Flapping wing aircraft sensing and control integrated test support platform based on three mechanical arm cooperation

Abstract

The application provides a flapping-wing aircraft sensing and control integrated test support platform based on cooperation of three mechanical arms, and belongs to the technical field of robot test equipment. The flapping-wing aircraft sensing and control integrated test support platform comprises a motor, a fixed support mechanism, a rotary driving mechanism, a transmission connecting mechanism and a working assembly. The motor is arranged in the fixed support mechanism, the rotary driving mechanism is arranged at the top of the fixed support mechanism, the working assembly is arranged at the top of the rotary driving mechanism, the motor is connected with the rotary driving mechanism through the transmission connecting mechanism and provides power for the rotary driving mechanism, the transmission connecting mechanism is used for transmitting power of the motor, and the rotary driving mechanism is used for driving the working assembly to rotate. The flapping-wing aircraft sensing and control integrated test support platform can realize multi-degree-of-freedom attitude control of flapping-wing aircraft test, can simulate a test environment under different wind speed conditions, has reasonable wire layout, can separate power supply of high-power equipment and conventional power equipment, improves power supply efficiency, reduces line loss, is stable in driving, accurate in movement, and accurate and reliable in test data.

Description

Technical Field

[0001] This invention relates to the field of robot testing equipment technology, and more specifically, to an integrated sensor and control testing support platform for flapping-wing aircraft based on the collaboration of three robotic arms. Background Technology

[0002] As a biomimetic robot that mimics the flight mechanism of birds or insects, flapping-wing flying robots generate lift and thrust through the periodic flapping of their wings. Compared with traditional fixed-wing or rotary-wing aircraft, they have significant advantages such as strong stealth, high maneuverability, and low energy consumption, and show broad application prospects in fields such as military reconnaissance and environmental monitoring.

[0003] However, the design and application of ornithopter aircraft currently lack a mature theoretical framework for effective guidance. Performance evaluation often relies on extensive experimentation, with outdoor flight testing considered a superior option. However, outdoor flight testing is hampered by low efficiency and susceptibility to numerous environmental interferences, resulting in unsatisfactory test results. Against this backdrop, the need for more convenient and effective testing methods is increasingly urgent, leading to the development of ground-based testing platforms. Among various ground-based testing platforms, rotating testing platforms are widely used because they can simulate suitable wind fields within a limited space. However, several limitations remain: conventional test platforms often employ single-degree-of-freedom turntables, capable of measuring only basic lift and thrust data, making it difficult to simultaneously acquire the dynamic response of flapping-wing aircraft under multiple attitude changes such as roll, pitch, and yaw coupled motions, resulting in significant deviations between test data and actual flight conditions; existing test methods are mostly conducted in static environments, and the significant discrepancies between test data and actual flight conditions prevent the simulation of dynamic wind fields such as constant winds and gusts encountered during actual flight; especially in multi-aircraft cooperative flight scenarios, the vortex field generated by the leading flapping-wing aircraft significantly affects the aerodynamic performance of the following aircraft, and traditional test platforms lack the ability to simulate this clustering effect. Furthermore, existing technologies are mostly designed for single-aircraft testing, neglecting the mutual interference effects during multi-aircraft cooperative flight, and lacking platform solutions that can support synchronous testing of multiple aircraft when studying cluster behaviors such as formation flying and collision avoidance. Meanwhile, after introducing a multi-degree-of-freedom robotic arm to expand the test attitude range, the traditional gear transmission method generates significant mechanical noise, interfering with the aerodynamic noise measurement of the flapping-wing aircraft itself. Furthermore, the eccentric transmission structure is prone to platform vibration, and the lack of constraint on the operating trajectory further affects test accuracy. These issues highlight the shortcomings of existing flapping-wing aircraft test platforms in terms of performance evaluation accuracy, scenario adaptability, and multi-aircraft collaborative testing capabilities. Summary of the Invention

[0004] The purpose of this invention is to address the problems of significant deviations between current test data and actual flight conditions, and the lack of simulation capabilities for such clustering effects, by proposing an integrated sensing and control test support platform for flapping-wing aircraft based on the cooperation of three robotic arms.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A test support platform for the integrated sensing and control of flapping-wing aircraft based on the collaboration of three robotic arms includes: a motor, a fixed support mechanism, a rotary drive mechanism, a transmission connection mechanism, and working components;

[0007] A motor is installed inside the fixed support mechanism, and a rotary drive mechanism is supported at the top of the fixed support mechanism. The working component is installed at the top of the rotary drive mechanism. The motor is connected to the rotary drive mechanism through the transmission connection mechanism and provides power to the rotary drive mechanism. The transmission connection mechanism is used to transmit the power of the motor, and the rotary drive mechanism is used to drive the working component to rotate.

