotor will hit a living organism.

[0004] Therefore, it is necessary to design an airworthiness test method for the damage mechanism of a dual-rotor hitting a living organism. Summary of the Invention

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide an airworthiness test method and device for the damage mechanism of a dual-rotor hitting a living organism.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: An airworthiness test method for the damage mechanism of a dual-rotor hitting a living organism, comprising the following steps:

[0007] Step 1, prepare a test device: The test device includes a vertical optical platform, a horizontal optical platform, a moving mechanism, a rotating motor, a high-speed camera, a plurality of coaxial dual-rotor blades, and a plurality of living organisms; the moving mechanism is arranged on the horizontal optical platform, the rotating motor is arranged on the moving mechanism, the coaxial dual-rotor blades are arranged on the rotating motor, the vertical optical platform is arranged on the horizontal optical platform, the living organisms are arranged on the vertical optical platform and at the end of the moving mechanism, and the high-speed camera is used to capture test images;

[0008] Step 2, conduct the test of the coaxial dual-rotor blades hitting an organism: The rotary motor drives the coaxial dual-rotor blades to rotate and defines the rotational speed as , the moving mechanism drives the rotary motor and the coaxial dual-rotor blades to move towards the organism and defines the translational speed as , so that the coaxial dual-rotor blades hit the organism, and a high-speed camera is used to capture the test images of the coaxial dual-rotor blades hitting the organism; replace the coaxial dual-rotor blades and the organism, and repeat the test of the coaxial dual-rotor blades hitting the organism under different and ;

[0009] Step 3, view the test images under different rotational speeds and translational speeds, and check whether there is a process of "being blocked - buckling - breaking" in the coaxial dual-rotor blades; if the coaxial dual-rotor blades are broken, collect the fragments of the coaxial dual-rotor blades, observe the microscopic fracture morphology of the fragments and analyze the differences in the microscopic fracture morphology under different rotational speeds and translational speeds;

[0010] Step 4, observe the degree of damage on the surface of the organism, and based on the theoretical formula of the blade hitting the organism, analyze the damage mechanism of the coaxial dual-rotor blades hitting the organism under multi-factor coupling conditions.

[0011] Further, in the said Step 1, the moving mechanism includes a driving motor, a driving control box, a threaded rod, a slider, and a guide rail. The driving motor and the guide rail are arranged on the horizontal optical platform. The driving control box is used to control the driving motor. The driving motor is used to drive the threaded rod to rotate. The slider is threadedly connected to the threaded rod and moves along the guide rail. The rotary motor is arranged on the slider.

[0012] Further, in the said Step 1,

[0013] A connecting piece is arranged between the rotary motor and the slider and they are connected through the connecting piece. A fixing clamp is arranged on the horizontal optical platform, and the fixing clamp is used to clamp the guide rail;

[0014] Design the connecting piece by measuring the shapes and sizes of the bottom end of the rotary motor and the upper end of the slider; design the fixing clamp by measuring the width of the guide rail and the distance between the openings on the horizontal optical platform;

[0015] Draw the 3D drawings of the designed connecting piece and fixing clamp, and print the 3D drawings into entities through 3D printing technology to obtain the connecting piece and the fixing clamp.

[0016] Further, in the step 3, based on the principle of aerodynamics, the coaxial dual-rotor blades are curved surfaces, so that the fracture surfaces of the fragments are also curved surfaces; the projected area of the fracture surface is selected as the characterization parameter. Place the fracture surface of the fragment flat on white paper, use a pencil to trace the projected shape of the fracture surface, and finally the projected area can be measured. , establish and , the multi-dimensional relationship between them.

[0017] Further, in the step 4,

[0018] at different and conditions, the damage degree of the coaxial dual-rotor blades to the organism surface is different, and there are two cases of the damage degree: the coaxial dual-rotor blades rub against the organism surface and leave sliding marks on the organism surface, or the coaxial dual-rotor blades cut and penetrate into the organism surface;

[0019] If the coaxial dual-rotor blades rub against the organism surface and leave sliding marks on the organism surface; define the sliding mark length as , the sliding mark width as , establish , and , the multi-dimensional relationship between them;

[0020] If the coaxial dual-rotor blades cut and penetrate into the organism surface; define the penetration length as and the penetration depth , establish , and , the multi-dimensional relationship between them;

