A multi-functional flapping wing energy harvesting device with variable front and rear edge structures

Abstract

The application relates to the technical field of flow field energy collection, in particular to a multifunctional flapping wing energy collection device with variable front and tail edge structures, which comprises a sliding rail module, a multifunctional platform, an adjusting assembly and a flapping wing module; the flapping wing module comprises a wing collar, a wing body and a wing swing which are rotationally connected in sequence; the multifunctional platform comprises a sliding table, a double-shaft pitching driving steering engine, a sinking and floating driving steering engine, a rack and a gear; the double-shaft pitching driving steering engine is arranged on the sliding table and connected with the wing body through the adjusting assembly; the sinking and floating driving steering engine is arranged on the sliding table, and the gear is detachably connected to an output shaft of the sinking and floating driving steering engine; the rack is arranged on the sliding rail module, and the connection state of the gear and the rack comprises a first state and a second state; in the first state, the gear is engaged with the rack; in the second state, the gear is disengaged from the rack; the multifunctional platform is used for realizing flexible switching of the flapping wing energy collection device between full active and semi-active motion modes, so that the application range of the flapping wing energy collection device is improved.

Description

Technical Field

[0001] This invention relates to the field of flow field energy harvesting technology, and in particular to a multifunctional flapping wing energy harvesting device with a variable leading and trailing edge structure. Background Technology

[0002] With the increasing demand for renewable energy development such as ocean energy and river energy, energy harvesting technology based on fluid-induced oscillation has gradually attracted attention. The energy of fluid-induced oscillation is harvested using an oscillating flapping wing energy harvesting device. By imitating the flapping motion of organisms, the airfoil generates lift and fluid torque under unsteady flow by using periodic motions such as buoyancy and pitch in the fluid. This converts the fluid dynamic energy or vibration energy in the environment into electrical energy, thereby realizing the conversion of mechanical energy into electrical energy and making wind energy and ocean current energy clean renewable energy sources.

[0003] The existing flapping-wing energy harvesting device includes a main frame, a guide rail, a slider, and flapping-wing blades. The guide rail is fixedly mounted on the main frame and slidably connected to the slider. The slider is slidably connected to the flapping-wing blades. It also includes a locking mechanism and two protrusions. The locking mechanism is mounted on the slider and its actuating end is fixedly connected to the flapping-wing blades to keep the angle of the flapping-wing blades locked. When the flapping-wing blades are subjected to a directional flow, the flapping-wing blades drive the slider to move along the guide rail. The two protrusions are fixedly mounted at the upper and lower ends of the main frame, respectively.

[0004] In the process of energy harvesting, the relevant flapping wing energy harvesting device applies fluid force to the flapping wing blades through fluid flow to capture fluid energy. However, due to the simple structure and driving method of the flapping wing blades, it is difficult to flexibly switch between different motion modes such as fully active and semi-active, which affects the applicability of the flapping wing energy harvesting device. Summary of the Invention

[0005] To improve the applicability of flapping-wing energy harvesting devices, this application provides a multifunctional flapping-wing energy harvesting device with a variable leading and trailing edge structure.

[0006] This application provides a multi-functional flapping wing energy harvesting device with a variable leading and trailing edge structure, employing the following technical solution: A multi-functional flapping wing energy harvesting device with a variable leading and trailing edge structure includes a slide rail module, a multi-functional platform, an adjustment component, and a flapping wing module; The flapping wing module includes a wing collar, a wing body, and a wing flap that are rotatably connected in sequence. The multi-functional platform includes a slide, a dual-axis pitch drive servo, a buoyancy drive servo, a rack and pinion, and gears. The dual-axis pitch drive servo is mounted on the slide, and the dual-axis pitch drive servo is connected to the wing body through the adjustment assembly. The adjustment assembly is used to drive the angle adjustment of the wing leader, wing body and wing sway. The buoyancy drive servo is mounted on the slide, and the gear is detachably connected to the output shaft of the buoyancy drive servo. The rack is mounted on the slide rail module, and the connection state between the gear and the rack includes a first state and a second state. In the first state, the gear is coaxially connected to the output shaft of the buoyancy drive servo motor, and the gear meshes with the rack; In the second state, the gear disengages from the output shaft of the buoyancy drive servo and disengages from the rack.