[0008] Optionally, the fixed support mechanism includes an annular base, a motor support is provided inside the annular base, a slot is provided on the motor support for placing the motor, and multiple support columns are evenly provided on the top of the annular base and the top of the motor support. A worktable is provided at the top of the support column, and a central hole is opened in the center of the worktable.

[0009] Optionally, the transmission connection mechanism includes a coupling, the output end of the motor is connected to a transmission shaft through the coupling, the rotary drive mechanism includes a transmission turntable, the transmission shaft passes through the central hole and is connected to the transmission turntable, the working component includes a rotating tray, the rotating tray is mounted on the transmission turntable, and the transmission shaft drives the rotating tray to rotate through the transmission turntable.

[0010] Optionally, the rotary drive mechanism includes a bearing, the rotor of the bearing is connected to the transmission turntable, the transmission turntable is sleeved on the transmission shaft, the stator of the bearing is connected to the bearing housing, the bearing housing is mounted on the worktable, and the central hole is located inside the bearing housing.

[0011] Optionally, the transmission connection mechanism includes a conductive slip ring, which comprises a conductive slip ring rotor and a conductive slip ring stator. The conductive slip ring rotor is sleeved on and connected to the transmission shaft, and the conductive slip ring stator is sleeved on the conductive slip ring rotor. The conductive slip ring rotor rotates with the transmission shaft, and an anti-rotation plate is mounted on the conductive slip ring stator via a pin, which keeps the conductive slip ring stator stationary. A flange is mounted on the top end of the conductive slip ring rotor, and the flange is sleeved on the transmission shaft and connected to the transmission turntable.

[0012] Optionally, the rotary drive mechanism includes an annular slide rail, which is provided on the top surface of the worktable. The transmission turntable is located inside the annular slide rail and the annular slide rail is concentrically arranged with the transmission turntable. Multiple sliders are slidably arranged in a uniform annular array on the annular slide rail. The bottom of the rotating tray is connected to the sliders. A Y-shaped arm is provided on the rotating tray, with three arm ends of equal length. Each arm end has a work station at its top.

[0013] Optionally, the top surface of the annular base is at the same height as the top surface of the motor support, and three support arms are evenly arranged in a circular array on the bottom surface of the annular base. Two feet are provided on the bottom surface of the support arms along the length direction of the support arms, and one foot is provided on the bottom surface of the annular base between two adjacent support arms.

[0014] Optionally, multiple feet are arranged in a uniform circular array on the bottom surface of the motor support, with the bottom surface of each foot located on the same horizontal plane.

[0015] Optionally, a ventilation mesh is provided at the bottom of the slot of the motor support.

[0016] Optionally, the included angle between any two adjacent arm ends is 120°.

[0017] Compared with the prior art, the technical solution provided by this invention has at least the following beneficial effects:

[0018] In the above solution, with the collaborative control of multiple robotic arms, it can not only simulate the attitude changes of a single flapping-wing aircraft under multiple degrees of freedom such as roll, pitch, and yaw, but also simultaneously support multiple flapping-wing aircraft to complete coordinated actions such as formation flight and collision avoidance. This solves the problem that traditional platforms cannot achieve multi-aircraft collaborative testing and complex attitude simulation, and flexibly meets the actual needs of flapping-wing aircraft cluster operations.

[0019] This solution accurately replicates dynamic wind fields, such as constant wind and gusts, that flapping-wing aircraft may encounter during flight by dynamically adjusting the motor speed, thus compensating for the differences between static test environments and real flight scenarios. It is especially suitable for the flapping characteristics of flapping-wing aircraft that are sensitive to changes in airflow. Through the coordinated control of adjusting the working distance of the robotic arm and adjusting the angular velocity of the rotating tray, test environments under different wind speed conditions can be accurately simulated.

