A wave glider propulsion force simulation detection device

Abstract

The present invention provides a wave glider propulsion force simulation detection device, wherein the wave glider propulsion force simulation detection device comprises: a frame; a first cross bar slidably arranged on the frame, at least two first slide rails are vertically arranged on the first cross bar, and a first sensor mechanism is slidably connected to the first slide rail; a second cross bar slidably arranged on the frame, at least two second slide rails are vertically arranged on the second cross bar, and a second sensor mechanism is slidably connected to the second slide rail; the first sensor mechanism and the second sensor mechanism are arranged oppositely; the upper end of the frame is fixedly connected to a power device, and the power device is fixedly connected to the wave glider to be tested. The present invention arranges a frame, a multi-directional sliding first sensor mechanism, and a second sensor mechanism, clamps the wave glider to be tested for propulsion force detection, and arranges the power device to be connected to the wave glider to simulate the motion state in the waves, thereby meeting the hydrodynamic detection requirements of the wave glider under the conditions of site and equipment restrictions.

Description

Technical Field

[0001] The present invention relates to the technical field of wave energy propulsion type unmanned ships, and in particular to a wave glider propulsion force simulation detection device and method. Background Art

[0002] Wave energy driven unmanned boat is a sustainable unmanned boat type marine environment observation platform that absorbs renewable wave energy and converts it into propulsion. It is widely used in the fields of marine water quality monitoring, marine resource exploration, etc. One of the most typical representatives is the upper and lower split wave glider, which consists of a surface mother ship and an underwater wave glider.

[0003] In the prior art, hydrodynamic tests on the above-mentioned wave glider are carried out in a water tank. However, since the split wave glider has a high vertical depth requirement and requires a matching wave environment simulation device, the requirements for the site and equipment are extremely high and the cost is expensive, resulting in most existing experimental devices and experimental sites being unable to meet the relevant testing needs.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention aims to solve the problem that in the prior art, when testing the hydrodynamics of a wave glider, high requirements are placed on the site and equipment related to wave environment simulation, and the existing experimental equipment cannot meet the requirements.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A wave glider propulsion force simulation detection device, wherein the wave glider propulsion force simulation detection device comprises:

[0008] frame;

[0009] A first cross bar slidably arranged on the frame, at least two first slide rails are vertically arranged on the first cross bar, and a first sensing mechanism is slidably connected to the first slide rail;

[0010] A second cross bar slidably arranged on the frame, at least two second slide rails are vertically arranged on the second cross bar, and a second sensing mechanism is slidably connected to the second slide rail;

[0011] The first sensing mechanism and the second sensing mechanism are arranged opposite to each other;

[0012] The upper end of the frame is fixedly connected to a power device, and the power device is fixedly connected to the wave glider to be tested.

[0013] The wave glider propulsion force simulation detection device, wherein the first cross bar includes a first upper cross bar arranged at the upper end of the frame, and a first lower cross bar arranged at the lower end of the frame, and the first upper cross bar moves synchronously with the first lower cross bar.

[0014] The wave glider propulsion force simulation detection device, wherein the second cross bar includes a second upper cross bar arranged at the upper end of the frame, and a second lower cross bar arranged at the lower end of the frame, and the second upper cross bar moves synchronously with the second lower cross bar.

[0015] The wave glider propulsion force simulation detection device, wherein the first sensing mechanism includes a sensor body and connecting sliders arranged on both sides of the sensor body, and the connecting sliders are snap-fitted and fixed in fixing grooves arranged on the sensor body.

[0016] The wave glider propulsion force simulation detection device, wherein a pressure sensor is arranged in the sensor body, a pressure sensing part is arranged at one end of the pressure sensor, and the pressure sensing part contacts the end of the wave glider to be tested.

[0017] The wave glider propulsion force simulation detection device, wherein a placement hole is provided on one side of the sensor body where the pressure sensing part is arranged, and the placement hole is used to place the end of the wave glider to be tested.

[0018] The wave glider propulsion force simulation detection device is characterized in that a plurality of rotating shafts are arranged in the placement hole, and the plurality of rotating shafts are arranged on the upper and lower sides of the end of the wave glider to be tested.