[0021] Synthesize , these two independent variables and , , , these four dependent variables to obtain 8 curves and draw an envelope, and within the set speed range, calculate , the parameters that have a greater impact on the damage to the organism in

[0022] Further, in the step 4, the theoretical formula for the blade impacting the organism specifically includes:

[0023] When the coaxial dual-rotor blades rotate, stress waves will be generated in the coaxial dual-rotor blades. Simplify the propagation of the stress waves in the blades into a one-dimensional elastic wave equation, which is expressed as:

[0024] ;

[0025] ;

[0026] Among them, is the wave velocity, is the elastic modulus, is the density, is the displacement, is the time;

[0027] Plastic wave velocity formula is expressed as:

[0028] ;

[0029] Among them, is the stress, is the strain;

[0030] When the coaxial contra-rotating rotor blades impact a living organism, there is a situation where the coaxial contra-rotating rotor blades buckle. Among them, the buckling is expressed by the theoretical equation as:

[0031] ;

[0032] Among them, is the bending stiffness, is the deflection, is the impact pressure, is the blade length;

[0033] When or is relatively large, there is a situation where the coaxial contra-rotating rotor blades break. The breaking process of the coaxial contra-rotating rotor blades is related to the dynamic stress intensity factor of the coaxial contra-rotating rotor blade material, that is:

[0034] ;

[0035] Among them, is the geometric factor, is the far-field stress, is the crack length.

[0036] The present invention also provides an airworthiness test device for the damage mechanism of a coaxial dual-rotor hitting a biological organism, including a vertical optical platform, a horizontal optical platform, a moving mechanism, a rotating motor, a high-speed camera, a plurality of coaxial dual-rotor blades, and a plurality of biological organisms; the moving mechanism is arranged on the horizontal optical platform, the rotating motor is arranged on the moving mechanism, the coaxial dual-rotor blades are arranged on the rotating motor, the vertical optical platform is arranged on the horizontal optical platform, the biological organisms are arranged on the vertical optical platform and at the end of the moving mechanism, and the high-speed camera is used to capture test images.

[0037] Further, the moving mechanism includes a driving motor, a driving control box, a threaded rod, a slider, and a guide rail. The driving motor and the guide rail are arranged on the horizontal optical platform. The driving control box is used to control the driving motor. The driving motor is used to drive the threaded rod to rotate. The slider is threadedly connected to the threaded rod and moves along the guide rail. The rotating motor is arranged on the slider.

[0038] Further, a connecting piece is arranged between the rotating motor and the slider and they are connected through the connecting piece. A fixed clamp is arranged on the horizontal optical platform and is used to clamp the guide rail.

[0039] Further, it also includes a Bluetooth accelerometer and a plurality of light sources. The Bluetooth accelerometer is arranged on the slider, and the light sources are used to illuminate the test environment.

[0040] As can be seen from the above description of the present invention, compared with the prior art, the airworthiness test method and device for the damage mechanism of a coaxial dual-rotor hitting a biological organism of the present invention at least include one of the following beneficial effects:

[0041] 1. The present invention realizes the translational and rotational movements of the coaxial dual-rotor blades. By observing the degree of damage on the surface of the biological organism, the damage mechanism of the coaxial dual-rotor hitting the biological organism under the coupling of multiple factors can be studied.

[0042] 2. The present invention develops a test method for the damage of a coaxial dual-rotor hitting a biological organism, which can quantitatively evaluate the influence of translational speed and rotational speed on the damage mechanism, can effectively support the safety design of the UAV rotor, can provide original data for the UAV obstacle avoidance function, and is beneficial to the improvement of the UAV flight control system.