[0020] This solution employs an innovative low-noise transmission connection mechanism to reduce mechanical interference. It also integrates multiple sensors, including force, torque, and aerodynamic noise sensors, to achieve synchronous acquisition of key parameters during the flapping process of the flapping wing aircraft. Furthermore, by optimizing the rigidity and dynamic balance design of the mechanical connection, it suppresses structural vibration, thus solving the problems of high transmission noise, limited measurement parameters, and vibration interference in lift and thrust calculations in traditional platforms.

[0021] The fixed support mechanism serves as the overall foundation, providing stable support through a three-pillar, nine-legged base. Combined with a motor support, it ensures the motor's secure installation. The bearing housing provides a precise reference for the transmission connection mechanism, while the annular slide rail provides trajectory constraints for the rotary drive mechanism, fundamentally guaranteeing the structural stability of the three-manipulator collaborative platform. The rotary drive mechanism, relying on the transmission connection mechanism, drives the rotating tray to rotate. Together with the manipulators and attitude control gimbal, it achieves multi-degree-of-freedom attitude adjustment and dynamic wind field simulation, meeting the needs of different testing scenarios. The transmission connection mechanism ensures precise power transmission and reliable electrical connection during rotation, guaranteeing transmission accuracy and signal transmission stability. Through innovative mechanical structure and control system design, this three-manipulator collaborative platform can simultaneously achieve multi-machine collaborative testing, dynamic environment simulation, and precise multi-parameter measurement, providing more comprehensive and accurate test data for the development of flapping-wing aircraft.

[0022] The rotating tray not only achieves a rational layout of the wires but also provides stable power and communication channels for the three workstations. The power supply channel of the conductive slip ring, through a hierarchical design with dual power supply slots, separates the power supply for high-power equipment from that for conventional power equipment. Combined with a star topology shunt structure, this improves system power supply efficiency and reduces line losses.

[0023] The unique structure of the motor support in this design ensures absolute stability of the rotary drive mechanism and transmission connection mechanism; the precise alignment design of the transmission shaft guarantees motion accuracy; the matching scheme of the annular slide rail and slider strictly controls the running trajectory; and the innovative application of the conductive slip ring opens up the electrical channel of the rotating coordinate system. This allows the three-arm collaborative platform of this design to ensure the accuracy and reliability of test data while simulating actual flight environments, providing better testing conditions and technical support for the development of flapping-wing aircraft. Attached Figure Description

[0024] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the invention and, together with the specification, further serve to explain the principles of the invention and enable those skilled in the art to practice and use the invention.

[0025] Figure 1 A three-dimensional structural schematic diagram of the integrated sensing and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0026] Figure 2 Side view of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0027] Figure 3 A top view of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0028] Figure 4 A schematic diagram of the motor support structure of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0029] Figure 5 The top surface of the workbench of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0030] Figure 6 The bottom surface of the workbench of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0031] Figure 7 A top view of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention after removing the rotating tray and robotic arms;

[0032] Figure 8 This is a schematic diagram of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention after removing the rotating tray, workbench and robotic arms.

[0033] Figure 9 A schematic diagram of the transmission connection mechanism and bearing seat of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0034] Figure 10 A schematic diagram of the transmission connection mechanism, bearing housing, and bearing of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention.

[0035] Figure 11 A schematic diagram of the base structure of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0036] Figure 12 Bottom view of the rotating tray of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms cooperation provided by the present invention;

[0037] Figure 13 A schematic diagram of the bearing structure of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration provided by the present invention;

[0038] Figure 14 A schematic diagram of the transmission connection mechanism of the integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms provided by the present invention.

[0039] [Figure Labels]

[0040] 11. Annular base; 12. First support column; 121. Second support column; 13. Workbench; 14. Foot; 2. Motor; 21. Ventilation mesh; 22. Motor support; 41. Bearing housing; 42. Bearing; 51. Coupling; 52. Drive shaft; 53. Conductive slip ring; 54. Flange; 61. Transmission turntable; 71. Annular slide rail; 72. Slider; 8. Rotary tray; 9. Y-arm; 10. Workstation; 1071. Anchor stud; 1072. Shock-absorbing rubber pad; 501. Anti-rotation plate; 502. Conductive slip ring rotor section; 503. Conductive slip ring stator section.