[0007] Optionally, the flapping wing module further includes a wing leader pitch axis and a wing flap pitch axis, wherein the wing leader and the wing body are rotatably connected via the wing leader pitch axis, and the wing flap and the wing body are rotatably connected via the wing flap pitch axis.

[0008] Optionally, the adjustment assembly includes a servo clamp, a wing-lead drive servo, a pitch transmission component, and a wing-tilt drive servo. The servo clamp is mounted on the slide; The wing-leader drive servo is mounted on the servo fixture, and the output shaft of the wing-leader drive servo is coaxially connected to the wing-leader pitch axis. The pitch transmission component is rotatably connected to the servo clamp, and one end of the pitch transmission component is rotatably connected to the wing body, while the other end is coaxially connected to the output shaft of the dual-axis pitch drive servo. The wing swing drive servo is mounted on the servo fixture, and the output shaft of the wing swing drive servo is coaxially connected to the wing swing pitch axis.

[0009] Optionally, the multi-functional platform also includes a torque sensor and a torque sensor bracket; The torque sensor bracket is mounted on the slide table; The torque sensor is mounted on the torque sensor bracket, and the input shaft of the torque sensor is coaxially connected to the output shaft of the dual-axis pitch drive servo.

[0010] Optionally, the multi-functional platform also includes a servo housing and tension / compression sensors; The servo housing is mounted on the slide; The buoyancy drive servo is mounted on the servo housing, and the output shaft of the buoyancy drive servo is connected to the input end of the tension / compression sensor.

[0011] Optionally, the tension / compression sensing element includes a tension / compression sensor and a sensor mounting bracket, wherein the sensor mounting bracket is mounted on the slide table, and the tension / compression sensor is mounted on the sensor mounting bracket.

[0012] Optionally, the slide rail module includes two clamping plates and multiple slide rails; The two clamping plates are located at both ends of the slide rail, and the slide rail is connected to the clamping plates, with the two clamping plates arranged in parallel. The two adjacent slide rails are arranged in parallel. The slide table is arranged through multiple slide rails, and the slide table is slidably connected to the slide rails.

[0013] Optionally, the slide rail module further includes two sets of slide rail seats mounted on each of the slide rails, the slide rail seats being detachably fixed to the slide rails.

[0014] Optionally, the slide rail seat is provided with a guide hole for sliding of the slide rail, and the slide rail seat is provided with a dividing gap, the dividing gap communicating with the guide hole, and an adjusting bolt is threadedly connected to the slide rail seat, the adjusting bolt passing through the dividing gap.