[0019] In the wave glider propulsion force simulation detection device, the second sensing mechanism has the same structure as the first sensing mechanism but in opposite directions.

[0020] The wave glider propulsion force simulation detection device, wherein the frame is also provided with a pulley block, the pulley block and the power device are connected by a belt and rotate synchronously, and the wave glider to be tested is connected to the belt.

[0021] The wave glider propulsion force simulation detection device, wherein the pulley group includes: a first pulley fixedly arranged on one side of the upper end of the frame; a second pulley fixedly arranged at the lower end of the frame and corresponding to the position of the first pulley; and a third pulley fixedly arranged at the lower end of the frame and corresponding to the position of the power device.

[0022] Technical effect of the present invention: The present invention provides a frame, a first multi-directional sliding sensor mechanism, and a second multi-directional sliding sensor mechanism, and clamps the wave glider to be tested therein for propulsion detection. At the same time, the power device is connected to the wave glider to simulate the movement state in the waves, thereby using a very small area and simple equipment to meet the hydrodynamic detection needs of the wave glider. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of a wave glider propulsion force simulation detection device of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure disassembly of the first sensor mechanism of a wave glider propulsion force simulation detection device of the present invention;

[0025] exist Figure 1 and Figure 2 In the figure: 100, frame; 111, first upper cross bar; 112, first lower cross bar; 121, second upper cross bar; 122, second lower cross bar; 130, first slide rail; 140, second slide rail; 150, first sensing mechanism; 151, sensor body; 152, connecting slider; 153, pressure sensor; 154, pressure sensing part; 155, placement hole; 156, rotating shaft; 157, fixing groove; 160, second sensing mechanism; 170, power device; 181, first pulley; 182, second pulley; 183, third pulley; 190, belt; 200, wave glider. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0028] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0029] In the prior art, hydrodynamic tests on the above-mentioned wave glider are carried out in a water tank. However, since the split wave glider has a high vertical depth requirement and requires a matching wave environment simulation device, the requirements for the site and equipment are extremely high and the cost is expensive, resulting in most existing experimental devices and experimental sites being unable to meet the relevant testing needs.

[0030] Based on the above problems of the prior art, the present invention provides a wave glider propulsion force simulation detection device, such as Figure 1 As shown, the device includes: a frame 100; a first cross bar slidably arranged on the frame 100, at least two first slide rails 130 are vertically arranged on the first cross bar, and a first sensor mechanism 150 is slidably connected to the first slide rail 130; a second cross bar slidably arranged on the frame 100, at least two second slide rails 140 are vertically arranged on the second cross bar, and a second sensor mechanism 160 is slidably connected to the second slide rail 140; the first sensor mechanism 150 and the second sensor mechanism 160 are arranged opposite to each other; the upper end of the frame 100 is fixedly connected to a power device 170, and the power device 170 is connected and fixed to the wave glider 200 to be tested. The present invention provides a frame 100, a first sensor mechanism 150 that can slide in multiple directions, and a second sensor mechanism 160 that can slide in multiple directions, and clamps the wave glider 200 to be tested therein for propulsion force detection. At the same time, a power device 170 is connected to the wave glider 200 to simulate the movement state in the waves, thereby meeting the hydrodynamic detection requirements of the wave glider 200 using a very small area and simple equipment.

[0031] In the above embodiment, the rack 100 includes a rectangular body and four triangular support frames at the four corners below, wherein the size of the rectangular body is larger than that of the wave glider 200. During the detection of the water kinetic energy of the wave glider 200, the wave glider 200 is placed in the rack 100; the triangular bracket can provide the supporting force required for the vertical placement of the rack 100. After the wave glider 200 is started, the wave glider 200 generates a certain amount of kinetic energy. Since the wave glider 200 is installed in the rack 100, the rack 100 is affected by the kinetic energy and shakes. The triangular bracket provides a certain stability for the rack 100 to avoid inaccurate detection due to the shaking of the rack 100.