[0041] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0042] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should also be noted that, to make the embodiments more comprehensive, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some well-known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0043] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0044] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0045] It is understood that the meanings of “on”, “above”, and “above” in this invention should be interpreted in the broadest manner, such that “on” means not only “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” means not only “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0046] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0047] like Figures 1 to 14 As shown, this embodiment of the invention provides an integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms, including a motor 2, a fixed support mechanism, a rotary drive mechanism, a transmission connection mechanism, and a working component; the motor 2 is installed inside the fixed support mechanism, the rotary drive mechanism is supported at the top of the fixed support mechanism, and the working component is installed at the top of the rotary drive mechanism; the motor 2 is connected to the rotary drive mechanism through the transmission connection mechanism and provides power to the rotary drive mechanism; the transmission connection mechanism is used to transmit the power of the motor 2; and the rotary drive mechanism is used to drive the working component to rotate.

[0048] like Figures 1 to 4As shown, the fixed support mechanism includes an annular base 11 and a motor support 22. Three outriggers are evenly arranged in a circular array on the bottom surface of the annular base 11. Two feet 14 are arranged on the bottom surface of each outrigger along its length. One foot 14 is located on the bottom surface of the annular base between two adjacent outriggers. The motor support 22 is housed within the annular base 11 and has slots for placing the motor 2. The motor support 22 includes a motor support base and a first arc-shaped ring. The first arc-shaped ring is of a superior arc shape. The top of the motor support base is connected to the first arc-shaped ring via several evenly arranged motor support columns. The first arc-shaped ring connects to the annular base 11, fixing the motor support 22 within the annular base 11. The top surface of the annular base 11 and the top surface of the motor support 22 (the first arc-shaped ring) are at the same height. Multiple feet 14 are evenly arranged in a circular array on the bottom surface of the motor support 22 (the bottom surface of the motor support base). The bottom surfaces of each foot 14 on the motor support 22 and each foot 14 on the annular base 11 are on the same horizontal plane. The height difference between the arc-shaped apex ring and the motor support base forms a groove, and a ventilation mesh 21 is provided at the bottom of the groove, i.e., the center of the motor support base. Three first support columns 12 are evenly arranged in a circular array on the top surface of the annular base 11, and each first support column 12 is connected and reinforced to its corresponding extension arm via a fastener. The foot 14 includes a foot stud 1071, with a shock-absorbing rubber pad 1072 installed at the bottom of the foot stud 1071. The foot stud 1071 engages with the threaded holes on the bottom of the annular base 11 and the motor support 22, providing stable support while achieving the leveling function of the three-arm collaborative platform. The fixed support mechanism uses a three-pillar, nine-legged base as the overall support, with the six legs symmetrically distributed.

[0049] like Figures 1 to 8 As shown, a motor mounting bracket is provided on the top surface of the motor support 22. The motor mounting bracket includes a second arc-shaped ring, which is of a superior arc shape. The first and second arc-shaped rings are connected by several support rods, and the openings of the first and second arc-shaped rings correspond to each other. The motor is installed in the slot within the motor mounting bracket. The second arc-shaped ring is connected and reinforced to the first support column 12. Three second support columns 121 are evenly arranged in a circular array on the second arc-shaped ring. The top surfaces of the first support column 12 and the second support column 121 are both mounted on the bottom surface of the worktable 13. A central hole is provided in the center of the worktable 13.

[0050] The motor mounting bracket forms a rigid support structure for the motor 2. When installing the motor 2, its bottom is first embedded into the bottom ventilation mesh 21 of the motor support 22 for positioning, and then it is rigidly fixed to the motor mounting bracket through flange connection, ensuring that the coaxiality error between the axis of the motor 2 and the rotation center is strictly controlled within ±0.1mm. The symmetrical distribution and adjustable structure of the feet 14 ensure the overall stability of the three robotic arm collaborative platform, and the multi-layer constraint design of the motor fixing system ensures the installation accuracy of the rotary drive mechanism.

[0051] like Figures 7 to 10 As shown, the transmission mechanism includes a coupling 51, and the output end of the motor 2 is connected to the transmission shaft 52 through the coupling 51. The rotary drive mechanism includes a transmission turntable 61 and a bearing 42. The transmission shaft 52 passes through the central hole and is connected to the transmission turntable 61. The working component includes a rotating tray 8. The rotating tray 8 is mounted on the transmission turntable 61. The transmission shaft 52 drives the rotating tray 8 to rotate through the transmission turntable 61.