[0015] Optionally, a ranging module is also included, which includes a laser ranging sensor mounted on one of the clamps. The laser ranging sensor emits a beam toward the multifunctional platform to measure the displacement of the multifunctional platform along the length of the slide rail in real time and obtain the corresponding linear velocity based on the displacement change.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. The designed multi-functional flapping wing energy harvesting device with variable leading and trailing edge structure achieves active buoyancy movement of the flapping wing module through rack, pinion, and buoyancy drive servo. After removing the gear, it can switch to a semi-active motion mode, allowing the flapping wing module to generate a passive response under fluid action. This enables flexible switching between fully active and semi-active motion modes, improving the applicability of the flapping wing energy harvesting device. By rationally arranging torque sensors, tension and compression sensors, and laser rangefinders, key dynamic parameters such as flapping wing pitch torque, buoyancy displacement, velocity, and lift can be acquired in real time during fluid motion. At the same time, the multiple motion modes and structural forms of the flapping wing module facilitate the improvement of energy harvesting efficiency and the analysis of the energy harvesting performance of the flapping wing module. 2. The designed multi-functional flapping wing energy harvesting device with variable leading and trailing edge structure uses the output shaft of the pitch drive servo to drive the adjustment components, thereby driving the flapping wing module to perform pitch motion as a whole. The wing leader drive servo and the wing sway drive servo apply a certain angle of relative deflection to the wing leader and wing sway respectively on the basis of the overall pitch motion, and the deflection angle of the two can be adjusted independently. By decoupling the overall pitch motion of the flapping wing from the local angle adjustment of the wing leader and wing sway, flexible control of the flapping wing motion attitude and camber distribution is achieved, improving the degree of freedom of the flapping wing module adjustment, and thus improving the energy harvesting efficiency of the flapping wing energy harvesting device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the assembly structure of the multi-functional flapping wing energy harvesting device with variable leading and trailing edge structure in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the overall structure of the multi-functional flapping wing energy harvesting device with variable leading and trailing edge structure in Embodiment 1 of this application; Figure 3 This is a schematic diagram of the structure of the multifunctional platform in Embodiment 1 of this application; Figure 4 This is an exploded structural diagram of the multifunctional platform in Embodiment 1 of this application; Figure 5 This is a schematic diagram of the structure of the adjustment component in Embodiment 1 of this application; Figure 6 This is an exploded view of the regulating component in Embodiment 1 of this application; Figure 7 This is a schematic diagram of the flapping wing module in Embodiment 1 of this application; Figure 8 This is a cross-sectional view of the flapping wing module in Embodiment 1 of this application; Figure 9 This is a schematic diagram of the wing-body structure in Embodiment 1 of this application; Figure 10 This is a cross-sectional view of the wing-body in Embodiment 1 of this application; Figure 11 This is a schematic diagram of the tension / compression sensing element in Embodiment 1 of this application.

[0018] Explanation of reference numerals in the attached drawings: 1. Slide rail; 2. Slide rail seat; 3. Clamping plate; 4. Rack; 5. Rack holder; 6. Laser rangefinder sensor; 7. Multifunctional platform; 8. Adjustment assembly; 9. Flapping wing module; 10. Slide table; 11. Linear bearing; 12. Dual-axis pitch drive servo; 13. Torque sensor; 14. Torque sensor bracket; 15. First coupling; 16. Bouncing drive servo; 17. Second coupling; 18. Gear; 19. Servo housing; 20. Third coupling; 21. 1. Tension / compression sensor; 22. Fourth coupling; 23. Servo clamp; 24. Wing leader drive servo; 25. Fifth coupling; 26. Pitch drive; 27. Wing yaw drive servo; 28. Sixth coupling; 29. ​​Seventh coupling; 30. Wing body; 31. Wing leader; 32. Wing yaw; 33. Wing leader pitch axis; 34. Wing yaw pitch axis; 35. Bearing; 36. Bearing retainer; 37. Tension / compression sensor; 38. Sensor mounting bracket; 39. Bolt; 40. Stud and extension nut. Detailed Implementation

[0019] The following is in conjunction with the appendix Figure 1-11 This application will be described in further detail.

[0020] This application discloses a multi-functional flapping wing energy harvesting device with a variable leading and trailing edge structure.

[0021] Reference Figure 1 and Figure 2 A multifunctional flapping-wing energy harvesting device with a variable leading and trailing edge structure is disclosed, comprising a slide rail module, a linkage module, a ranging module, and a flapping-wing module 9. In this application, the slide rail module, the linkage module, and the flapping-wing module 9 are arranged sequentially from top to bottom. In this embodiment, the flapping-wing module 9 is completely underwater, while the rest of the device is above the water surface. The flapping-wing module 9 is subjected to fluid motion, causing it to pitch. The fluid power is transmitted to the slide rail module through the linkage module, causing the relevant structures of the slide rail module to change position. During the positional change of the relevant structures of the slide rail module, the ranging module collects relevant data to study the energy harvesting performance.