[0032] In another possible implementation of the present invention, the first cross bar includes a first upper cross bar 111 arranged at the upper end of the frame 100, and a first lower cross bar 112 arranged at the lower end of the frame 100, wherein the first upper cross bar 111 and the first lower cross bar 112 move synchronously, that is, according to the above embodiment, during the actual setting process of the first upper cross bar 111 and the first lower cross bar 112, a plurality of first slide rails 130 are arranged between the first upper cross bar 111 and the first lower cross bar 112, and the first slide rails 130 are components made of rigid materials. Therefore, the first upper cross bar 111 and the first lower cross bar 112 are always located in the same vertical plane, that is, when the operator moves the first upper cross bar 111 in the horizontal direction of the upper end of the frame 100, the first lower cross bar 112 arranged at the lower end of the frame 100 moves the same distance in the horizontal direction of the lower end of the frame 100.

[0033] Corresponding to the above structure, the second cross bar includes a second upper cross bar 121 arranged at the upper end of the frame 100, and a second lower cross bar 122 arranged at the lower end of the frame 100, wherein the second upper cross bar 121 and the second lower cross bar 122 move synchronously, that is, according to the above embodiment, during the actual setting of the second upper cross bar 121 and the second lower cross bar 122, a plurality of second slide rails 140 are arranged between the second upper cross bar 121 and the second lower cross bar 122, and the second slide rails 140 are components made of rigid materials. Therefore, the second upper cross bar 121 and the second lower cross bar 122 are always located in the same vertical plane, that is, when the operator moves the second upper cross bar 121 in the horizontal direction of the upper end of the frame 100, the second lower cross bar 122 arranged at the lower end of the frame 100 moves the same distance in the horizontal direction of the lower end of the frame 100.

[0034] In the above embodiment, the operator adjusts the horizontal positions of the first cross bar and the second cross bar to clamp the front and rear ends of the wave glider 200, so that the wave glider 200 is placed inside the frame 100, thereby detecting the propulsion force of the wave glider 200. In the actual operation process, the first sensor mechanism 150 and the second sensor mechanism 160 clamp the front and rear ends of the wave glider 200. The operator adjusts the clamping force of the first cross bar and the second cross bar on the wave glider by horizontally moving the positions of the first cross bar and the second cross bar. After determining the clamping force of the first sensor mechanism 150 and the second sensor mechanism 160 on the wave glider, the horizontal positions of the first cross bar and the second cross bar are fixed, that is, to ensure that during the detection of the wave mutual device 200, the positions of the first cross bar and the second cross bar will not change, so as to ensure the accuracy of the detection of the propulsion force of the wave glider 200.

[0035] Based on the above embodiments, in one possible implementation of the present invention, as Figure 2 As shown, Figure 2 It is a schematic diagram of the structural disassembly of the first sensor mechanism 150 of a wave glider propulsion force simulation detection device of the present invention. In this embodiment, the first sensor mechanism 150 includes a sensor body 151 and connecting sliders 152 arranged on both sides of the sensor body 151, and the connecting sliders 152 are engaged and fixed in the fixing grooves 157 arranged on the sensor body 151. In the actual setting process, a vertical through connection hole is also provided on the connecting slider 152, and the connection hole is slidably connected to the first slide rail 130. A semi-sealed ball is preferably provided inside the slider 152, and its function is to convert the sliding friction into rolling friction when the slider 152 slides on the first slide rail 130, thereby reducing the influence of the friction on the detection process. After the connecting slider 152 is connected to the first slide rail 130, the connecting slider 152 is placed in the fixing groove 157 corresponding to the sensor body 151. In this embodiment, two connecting sliders 152 are provided on both sides of the sensor body 151, which are respectively installed in the fixing grooves 157 on both sides of the sensor body 151 to fix the sensor body 151. The fixed sensor body 151 can realize free movement in the vertical direction on the first slide rail 130, that is, when the wave glider 200 is installed in the sensor body 151, the wave glider 200 moves up and down along the setting direction of the first slide rail 130 to realize the state of simulating the up and down swinging of waves.