[0052] The rotor of bearing 42 is connected to the transmission turntable 61, which is mounted on the transmission shaft 52. The stator of bearing 42 is connected to the bearing housing 41, which is mounted on the worktable 13 with its center hole located inside. The bearing housing 41 is mounted at the center hole and is tightly fixed to the worktable 13 through a threaded hole, serving as the fixed base for the YRT bearing stator. The inner diameter of the bearing housing 41 is machined to IT6 grade with a roundness error ≤0.01mm. The transmission turntable 61 is mounted on the inner ring of the YRT bearing rotor and rotates relative to the stator of bearing 42 as its load. The bottom of the transmission turntable 61 has a transmission through hole ring around which cable through holes are reserved for the output of the conductive slip ring rotor 502. The outer ring of the transmission turntable 61 has external threads for mounting the flange 54 to transmit torque to the conductive slip ring 53.

[0053] The stator of bearing 42 is fixed in bearing housing 41 by interference fit, while the rotor of bearing 42 is connected to transmission turntable 61 by tapered surface fit. The transmission shaft 52, passing through the center of the bearing, is connected to the output shaft of motor 2 via flexible coupling 51. This design ensures transmission accuracy and effectively compensates for minor deviations during installation. The bottom of transmission turntable 61 has evenly distributed reinforcing ribs, ensuring uniformity and stability of torque transmission and solving the problem of concentricity control of transmission shaft 52.

[0054] like Figure 14As shown, the transmission connection mechanism includes a conductive slip ring 53, which comprises a conductive slip ring rotor 502 and a conductive slip ring stator 503. Both the conductive slip ring rotor 502 and the conductive slip ring stator 503 are hollow cylindrical structures. The conductive slip ring rotor 502 is sleeved on and connected to the transmission shaft 52, and rotates with the transmission shaft 52. The conductive slip ring stator 503 is sleeved on the conductive slip ring rotor 502. An anti-rotation plate 501 is mounted on the conductive slip ring stator 503 via a pin, which keeps the conductive slip ring stator 503 stationary. This is prior art and will not be described in detail here. A flange 54 is mounted on the top of the conductive slip ring rotor 502, and the flange 54 is sleeved on the transmission shaft 52. The flange 54 is connected to the bottom of the transmission turntable 61 via a connector. The through-hole conductive slip ring 53 realizes the circuit connection between the rotating and stationary coordinate systems. The transmission connection mechanism adopts a direct drive transmission method. The transmission shaft 52 is extended through the central hole via the coupling 51, which drives the conductive slip ring rotor 502, the transmission turntable 61 and the rotating tray 8 to rotate synchronously.

[0055] The coupling 51 and the drive shaft 52 pass through the central hole and the central through hole of the drive turntable 61 and are connected to the conductive slip ring rotor 502; the through hole conductive slip ring rotor 502 is installed below the drive turntable 61 located inside the bearing 42 through the threaded flange 54.

[0056] like Figure 7 , Figure 8 and Figure 12 As shown, the rotary drive mechanism includes an annular slide rail 71 on the top surface of the worktable 13. The worktable 13 has a disc structure, and the annular slide rail 71 is concentric with the worktable 13. The transmission turntable 61 is located inside the annular slide rail 71, and the annular slide rail 71 and the transmission turntable 61 are concentrically arranged. Multiple sliders 72 are evenly arranged in an annular array on the annular slide rail 71. The rotating tray 8 has a disc structure, and multiple protrusions are evenly arranged in an annular array on the bottom surface of the rotating tray 8. The number and position of the protrusions correspond one-to-one with the number and position of the sliders 72. The bottom of each protrusion is connected to each slider. When the rotating tray 8 rotates, it rotates stably on the annular slide rail 71 through the sliders 72. A Y-shaped arm 9 is provided on the rotating tray 8, and the three arm ends are of equal length. A standardized station 10 is provided at the top of the end of each arm. The included angle between any two adjacent arm ends is 120°, enabling the robotic arm to work in a rotating coordinate system. The sliders 72 allow the rotating tray 8 to move smoothly on the annular slide rail 71. The clearance between the annular slide rail 71 and the slider 72 is ≤0.005mm, and the radial runout and axial movement of the rotating tray 8 are both ≤0.003mm.