[0022] Reference Figure 3 and Figure 4The slide rail module includes two clamping plates 3, at least two slide rails 1, two sets of slide rail seats 2 mounted on each slide rail 1, and slide tables 10 mounted on multiple slide rails 1. The slide rails 1 in this application can be two, three, or four, as long as they provide stable support for the linkage module, ranging module, and flapping wing module 9. In this embodiment, two slide rails 1 are provided, arranged in parallel. The two clamping plates 3 are located at both ends of the slide rails 1, and the slide rails 1 and clamping plates 3 are detachably and fixedly connected. The two clamping plates 3 are arranged in parallel. In this embodiment, each clamping plate 3 has a fastening gap at its end, which communicates with the mounting holes on the clamping plate 3 for mounting the slide rails 1. The fastening gap can be adjusted by passing bolts through it, thus facilitating the limiting clamping of slide rails of different diameters and simultaneously fixing the slide rails 1. Adjacent slide rails 1 are arranged in parallel. The slide rail seats 2 are detachably fixed to the slide rails 1, and the slide rail seats 2 have openings... The slide rail 1 has a guide hole for sliding, and the slide rail seat 2 has a dividing gap that communicates with the guide hole. The slide rail seat 2 is threaded with an adjusting bolt that passes through the dividing gap to facilitate the position adjustment of the slide rail seat 2, thereby fixing the position of the slide table 10. The slide table 10 passes through both slide rails 1 to ensure that the slide table 10 is in a horizontal state and to prevent the slide table 10 from rotating. In addition, the slide table 10 in this application is equipped with a linear bearing seat, and a linear bearing 11 is installed on the linear bearing seat. The linear bearing 11 is distributed correspondingly to the slide rail 1. It can be seen that there are two linear bearings 11 in this embodiment. The outer ring of the linear bearing 11 is fixedly engaged with the slide table 10, and the inner ring of the linear bearing 11 is sleeved on the slide rail 1. The inner ring of the linear bearing 11 is interference-fitted with the slide rail 1 to facilitate the sliding connection between the slide table 10 and the slide rail 1 through the linear bearing 11, so that the slide table 10 can move along the axial direction of the slide rail 1.

[0023] Reference Figure 3 and Figure 4The flapping wing module 9 is connected to the slide table 10 via a linkage module and drives the slide table 10 to slide along the slide rail 1. The linkage module includes an adjustment component, a multi-functional platform 7, and a connecting component. The multi-functional platform 7 is mounted on the slide table 10 and is used for fluid force transmission and measurement. The multi-functional platform 7 includes a torque sensor 13, a torque sensor bracket 14, a dual-axis pitch drive servo 12, a buoyancy drive servo 16, a gear 18, a servo housing 19, and a tension / compression sensor 21. The torque sensor bracket 14 is mounted on the slide table 10. In this embodiment, the lower half of the torque sensor bracket 14 has a four-legged stool-like structure, and the upper half has two semi-circular clamps. During assembly, the drive shaft of the torque sensor 13 is first installed downwards in the semi-circular clamps. The drive shaft of the torque sensor 13 extends downwards through the surface of the four-legged stool. In this embodiment, the drive shaft of the torque sensor 13 is connected to the drive shaft of the dual-axis pitch drive servo 12. The output shaft is coaxially connected via the first coupling 15. In this embodiment, a square hole is opened on the slide table 10, through which the dual-axis pitch drive servo 12 passes. The dual-axis pitch drive servo 12 is fixedly connected to the slide table 10 via the mounting ears on both sides by bolts or screws. One axis of the dual-axis pitch drive servo 12 faces upward and the other axis faces downward. Furthermore, the output shaft of the dual-axis pitch drive servo 12 is connected to the adjustment assembly. The servo housing 19 is mounted on the slide table 10. In this embodiment, the servo housing 19 is fixed to the slide table 10 by screws or bolts. The buoyancy drive servo 16 is mounted on the servo housing 19. In this embodiment, the buoyancy drive servo 16 is fixed to the servo housing 19 by screws or bolts, and the output shaft of the buoyancy drive servo 16 is connected to the drive shaft of the tension and compression sensor 21. In this embodiment, the end of the output shaft of the buoyancy drive servo 16 extending out of the servo housing 19 is coaxially connected to the drive shaft of the tension and compression sensor 21 via the third coupling 20.