[0043] 3. The present invention realizes the low-speed stable control of the translational movement of the coaxial dual-rotor blades in the rotating state. By driving the threaded rod to rotate through the driving motor, and then the threaded rod drives the slider to move along the guide rail, a low-speed stable translational movement can be generated. Description of the Drawings

[0044] Figure 1It is a flowchart of the steps of an airworthiness test method for the damage mechanism of a dual-rotor hitting a living organism in a preferred embodiment of the present invention;

[0045] Figure 2 It is a schematic structural diagram of an airworthiness test device for the damage mechanism of a dual-rotor hitting a living organism in a preferred embodiment of the present invention;

[0046] Figure 3 is Figure 2 The enlarged view of part A of

[0047] Explanation of the reference numerals in the figure: 1 vertical optical platform, 2 horizontal optical platform, 3 rotating motor, 4 high-speed camera, 5 coaxial dual-rotor blades, 6 living organism, 7 driving motor, 8 driving control box, 9 threaded rod, 10 slider, 11 guide rail, 12 connecting piece, 13 fixing clamp, 14 Bluetooth accelerometer, 15 light source. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "top / bottom end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0050] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "provided with", "sheathed / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0051] Referring to Figure 1 As shown, in a preferred embodiment of the present invention, an airworthiness test method for the damage mechanism of a dual-rotor hitting a living organism includes the following steps:

[0052] Step 1, prepare the test device: The test device includes a vertical optical platform 1, a horizontal optical platform 2, a moving mechanism, a rotary motor 3, a high-speed camera 4, a number of coaxial dual-rotor blades 5, and a number of organisms 6; the moving mechanism is arranged on the horizontal optical platform 2, the rotary motor 3 is arranged on the moving mechanism, the coaxial dual-rotor blades 5 are arranged on the rotary motor 3, the vertical optical platform 1 is arranged on the horizontal optical platform 2, the organism 6 is arranged on the vertical optical platform 1 and at the end of the moving mechanism, and the high-speed camera 4 is used to capture test images;

[0053] Step 2, conduct the test of the coaxial dual-rotor blades 5 hitting the organism 6: The rotary motor 3 drives the coaxial dual-rotor blades 5 to rotate and defines the rotational speed as , the moving mechanism drives the rotary motor 3 and the coaxial dual-rotor blades 5 to move towards the organism 6 and defines the translational speed as , so that the coaxial dual-rotor blades 5 hit the organism 6, and the high-speed camera 4 is used to capture the test images of the coaxial dual-rotor blades 5 hitting the organism 6; replace the coaxial dual-rotor blades 5 and the organism 6, and repeat the test of the coaxial dual-rotor blades 5 hitting the organism 6 under different and ;

[0054] Step 3, view the test images under different rotational speeds and translational speeds, and check whether there is a process of "being blocked - buckling - fracture" in the coaxial dual-rotor blades 5; if the coaxial dual-rotor blades 5 are fractured, collect the fragments of the coaxial dual-rotor blades 5, observe the microscopic fracture morphology of the fragments, and analyze the differences in the microscopic fracture morphology under different rotational speeds and translational speeds;

[0055] Step 4, observe the degree of damage on the surface of the organism 6, and analyze the damage mechanism of the coaxial dual-rotor blades 5 hitting the organism 6 under multi-factor coupling conditions based on the theoretical formula of the blade hitting the organism. More specifically, observe the degree of damage on the surface of the organism 6 under an optical microscope.

[0056] As a preferred embodiment of the present invention, it may further have the following additional technical features:

[0057] In this embodiment, in Step 1, the moving mechanism includes a driving motor 7, a driving control box 8, a threaded rod 9, a slider 10, and a guide rail 11. The driving motor 7 and the guide rail 11 are arranged on the horizontal optical platform 2. The driving control box 8 is used to control the driving motor 7. The driving motor 7 is used to drive the threaded rod 9 to rotate. The slider 10 is threadedly connected to the threaded rod 9 and moves along the guide rail 11. The rotary motor 3 is arranged on the slider 10.

[0058] The moving mechanism of the present invention uses a driving motor 7, a driving control box 8, a threaded rod 9, a slider 10, and a guide rail 11 in cooperation to achieve low-speed and stable control of the translational movement of the coaxial dual-rotor blades 5 in a rotating state.

[0059] In this embodiment, in the said step 1,

[0060] A connecting member 12 is provided between the rotating motor 3 and the slider 10 and connected through the connecting member 12. A fixed fixture 13 is provided on the horizontal optical platform 2, and the fixed fixture 13 is used to clamp the guide rail 11;

[0061] The connecting member 12 is designed by measuring the shapes and dimensions of the bottom end of the rotating motor 3 and the upper end of the slider 10; the fixed fixture 13 is designed by measuring the width of the guide rail 11 and the distance between the openings on the horizontal optical platform 2;

[0062] Draw the three-dimensional drawings of the designed connecting member 12 and fixed fixture 13, and print out the entities from the three-dimensional drawings through 3D printing technology to obtain the connecting member 12 and the fixed fixture 13.