[0036] In another possible implementation of the present invention, a pressure sensor 153 is provided in the sensor body 151, and a pressure sensing portion 154 is provided at one end of the pressure sensor 153. The pressure sensing portion 154 is in contact with the wave glider 200 to be tested. In the actual setting process, the pressure sensing portion 154 is an elastic member. The pressure sensing portion 154 senses the pressure state of the wave glider 200 on the pressure sensing portion 154, and converts it into an accurate reading through the pressure sensor 153, thereby determining the detection of the hydrodynamic related performance of the wave glider 200. In this embodiment, the pressure sensor 153 can be a diffused silicon principle pressure sensor 153. This pressure sensor 153 directly acts on the diaphragm of the sensor through the pressure of the measured medium, so that the diaphragm produces a micro-displacement proportional to the mechanism pressure, and the resistance value of the sensor changes, and the electronic circuit detects this change, and converts and outputs a standard measurement signal corresponding to this pressure; the pressure sensor 153 can also use a sapphire principle pressure sensor 153. This pressure sensor is composed of a gauge pressure sensor and a transmitter with a double membrane: a titanium alloy measuring diaphragm and a titanium alloy receiving diaphragm. The sapphire sheet printed with a heterogeneous epitaxial strain sensitive bridge circuit is welded on the titanium alloy measuring diaphragm. The measured pressure is transmitted to the receiving diaphragm (the receiving diaphragm and the measuring diaphragm are firmly connected by a tie rod). Under the action of pressure, the titanium alloy receiving diaphragm is deformed. After the deformation is sensed by the silicon-sapphire sensitive element, its bridge output will change, and the amplitude of the change is proportional to the measured pressure. In other examples of the present invention, it is not limited to the pressure transducer 153 using the above principle. Those skilled in the art can replace different types of pressure sensors 153 according to usage requirements.

[0037] In the above embodiment of the present invention, the motor drive of the power device 170 needs a pulse signal input, and the pressure transmitter of the pressure sensor 153 needs to output a 485 serial port. This embodiment uses an STM32 single-chip microcomputer as the master controller. The power supply can be a voltage-stabilized power supply or a large-capacity lithium battery. The STM32 single-chip microcomputer controls the steering of the power device 170 by outputting different level signals, and controls the speed of the power device 170 by outputting PWM waves of different frequencies. At the same time, the data collected by the pressure sensor 153 is sent to the STM32 single-chip microcomputer via the 485 serial port. During this period, the propulsion force of the wave glider 200 under different motion states is obtained by aligning the timestamp.

[0038] Based on the above embodiment, in another possible implementation of the present invention, a placement hole 155 is provided on the sensor body 151, and the placement hole 155 is provided on a side where the pressure sensing part 154 of the pressure sensor 153 is provided. The placement hole 155 is used to place the end of the wave glider 200 to be tested. When actually set, one end of the wave glider 200 to be tested is placed in the placement hole 155, and the end of the wave glider 200 contacts the pressure sensing part 154 of the pressure sensor 153, so that the wave glider 200 is measured. More specifically, in order to improve the accuracy of pressure monitoring during the movement of the wave glider 200, a plurality of rotating shafts 156 are further provided in the placement hole 155, and bearings are provided at both connecting ends of the rotating shaft 156. The rotating shafts 156 are evenly arranged at the edge of the placement hole 155 connected with the wave glider 200, so that the friction between the wave glider 200 and the placement hole 155 can be reduced during the connection with the wave glider 200, thereby improving the pressure detection accuracy.

[0039] Based on the above embodiment, in one possible implementation of the present invention, the second sensing mechanism 160 is configured in the same manner as the first sensing mechanism 150, but in opposite directions, that is, Figure 1 As shown, the first sensing mechanism 150 and the second sensing mechanism 160 are arranged opposite to each other. During actual operation, the operator places the two ends of the wave glider 200 on the first sensing mechanism 150 and the second sensing mechanism 160 respectively, wherein the two ends of the wave glider 200 contact with the pressure sensors 153 arranged in the first sensing mechanism 150 and the second sensing mechanism 160 respectively, so as to detect the hydrodynamic state of the wave glider 200.