[0024] Reference Figure 3 and Figure 4 The output end of the tension / compression sensor 21 is connected to the connecting assembly. The tension / compression sensor 21 includes a tension / compression sensor 37 and a sensor mounting bracket 38. The sensor mounting bracket 38 is mounted on the slide table 10, and the tension / compression sensor 37 is mounted on the sensor mounting bracket 38. In this embodiment, the tension / compression sensor 37 is set as a miniature S-shaped high-precision tension / compression sensor. The tension / compression sensor 37 is subjected to force on both sides, and each side has a threaded hole. (Refer to...) Figure 11 In addition, the sensor mounting bracket 38 is an integral structure. The sensor mounting bracket 38 encloses part of the tension and compression sensor 37 and leaves one side as the force-bearing side. The sensor mounting bracket 38 is threaded to the tension and compression sensor 37 by passing a bolt 39 through the threaded hole on the tension and compression sensor 37. The tension and compression sensor 37 is equipped with a stud and an extension nut 40 at the end away from the bolt 39.

[0025] Reference Figure 5 and Figure 6The adjustment assembly includes a servo clamp 23, a wing leader drive servo 24, a pitch transmission component 26, and a wing yaw drive servo 27. In this application, the servo clamp 23 includes a bridge plate, a rotating column, and two clamping blocks. In this embodiment, the two clamping blocks are arranged in parallel, and the bridge plate is fixedly connected to the two clamping blocks. The wing leader drive servo 24 is installed between the two clamping blocks, and the output shaft of the wing leader drive servo 24 is coaxially connected to the extension of the wing leader pitch shaft 33 extending beyond the wing leader 31. In this embodiment, the output shaft of the wing leader drive servo 24 and the wing leader pitch shaft 33 are connected through a fifth coupling 25. The pitch transmission component 26 is configured as a cylindrical shaft, and... The rotating column is rotatably connected to the bridge plate. The top end of the pitch transmission component 26 is coaxially connected to the rotating column. One end of the pitch transmission component 26 is coaxially connected to the output shaft of the wing body 30 through the seventh coupling 29, and the other end is connected to the multi-functional platform 7. The wing swing drive servo 27 is installed between two clamping blocks. The output shaft of the wing swing drive servo 27 is coaxially connected to the extension of the wing swing pitch shaft 34 extending out of the wing swing 32 through the sixth coupling 28. In this embodiment, the two clamping blocks are fixed by connecting bolts, and the connecting bolts are set near the bottom of the clamping blocks to facilitate the fixed positioning of the wing lead drive servo 24 and the wing swing drive servo 27.