[0063] The present invention adopts 3D printing technology, solves the manufacturing difficulties of the connecting member 12 and the fixed fixture 13, and can realize rapid platform construction.

[0064] In this embodiment, in the said step 3, based on the principle of aerodynamics, the coaxial dual-rotor blade 5 is a curved surface, so that the fracture surface of the fragment is also a curved surface; select the projected area of the fracture surface as the characterization parameter, place the fracture surface of the fragment flat on white paper, use a pencil to depict the projected shape of the fracture surface, and finally the projected area can be measured , establish and , The multi-dimensional relationship between.

[0065] In this embodiment, in the said step 4,

[0066] Under different and , the damage degree of the coaxial dual-rotor blades to the surface of the organism is different, and there are two cases of the damage degree: the coaxial dual-rotor blades rub against the surface of the organism and leave sliding marks on the surface of the organism, or the coaxial dual-rotor blades cut and pierce on the surface of the organism;

[0067] If the coaxial dual-rotor blades rub against the surface of the organism and leave sliding marks on the surface of the organism; define the length of the sliding mark as , the width of the sliding mark is , establish , The multi-dimensional relationship between and ;

[0068] If the coaxial dual-rotor blades cut and penetrate the surface of the organism; define the penetration length as and the penetration depth , establish , and , the multi-dimensional relationship;

[0069] Integrate , two independent variables and , , , four dependent variables to obtain 8 curves and draw the envelope. Within the set speed range, calculate , the parameters that have a greater impact on the damage to the organism in . To quantitatively evaluate the effects of translational speed and rotational speed on the damage mechanism.

[0070] In this embodiment, in the step 4, the theoretical formula for the blade hitting the organism specifically includes:

[0071] When the coaxial dual-rotor blade 5 rotates, stress waves will be generated in the coaxial dual-rotor blade 5. Simplify the propagation of stress waves in the blade into a one-dimensional elastic wave equation, expressed as:

[0072] ;

[0073] ;

[0074] Among them, is the wave speed, is the elastic modulus, is the density, is the displacement, is the time;

[0075] The plastic wave speed formula is expressed as:

[0076] ;

[0077] Among them, is the stress, is the strain;

[0078] When the coaxial dual-rotor blade 5 hits the organism 6, there is a situation where the coaxial dual-rotor blade 5 buckles. Among them, the buckling is expressed by the theoretical equation as:

[0079] ;

[0080] Wherein, is the flexural rigidity, is the deflection, is the impact pressure, is the blade length;

[0081] When or is relatively large, there is a situation where the coaxial contra-rotating blades 5 break. The fracture process of the coaxial contra-rotating blades 5 is related to the dynamic stress intensity factor of the material of the coaxial contra-rotating blades 5, that is:

[0082] ;

[0083] Wherein, is the geometric factor, is the far-field stress, is the crack length.

[0084] Referring to Figures 2 to 3 shown, the present invention also provides a test device for the damage mechanism of a coaxial contra-rotating rotor hitting an organism, including a vertical optical platform 1, a horizontal optical platform 2, a moving mechanism, a rotating motor 3, a high-speed camera 4, a plurality of coaxial contra-rotating blades 5, and a plurality of organisms 6; the moving mechanism is arranged on the horizontal optical platform 2, the rotating motor 3 is arranged on the moving mechanism, the coaxial contra-rotating blades 5 are arranged on the rotating motor 3, the vertical optical platform 1 is arranged on the horizontal optical platform 2, the organism 6 is arranged on the vertical optical platform 1 and at the end of the moving mechanism, and the high-speed camera 4 is used to capture test images. Among them, the organism 6 can specifically be a pork block.

[0085] In this embodiment, the moving mechanism includes a driving motor 7, a driving control box 8, a threaded rod 9, a slider 10, and a guide rail 11. The driving motor 7 and the guide rail 11 are arranged on the horizontal optical platform 2. The driving control box 8 is used to control the driving motor 7. The driving motor 7 is used to drive the threaded rod 9 to rotate. The slider 10 is threadedly connected to the threaded rod 9 and moves along the guide rail 11. The rotating motor 3 is arranged on the slider 10.