[0057] In terms of electrical connections, a through-hole conductive slip ring 53 is used. The stator part 503 of the conductive slip ring is connected to the external static circuit. This embodiment achieves high efficiency and reliability of electrical connections through optimized layout. Specifically, the output cable of the rotor part 502 of the conductive slip ring first passes through the central through-hole of the transmission turntable 61 and the rotating tray 8, and reaches the cable management area in the center of the rotating tray 8 for initial arrangement. The cable management area adopts a fortress-type design, and the signal transmission line can be directly connected to the corresponding interface of each workstation through the through-hole of the table surface, ensuring the integrity of signal transmission. The power supply line adopts a branch design. The main power line is connected to the nearest configured splitter through the ring-shaped channels on both sides. The branch power lines after splitting are laid along the pre-set arc-shaped cable trays around the periphery of the three robotic arm collaborative platform, and finally connected to the power supply port of each workstation 10 with the shortest path. This layered and zoned cable management scheme not only ensures electromagnetic isolation between different lines, but also achieves a neat and orderly cable layout, effectively avoiding cable tangling and signal interference problems. The three test stations 10 are symmetrically distributed on the rotating tray 8, matching the working range of the robotic arm to ensure optimal test results.

[0058] The through-hole conductive slip ring 53 adopts a four-slot layered design, including two power supply slots and two communication slots. The first power supply slot uses an eight-wire design with a maximum current carrying capacity of 50A. It is divided into four power supply lines according to function: the first group supplies power to the flapping-wing aircraft's speed controller; the second group supplies power to the anemometer and control board; the third group supplies power to the ATI force sensor; and the fourth group supplies power to the camera. Each group provides three separate power lines to three workstations. The second power supply slot uses a six-wire design with a maximum current carrying capacity of 40A and a maximum current per wire of 15A. It is specifically used for three sets of positive and negative lines, corresponding to the power supply needs of the robotic arms at the three workstations 10. All power supply branches are equipped with independent overcurrent protection devices with a response time of <10ms. The through-hole conductive slip ring 53 has a total of 44 communication lines.

[0059] The first communication slot of the conductive slip ring 53 integrates 24 ordinary signal transmission channels using 3 sets of 8-core TRVSP shielded cables (0.15mm² diameter), fully meeting the future peripheral expansion communication needs. The second communication slot integrates both ATI dedicated communication lines and RS485 communication lines, both using 3 sets of 2-core TRVSP shielded cables (0.13mm² diameter). Equipped with a twisted-pair shielded structure, it provides 6+3 signal channels, simultaneously meeting the ATI / RS485 data transmission and reception and shielding functions of three workstations. The twisted-pair shielding of the signal lines ensures near-end crosstalk ≤-70dB.

[0060] The power supply lines all use precision shunts to distribute current, ensuring balanced power supply to the three workstations 10. In particular, the power supply groups serving multiple workstations 10 all adopt a star topology, with the main line divided into three branches by a dedicated shunt, and each branch equipped with an independent overcurrent protection device.

[0061] The rotating tray 8 is made of 6061 aluminum alloy and features a double-layer composite structure design, including a bottom circular load-bearing base and an upper Y-shaped arm 9. The central area of ​​the upper layer of the rotating tray 8 has a hexagonal cable management area, with three splitter mounting slots symmetrically distributed at 120° around its perimeter. An annular cable routing groove is set on the outside of the splitter mounting slots. Each splitter mounting slot is connected to the cable management area through a radial channel. Three power supply channels extend from the outer edge of the annular cable routing groove and connect to the power supply / communication interface of the corresponding workstation 10 along the Y-shaped arm 9. The surface of the Y-shaped arm 9 is machined with three camera bracket mounting holes using M6 standard thread specifications. The central disc surface of the circular load-bearing base plate at the bottom of the rotating tray 8 is in direct contact with the top surface of the transmission turntable 61. It is fixed by connecting the bottom screw hole group with the top screw hole group of the transmission turntable 61. The outer edge is provided with six connection points. The six connection points of the rotating tray 8 are rigidly connected to six sliders 72. The bottom of the slider 72 is provided with a guide groove, which forms a precise fit with the working surfaces on both sides of the annular slide rail 71. A constant contact pressure is maintained by a pre-tightening spring.