[0040] In another embodiment of the present invention, a pulley block is further provided on the frame 100. Figure 1As shown, the pulley group specifically includes: a first pulley 181, a second pulley 182 and a third pulley 183, the first pulley 181 is fixedly arranged on one side of the upper end of the frame 100, and the first pulley 181 and the power device 170 are located on the same horizontal plane; the second pulley 182 is arranged at the lower end of the frame 100, and corresponds to the position where the first pulley 181 is arranged; the third pulley 183 is also arranged at the lower end of the frame 100, and corresponds to the position where the power device 170 is arranged. Based on the above arrangement, the power device 170, the first pulley 181, the second pulley 182 and the third pulley 183 are arranged to form a rectangle, and the power device 170 and the three pulleys are connected by the belt 190. When the power device 170 rotates, the first pulley 181, the second pulley 182 and the third pulley 183 are driven to rotate synchronously. In the actual setting process, between the power device 170 and the third pulley 183, the belt 190 is connected and fixed to the wave glider 200 to be tested. When the power device 170 rotates, the synchronous transmission belt 190 moves the wave glider 200 upward or downward synchronously. In this process, the wave glider 200 drives the first sensor mechanism 150 and the second sensor mechanism 160 to slide along the first slide rail 130 and the second slide rail 140 respectively, thereby realizing the activity state of simulating the wave glider 200 swinging up and down in the waves.

[0041] In the above embodiment, a first pulley 181, a second pulley 182 and a third pulley 183 are provided to match the position of the power device 170, so that the belt 190 can rotate more smoothly under the drive of the power device 170, and can be more stable during the traction process of the belt 190 and the wave glider 200, so as to achieve a better simulation effect.

[0042] According to the above embodiment, in another possible implementation of the present invention, the above-mentioned simulation of the wave glider 200 swinging up and down in the waves can also be achieved without using a pulley block. For example, the operator places the two ends of the wave glider 200 on the first sensor mechanism 150 and the second sensor mechanism 160, respectively, wherein the two ends of the wave glider 200 are in contact with the pressure sensors 153 provided in the first sensor mechanism 150 and the second sensor mechanism 160, respectively. After the pressure adjustment is completed, the transmission wheel of the power device 170 is directly connected to the wave glider 200. The connection between the power device 170 and the wave glider 200 can use a belt or a rope, wherein the end of the belt / rope connected to the top of the wave glider 200 is fixed at the center of gravity of the wave glider 200. When the power device 170 is started, the wave glider 200 moves up and down with the rotation of the power device 170; in the present embodiment, in order to further ensure the stability of the wave glider 200 during the up and down movement, a weight is arranged directly below the center of gravity of the wave glider 200, and the weight can be connected to the wave glider 200 through a belt or a rope. When the wave glider 200 is connected to the power device 170 at the top and to the weight at the bottom, the center of gravity of the wave glider 200 can remain relatively stable, so as to achieve a more accurate simulation effect of the wave glider 200 rising and falling in the waves.

[0043] Based on the above embodiment, the specific operation process of the present invention is as follows: the above simulation detection device is placed in a water tank, the wave glider 200 is connected to the belt 190 provided on the power device 170, the belt 190 suspends the wave glider 200 below the power device 170, and the positive direction and the bottom of the center of gravity of the wave glider 200 are fixed by the belt 190, and connected to the first pulley 181, the second pulley 182 and the third pulley 183, and placed in a tight state. The two ends of the wave glider 200 are respectively placed on the first sensor mechanism 150 and the second sensor mechanism 160, wherein the two ends of the wave glider 200 are respectively in contact with the pressure sensors 153 provided in the first sensor mechanism 150 and the second sensor mechanism 160. The first sensor mechanism 150 and the second sensor mechanism 160 are slidably connected to the first slide rail 130 and the second slide rail 140 respectively, so when the power device 170 is started, the wave glider 200 moves up and down along the setting direction of the first slide rail 130 and the second slide rail 140, simulating the movement state of the wave glider 200 in the waves.