[0086] In this embodiment, a connecting member 12 is arranged between the rotating motor 3 and the slider 10 and they are connected through the connecting member 12. A fixed clamp 13 is arranged on the horizontal optical platform 2, and the fixed clamp 13 is used to clamp the guide rail 11.

[0087] In this embodiment, a Bluetooth accelerometer 14 and a plurality of light sources 15 are further included. The Bluetooth accelerometer 14 is disposed on the slider 10, and the light sources 15 are used to illuminate the test environment.

[0088] By measuring the accelerations of the slider 10 and the coaxial dual-rotor blades 5 with the Bluetooth accelerometer 14, the drawback that the wires of traditional wire-type acceleration sensors may be involved in the moving rotors and thus hinder the movement is avoided.

[0089] By illuminating the test environment with the light sources 15, it is ensured that the high-speed camera 4 can clearly capture the organism 6 and the coaxial dual-rotor blades 5.

[0090] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its improved concept, makes equivalent replacements or changes, and all should be covered within the protection scope of the present invention.

Claims

1. An airworthiness test method for the damage mechanism of a dual-rotor impacting a biological body, characterized in that: The following steps are involved: Step 1, prepare a test device: the test device includes a vertical optical platform, a horizontal optical platform, a moving mechanism, a rotating motor, a high-speed camera, a plurality of coaxial double rotor blades, and a plurality of organisms; the moving mechanism is arranged on the horizontal optical platform, the rotating motor is arranged on the moving mechanism, the coaxial double rotor blades are arranged on the rotating motor, the vertical optical platform is arranged on the horizontal optical platform, the organism is arranged on the vertical optical platform and located at the end of the moving mechanism, and the high-speed camera is used to shoot a test image; Step 2, perform a test of the coaxial dual-rotor blades impacting the organism: the rotary motor drives the coaxial dual-rotor blades to rotate and defines the rotation speed as v r The moving mechanism drives the rotating motor and the coaxial dual rotor blades to move toward the organism and defines the translation speed as v t , so that the coaxial double rotor blades hit the organism, and the high-speed camera is used to take a test image of the coaxial double rotor blades hitting the organism; replace the coaxial double rotor blades and the organism shown, and at different v r and v t Under the condition of repeated coaxial twin rotor blade impact test on biological body; Step 3, checking the test images at different rotation speeds and translation speeds to see whether the coaxial twin-rotor blade has undergone a process of "being blocked-buckling-fracture"; if the coaxial twin-rotor blade has fractured, collecting fragments of the coaxial twin-rotor blade, observing the microscopic fracture morphology of the fragments and analyzing the difference in microscopic fracture morphology at different rotation speeds and translation speeds; Step 4, observing the degree of damage to the surface of the organism, and analyzing the damage mechanism of the coaxial twin-rotor blades impacting the organism under multi-factor coupling conditions based on the theoretical formula of blade impacting the organism; In step 4, the theoretical formula for the blade impacting the organism specifically includes: When the coaxial twin-rotor blades rotate, stress waves will be generated in the coaxial twin-rotor blades. The propagation of stress waves in the blades is simplified to a one-dimensional elastic wave equation, which can be expressed as: Among them, c is the wave velocity, E is the elastic modulus, ρ is the density, u is the displacement, and t is the time; Plastic wave velocity formula c p It is expressed as: Among them, σ is stress and ε is strain; When the coaxial twin-rotor blades hit the organism, there is a situation where the coaxial twin-rotor blades buckle, where the buckling is expressed by the theoretical equation: Where D is the bending stiffness, ω is the deflection, p(t) is the impact pressure, and h is the blade length; When v t or v r When the value is larger, the coaxial twin rotor blades may break. The fracture process of the coaxial twin rotor blades is related to the dynamic stress intensity factor of the coaxial twin rotor blade material. Related, that is: Where Y is the geometric factor, σf is the far-field stress, and a is the crack length.

2. The airworthiness test method for the damage mechanism of a dual-rotor impacting a biological body according to claim 1, characterized in that: In step 1, the moving mechanism includes a driving motor, a driving control box, a threaded rod, a slider, and a guide rail. The driving motor and the guide rail are arranged on the horizontal optical platform. The driving control box is used to operate the driving motor. The driving motor is used to drive the threaded rod to rotate. The slider is threadedly connected to the threaded rod and moves along the guide rail. The rotating motor is arranged on the slider.