[0062] The annular slide rail 71 is made of high-hardness quenched steel and includes guide rail connectors and guide rails. The annular slide rail 71 is connected end-to-end in a ring shape and directly mounted on the top surface of the worktable 13, maintaining concentricity with the transmission turntable 61. The guide rail connectors sequentially connect the guide rail elements end-to-end to form a ring rail, which is used to distribute gravity to prevent overturning and stabilize the operation, achieving a balance between the stability and positioning accuracy of the rotating system, controlling the radial runout of the rotating platform within 0.3mm. Furthermore, the annular slide rail 71 is equipped with a specially designed lubrication structure. This lubrication structure ensures the stability of the system under long-term high-speed operation; this design effectively solves the problem of precise constraint of the rotation trajectory.

[0063] There are three robotic arms, which are tightly fixed to three workstations 10 on the upper Y-shaped arm 9 structure of the rotating tray 8, which are evenly distributed in a 120-degree circle. They rotate synchronously with the rotating tray 8 and can support three flapping-wing aircraft for testing at the same time. The working range of the robotic arms is matched with the 1m distribution radius of the workstations 10, enabling the system to achieve multi-degree-of-freedom attitude control within a 2m diameter range.

[0064] The core innovation of this embodiment lies in achieving five key functions through mechanical structure design: stable fixation of motor 2, precise alignment of transmission shaft 52, accurate constraint of the rotation trajectory of rotating tray 8, reliable electrical connection in the rotating coordinate system, and improved measurement stability through rigidity reinforcement and vibration suppression design. These innovations are fully reflected in the fixed support mechanism, the rotating drive mechanism, and the transmission connection mechanism. The various mechanisms work together to create a high-precision and high-stability testing environment.

[0065] By coordinating the adjustment of the working distance by the Y-shaped arm 9 and the adjustment of the angular velocity by the rotating tray 8, the test environment under different wind speed conditions can be accurately simulated.

[0066] The independently designed top rotating tray 8 not only achieves a reasonable layout of the wires but also provides stable power supply and communication channels for the three workstations 10. The power supply channel of the conductive slip ring 53 uses a hierarchical design with dual power supply slots to separate the power supply of high-power equipment from that of conventional power equipment. Combined with a star topology current distribution structure, this improves the system's power supply efficiency and reduces line losses. The communication channel uses TRVSP double-shielded cables with impedance matching circuits to reduce signal crosstalk to below -70dB, control the ATI sensor signal transmission delay to the 50ns level, and improve the anti-interference capability of the RS485 bus. Furthermore, the 24-channel general-purpose signal channel is designed to support the addition of new sensors in the future without modifying the main structure. Modular cable grouping management shortens the fault location time, and the maximum current limiting design of 15A per line can prevent overload cascading damage.

[0067] The special structure of the motor mounting bracket ensures absolute stability; the precision alignment design of the drive shaft 52 guarantees motion accuracy; the matching scheme between the annular slide rail 71 and the slider 72 strictly controls the running trajectory; and the innovative application of the conductive slip ring 53 opens up the electrical channel of the rotating coordinate system. The three-arm collaborative testing platform can ensure the accuracy and reliability of test data while simulating the actual flight environment, providing better testing conditions and technical support for the development of flapping-wing aircraft.

[0068] The internal current loop of the conductive slip ring 53 ensures the electrical connection between the stator outlet of the conductive slip ring 503 and the rotor outlet of the conductive slip ring 502, and is used for communication and power supply between the static fixed support mechanism and the rotary drive mechanism. The through-hole conductive slip ring 53 enables dynamic power supply and signal transmission, solving the problem of wire entanglement during the continuous 360° rotation of the rotating tray 8. Its design highlights are as follows:

[0069] First, structural and layout optimizations were adopted, taking into account concentric integration design, through-hole structure, and cable outlet channels. The conductive slip ring 53 is strictly concentric with the drive shaft 52 and the rotating tray 8 (coaxiality ≤ 0.1mm); a through hole is opened in the center of the conductive slip ring 53 for the drive shaft 52 to pass through, and a ring of cable through holes is reserved at the bottom of the drive turntable 61, which is aligned with the cable outlet of the conductive slip ring rotor 502 to achieve a reliable electrical connection between the rotating coordinate system (turntable) and the stationary coordinate system (base).

[0070] Secondly, considering dynamic transmission performance, the conductive slip ring rotor 502 rotates synchronously with the transmission turntable 61 to ensure a constant cable path from station 10 to the conductive slip ring 53, avoiding signal attenuation caused by cable twisting or length changes. The use of a direct-drive motor in conjunction with a through-hole slip ring design reduces mechanical noise to ≤45dB compared to gear / eccentric transmission schemes, and its low-noise compatibility meets the acoustic testing requirements of flapping-wing aircraft.