[0026] Reference Figure 1 and Figure 2 The connecting assembly is used to connect the multi-functional platform 7 and the slide table 10. The connecting assembly includes a rack 4, a rack fixing bracket 5, and a gear 18. The rack fixing bracket 5 is mounted on the slide rail clamp. The rack 4 is mounted on the rack fixing bracket 5, and the length direction of the rack 4 is parallel to the axial direction of the slide rail 1. In this embodiment, the rack 4 is positioned near the top of the rack fixing bracket 5. The connection state between the gear 18 and the rack 4 includes a first state and a second state. In the first state, the gear 18 is coaxially connected to the output shaft of the buoyancy drive servo 16, and the gear 18 meshes with the rack 4. In the second state, the gear 18 is connected to the buoyancy drive servo 16. The output shaft of the servo motor 16 is disengaged, and the gear 18 is disengaged from the rack 4. In this embodiment, the output shaft of the servo motor 16 faces upward. One end of the second coupling 17 is coaxially connected to the output shaft of the buoyancy drive servo motor 16, and the other end is connected to an extended stud. The gear 18 is coaxially sleeved on the top of the extended stud, and there is a stud allowance above the gear 18. The gear 18 is pressed between the nut and the second coupling 17 by a nut, so as to realize the detachable connection between the gear 4 and the second coupling 17, thereby making the gear 18 and the rack 4 in an engaged state, or the gear 18 and the rack 4 in a disengaged state.

[0027] Reference Figure 1 and Figure 2The ranging module is installed on one of the clamping plates 3, and the ranging module is used to perform non-contact measurement of the displacement and velocity of the slide table 10. The ranging module includes a laser ranging sensor 6 installed on one of the clamping plates 3. The laser ranging sensor 6 emits a beam toward the multi-functional platform 7 and is used to measure the displacement of the multi-functional platform 7 along the length of the slide rail 1 in real time, and obtain the corresponding linear velocity based on the displacement change.

[0028] Reference Figure 7 and Figure 8 The flapping wing module 9 includes a wing collar 31, a wing body 30, a wing wing 32, a wing collar pitch axis 33, and a wing wing pitch axis 34. In this application, the wing body 30, wing collar 31, and wing wing 32 are derived from the same flapping wing. Furthermore, the top of the wing body 30 is integrally connected to a pitch axis. The wing collar 31, wing body 30, and wing wing 32 are arranged sequentially. Bearing seats are installed on the side of the wing body 30 near the wing collar 31 and the side of the wing body 30 near the wing wing wing 32, respectively. Additionally, bearing seats with the same structure as those on the wing body 30 are installed on the side of the wing collar 31 near the wing body 30 and the side of the wing wing 32 near the wing body 30. The bearing seats on the wing collar 31 and the wing body 30, as well as the bearing seats on the wing wing 32 and the wing body 30, are staggered. (Refer to...) Figure 9 and Figure 10 In this embodiment, each bearing housing can accommodate two bearings 35, and the outer surface of each bearing 35 is pressed by a bearing retainer 36 to prevent the bearing 35 from falling off. The wing swing pitch axis 34 passes through the bearing housing on the wing swing 32 and the bearing housing on the wing body 30 to achieve a rotational connection between the wing swing 32 and the wing body 30. The wing leader pitch axis 33 passes through the bearing housing on the wing leader 31 and the bearing housing on the wing body 30 to achieve a rotational connection between the wing leader 31 and the wing body 30.