3. The airworthiness test method for the damage mechanism of a dual-rotor impacting a biological body according to claim 2, characterized in that: In step 1, A connecting piece is provided between the rotating motor and the slider and connected through the connecting piece, and a fixing fixture is provided on the horizontal optical platform, and the fixing fixture is used to clamp the guide rail; The connecting member is designed by measuring the shape and size of the bottom end of the rotating motor and the upper end of the slider; the fixing fixture is designed by measuring the width of the guide rail and the distance between the opening of the horizontal optical platform; Draw a three-dimensional diagram of the designed connecting piece and fixing fixture, and print out a solid body of the three-dimensional diagram through 3D printing technology to obtain the connecting piece and fixing fixture.

4. The airworthiness test method for the damage mechanism of a dual-rotor impacting a biological body according to claim 1, characterized in that: In step 3, based on the principle of aerodynamics, the coaxial twin rotor blade is a curved surface, so the fracture of the fragment is also a curved surface; the projection area of ​​the fracture is selected as the characterization parameter, the fracture of the fragment is placed flat on white paper, and the projection shape of the fracture is drawn with a pencil, and finally the projection area S can be measured. p , establish S p With v r 、v t The multi-dimensional relationship between them.

5. The airworthiness test method for the damage mechanism of a dual-rotor impacting a biological body according to claim 1, characterized in that: In step 4, In different v r and v t Under the condition of the coaxial twin-rotor blades, the damage degree to the surface of the organism is different. There are two kinds of damage degree: the coaxial twin-rotor blades rub against the surface of the organism and leave sliding marks on the surface of the organism, or the coaxial twin-rotor blades scratch and penetrate the surface of the organism; If the coaxial twin-rotor blades rub against the surface of an organism and leave a sliding mark on the surface of the organism, the length of the sliding mark is defined as l s , the width of the sliding mark is w s , establish l s 、w s With v r 、v t The multi-dimensional relationship between If the coaxial twin-rotor blades cut and penetrate the surface of the organism, the penetration length is defined as l p and penetration depth d p , establish l p ,d p With v r 、v t The multi-dimensional relationship between Comprehensive r 、v t Two independent variables and l s 、w s , l p ,d p Four dependent variables are used to obtain eight curves and draw envelopes. Within the set speed range, v is calculated. r 、v t The parameter that has a greater impact on biological damage.

6. An airworthiness test device for the damage mechanism of a twin-rotor impacting a biological body, characterized in that: An airworthiness test method for the damage mechanism of a twin-rotor impacting a biological body as described in claim 1 comprises a vertical optical platform, a horizontal optical platform, a moving mechanism, a rotating motor, a high-speed camera, a plurality of coaxial twin-rotor blades, and a plurality of biological bodies; the moving mechanism is arranged on the horizontal optical platform, the rotating motor is arranged on the moving mechanism, the coaxial twin-rotor blades are arranged on the rotating motor, the vertical optical platform is arranged on the horizontal optical platform, the biological body is arranged on the vertical optical platform and is located at the end of the moving mechanism, and the high-speed camera is used to capture test images.

7. The airworthiness test device for the damage mechanism of a dual-rotor impacting a biological body according to claim 6, characterized in that: The moving mechanism includes a driving motor, a driving control box, a threaded rod, a slider, and a guide rail. The driving motor and the guide rail are arranged on the horizontal optical platform. The driving control box is used to operate the driving motor. The driving motor is used to drive the threaded rod to rotate. The slider is threadedly connected to the threaded rod and moves along the guide rail. The rotating motor is arranged on the slider.

8. The airworthiness test device for the damage mechanism of a dual-rotor impacting a biological body according to claim 7, characterized in that: A connecting piece is provided between the rotating motor and the sliding block and the rotating motor and the sliding block are connected by the connecting piece. A fixing fixture is provided on the horizontal optical platform and the fixing fixture is used for clamping the guide rail.

9. The airworthiness test device for the damage mechanism of a dual-rotor impacting a biological body according to claim 7, characterized in that: The system also includes a Bluetooth accelerometer and a plurality of light sources. The Bluetooth accelerometer is arranged on the slider, and the light sources are used to illuminate the test environment.

Images