[0071] In summary, the coaxial four-body linkage of motor 2, drive shaft 52, conductive slip ring 53, and rotating tray 8 achieves uninterrupted power supply / communication for the rotating system and controls the eccentricity and radial runout of the transmission path, significantly improving cable life under heavy rotation. Importantly, this invention provides stable support through a three-pillar, nine-legged base. Motor 2 and bearing housing 41 drive the rotation and stabilize drive shaft 52, while annular slide rail 71 and slider 72 constrain the motion path, enabling rotating tray 8 to achieve high-precision, highly stable, and low-vibration rotational motion. The radial runout and axial movement of this three-arm collaborative platform are ≤0.003mm, making it suitable for automated equipment or precision turntable applications requiring smooth rotation, and meeting the controllable constant wind field requirements of flapping-wing aircraft.

[0072] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one, etc." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0073] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0074] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A test support platform for integrated sensing and control of flapping-wing aircraft based on three robotic arms, characterized in that, include: Motor, fixed support mechanism, rotary drive mechanism, transmission connection mechanism and working components; The fixed support mechanism is equipped with a motor, and a rotary drive mechanism is supported at the top of the fixed support mechanism. The working component is located at the top of the rotary drive mechanism. The motor is connected to the rotary drive mechanism through the transmission connection mechanism and provides power to the rotary drive mechanism. The transmission connection mechanism is used to transmit the power of the motor, and the rotary drive mechanism is used to drive the working component to rotate. The fixed support mechanism includes an annular base, a motor support is provided inside the annular base, a slot is provided on the motor support for placing the motor, and multiple support columns are evenly provided on the top of the annular base and the top of the motor support. A worktable is provided at the top of the support column, and a central hole is opened in the center of the worktable. The transmission connection mechanism includes a coupling, and the output end of the motor is connected to a transmission shaft through the coupling. The rotary drive mechanism includes a transmission turntable, and the transmission shaft passes through the central hole and is connected to the transmission turntable. The working component includes a rotating tray, and the rotating tray is mounted on the transmission turntable. The transmission shaft drives the rotating tray to rotate through the transmission turntable. The rotary drive mechanism includes a bearing, the rotor of which is connected to the transmission turntable, the transmission turntable being sleeved on the transmission shaft, the stator of which is connected to a bearing housing, the bearing housing being mounted on the worktable, and the central hole being located inside the bearing housing. The transmission connection mechanism includes a conductive slip ring, which comprises a conductive slip ring rotor and a conductive slip ring stator. The conductive slip ring rotor is sleeved on and connected to the transmission shaft, and the conductive slip ring stator is sleeved on the conductive slip ring rotor. The conductive slip ring rotor rotates with the transmission shaft. An anti-rotation plate is mounted on the conductive slip ring stator via a pin, which keeps the conductive slip ring stator stationary. A flange is mounted on the top of the conductive slip ring rotor, and the flange is sleeved on the transmission shaft and connected to the transmission turntable. The rotary drive mechanism includes an annular slide rail, which is provided on the top surface of the worktable. The transmission turntable is located inside the annular slide rail and the annular slide rail is concentrically arranged with the transmission turntable. Multiple sliders are slidably arranged in a uniform annular array on the annular slide rail. The bottom of the rotating tray is connected to the sliders. A Y-shaped arm is provided on the rotating tray, with three arm ends of equal length. Each arm end has a work station at its top.

2. The integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration as described in claim 1, characterized in that, The top surface of the annular base is at the same height as the top surface of the motor support. Three support arms are evenly arranged in a circular array on the bottom surface of the annular base. Two feet are provided on the bottom surface of the support arms along the length of the support arms. One foot is provided on the bottom surface of the annular base between two adjacent support arms.

3. The integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration as described in claim 2, characterized in that, Multiple feet are evenly arranged in a circular array on the bottom surface of the motor support, and the bottom surface of each foot is located on the same horizontal plane.

4. The integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration as described in claim 1, characterized in that, The bottom of the slot of the motor support is provided with a ventilation mesh.

5. The integrated sensor and control test support platform for flapping-wing aircraft based on three robotic arms collaboration as described in claim 1, characterized in that, The included angle between any two adjacent arm ends is 120°.

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