[0029] The implementation principle of the multi-functional flapping wing energy harvesting device with variable leading and trailing edge structure in this application embodiment is as follows: The first mode is the fully active motion mode. In this mode, gear 18 meshes with rack 4. At this time, the buoyancy drive servo 16 is connected to the tension / compression sensor 21. After setting the operating program of the dual-axis pitch drive servo 12 and the buoyancy drive servo 16 according to the fully active pitch and buoyancy motion equations, the dual-axis pitch drive servo 12 is activated. The dual-axis pitch drive servo 12 drives the adjustment component 8 to rotate, and the adjustment component 8 drives the flapping wing module 9 to move. During pitch motion, the wing leader 31 drive servo 24 and wing yaw drive servo 27 are not working. The torque of the dual-axis pitch drive servo 12 itself will prevent the wing leader 31 and wing yaw 32 from relative deflection, and they will jointly perform pitch motion around the pitch axis of the wing body 30. At the same time, the buoyancy drive servo 16 drives the gear 18 to rotate. Through the cooperation of the gear 18 and the rack 4, the buoyancy drive servo 16 drives the tension and compression sensor 21 to perform linear motion. The tension and compression sensor 21 is connected to the slide table 10, thereby driving the multi-functional platform 7 to perform linear motion along the slide rail 1. The flapping wing module 9 undergoes linear motion, thereby achieving its buoyancy movement. During this process, since there is no rigid connection between the buoyancy drive servo 16 and the slide 10, the water flow lift force experienced by the flapping wing module 9 during buoyancy and pitching motion is not directly constrained by the buoyancy drive servo 16. Instead, it is transmitted to the tension and pressure sensor 21 through the overall structure of the adjustment component 8 and the multi-functional platform 7, causing the tension and pressure sensor 37 to generate corresponding tension or pressure signals at the force-bearing end, thereby achieving direct measurement of the real-time lift force experienced by the flapping wing module 9. At the same time, the dual-axis pitch drive servo 12 is connected to the torque sensor 13. The torque sensor 13 drives the flapping wing module 9 to pitch motion through the adjustment component 8. The reaction torque generated by the flapping wing module 9 during pitching is completely transmitted to the torque sensor 13, enabling it to collect the dynamic pitch torque information of the flapping wing module 9 under fully active pitching and buoyancy coupled motion conditions in real time. In addition, the laser rangefinder 6 can perform non-contact real-time measurement of the displacement of the multi-functional platform 7 and further obtain its buoyancy speed information.

[0030] The second type is a semi-active motion mode, which requires removing gear 18 to disengage the buoyancy drive servo 16 from the rack 4. In this mode, the buoyancy drive servo 16 no longer applies active linear drive to the multi-functional platform 7. The buoyancy motion of the multi-functional platform 7 on the slide rail 1 is determined by the hydrodynamic force generated by the flapping wing module 9 under the influence of water flow, combined with its own gravity and inertia, thus forming a semi-active buoyancy motion state. In this semi-active motion mode, the dual-axis pitch drive servo 12, according to a preset program, drives the flapping wing module 9 to perform active pitch motion through the adjustment component 8. The buoyancy motion is no longer forcibly controlled by the buoyancy drive servo 16, but is adaptively generated by the interaction between the flapping wing module 9 and the flow field. Simultaneously, due to the buoyancy drive... In this mode, the servo motor 16 no longer applies driving force to the multi-functional platform 7 through the gear 18 and rack 4. The lift force of the water flow on the flapping wing module 9 in the buoyancy direction is no longer concentrated on the force-bearing end of the tension and compression sensor 37. Therefore, it is impossible to directly and quantitatively measure the lift force on the flapping wing module 9 through the tension and compression sensor 21. However, whether in the fully active motion mode or the semi-active motion mode, the reaction torque generated by the flapping wing module 9 during the pitching process can be completely transmitted to the torque sensor 13. At the same time, the laser rangefinder 6 can perform non-contact measurement of the buoyancy displacement and velocity of the multi-functional platform 7, thereby realizing experimental analysis of the pitch torque, buoyancy response and interaction characteristics of the flapping wing module 9 with the flow field under various motion modes.

[0031] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multifunctional flapping-wing energy harvesting device with a variable leading and trailing edge structure, characterized in that, It includes a slide rail module, a multi-functional platform (7), an adjustment component (8), and a flapping wing module (9); The flapping wing module (9) includes a wing collar (31), a wing body (30), and a wing flap (32) that are rotatably connected in sequence; The multi-functional platform (7) includes a slide (10), a dual-axis pitch drive servo (12), a buoyancy drive servo (16), a rack (4), and a gear (18); The dual-axis pitch drive servo (12) is mounted on the slide (10), and the dual-axis pitch drive servo (12) is connected to the wing body (30) through the adjustment assembly (8). The adjustment assembly (8) is used to drive the angle adjustment of the wing collar (31), wing body (30) and wing sway (32). The buoyancy drive servo (16) is mounted on the slide (10), and the gear (18) is detachably connected to the output shaft of the buoyancy drive servo (16); The rack (4) is disposed on the slide rail module, and the connection state between the gear (18) and the rack (4) includes a first state and a second state; In the first state, the gear (18) is coaxially connected to the output shaft of the buoyancy drive servo (16), and the gear (18) meshes with the rack (4); In the second state, the gear (18) disengages from the output shaft of the buoyancy drive servo (16), and the gear (18) disengages from the rack (4).

2. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 1, characterized in that, The flapping wing module (9) also includes a wing leader pitch axis (33) and a wing flap pitch axis (34). The wing leader (31) and the wing body (30) are rotatably connected through the wing leader pitch axis (33), and the wing flap (32) and the wing body (30) are rotatably connected through the wing flap pitch axis (34).

3. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 1, characterized in that, The adjustment assembly (8) includes a servo clamp (23), a wing-lead drive servo (24), a pitch transmission component (26), and a wing-tilt drive servo (27); The servo clamp (23) is mounted on the slide (10); The wing-lead drive servo (24) is mounted on the servo clamp (23), and the output shaft of the wing-lead drive servo (24) is coaxially connected to the wing-lead pitch axis (33); The pitch transmission component (26) is rotatably connected to the servo clamp (23), and one end of the pitch transmission component (26) is rotatably connected to the wing body (30), and the other end is coaxially connected to the output shaft of the dual-axis pitch drive servo (12). The wing swing drive servo (27) is mounted on the servo clamp (23), and the output shaft of the wing swing drive servo (27) is coaxially connected to the wing swing pitch axis (34).

4. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 1, characterized in that, The multi-functional platform (7) also includes a torque sensor (13) and a torque sensor bracket (14); The torque sensor bracket (14) is mounted on the slide (10); The torque sensor (13) is mounted on the torque sensor bracket (14), and the input shaft of the torque sensor (13) is coaxially connected to the output shaft of the dual-axis pitch drive servo (12).

5. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 4, characterized in that, The multi-functional platform (7) also includes a servo housing (19) and a tension / compression sensor (21); The servo housing (19) is mounted on the slide (10); The buoyancy drive servo (16) is mounted on the servo housing (19), and the output shaft of the buoyancy drive servo (16) is connected to the input end of the tension and compression sensor (21).

6. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 5, characterized in that, The tension / compression sensing element (21) includes a tension / compression sensor (37) and a sensor mounting bracket (38). The sensor mounting bracket (38) is mounted on the slide table (10), and the tension / compression sensor (37) is mounted on the sensor mounting bracket (38).

7. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 1, characterized in that, The slide rail module includes two clamping plates (3) and multiple slide rails (1); The two clamps (3) are located at both ends of the slide rail (1), and the slide rail (1) is connected to the clamps (3). The two clamps (3) are arranged in parallel. The two adjacent slide rails (1) are arranged in parallel; The slide (10) is arranged through multiple slide rails (1), and the slide (10) is slidably connected to the slide rails (1).

8. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 7, characterized in that, The slide rail module also includes two sets of slide rail seats (2) installed on each of the slide rails (1), and the slide rail seats (2) are detachably fixed on the slide rails (1).

9. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 8, characterized in that, The slide rail seat (2) is provided with a guide hole for the slide rail (1) to slide, and the slide rail seat (2) is provided with a dividing gap, which is connected to the guide hole. The slide rail seat (2) is threaded with an adjusting bolt, which passes through the dividing gap.

10. The multifunctional flapping wing energy harvesting device with variable leading and trailing edge structure according to claim 7, characterized in that, It also includes a ranging module, which includes a laser ranging sensor (6) mounted on one of the clamps (3). The laser ranging sensor (6) emits a beam toward the multifunctional platform (7) and is used to measure the displacement of the multifunctional platform (7) along the length of the slide rail (1) in real time, and obtain the corresponding linear velocity based on the displacement change.

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