[0044] The operator adjusts the first cross bar and the second cross bar so that the first sensor mechanism 150 and the second sensor mechanism 160 adjust the clamping distance of the wave glider 200, so that the predetermined reading is displayed in the two pressure sensors 153 of the first sensor mechanism 150 and the second sensor mechanism 160, that is, the predetermined clamping pressure state, and finally injects water of a predetermined height into the water tank, and starts the wave glider 200 and the power device 170, so as to achieve the effect of simulating the activity state of seawater, wherein the power of the wave glider 200 is turned on, so that the reading of the pressure sensor 153 in the first sensor mechanism 150 and the second sensor mechanism 160 changes, and the actual value of the propulsion force simulation detection of the wave glider 200 can be obtained by the difference method, that is, without the need for a large site and wave-making equipment, the effect of simulating the movement state of the wave glider 200 in the ocean is also achieved.

[0045] In summary, the present invention provides a wave glider propulsion force simulation detection device, wherein the wave glider propulsion force simulation detection device comprises: a frame; a first cross bar slidably arranged on the frame, at least two first slide rails are vertically arranged on the first cross bar, and a first sensor mechanism is slidably connected to the first slide rail; a second cross bar slidably arranged on the frame, at least two second slide rails are vertically arranged on the second cross bar, and a second sensor mechanism is slidably connected to the second slide rail; the first sensor mechanism and the second sensor mechanism are arranged oppositely; the upper end of the frame is fixedly connected to a power device, and the power device is fixedly connected to the wave glider to be tested. The present invention arranges a frame, a multi-directional sliding first sensor mechanism, and a second sensor mechanism, clamps the wave glider to be tested for propulsion force detection, and arranges the power device to be connected to the wave glider to simulate the motion state in the waves, thereby meeting the hydrodynamic detection requirements of the wave glider under the conditions of site and equipment restrictions.

[0046] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A wave glider propulsion force simulation detection device, characterized in that: The wave glider propulsion force simulation detection device comprises: frame; A first cross bar slidably arranged on the frame, at least two first slide rails are vertically arranged on the first cross bar, and a first sensing mechanism is slidably connected to the first slide rail; A second cross bar slidably arranged on the frame, at least two second slide rails are vertically arranged on the second cross bar, and a second sensing mechanism is slidably connected to the second slide rail; The first sensing mechanism and the second sensing mechanism are arranged opposite to each other; The upper end of the frame is fixedly connected to a power device, and the power device is fixedly connected to the wave glider to be tested; Two ends of the wave glider to be tested are in contact with pressure sensors arranged in the first sensing mechanism and the second sensing mechanism respectively; The frame is also provided with a pulley block, the pulley block and the power device are connected and rotate synchronously via a belt, and the wave glider to be tested is connected to the belt; The belt suspends the wave glider below the power device, and the center of gravity of the wave glider is tightly and fixedly connected by the belt.

2. The wave glider propulsion force simulation detection device according to claim 1, characterized in that: The first cross bar includes a first upper cross bar arranged at the upper end of the frame, and a first lower cross bar arranged at the lower end of the frame, and the first upper cross bar moves synchronously with the first lower cross bar.

3. The wave glider propulsion force simulation detection device according to claim 1, characterized in that: The second cross bar includes a second upper cross bar arranged at the upper end of the frame, and a second lower cross bar arranged at the lower end of the frame, and the second upper cross bar moves synchronously with the second lower cross bar.

4. The wave glider propulsion force simulation detection device according to claim 1, characterized in that: The first sensing mechanism includes a sensor body and connecting sliders arranged on both sides of the sensor body, and the connecting sliders are snap-fitted and fixed in fixing grooves arranged on the sensor body.

5. The wave glider propulsion force simulation detection device according to claim 4, characterized in that: The pressure sensor is arranged in the sensor body, and a pressure sensing part is arranged at one end of the pressure sensor, and the pressure sensing part contacts the end of the wave glider to be tested.

6. The wave glider propulsion force simulation detection device according to claim 5, characterized in that: A placement hole is provided on one side of the sensor body where the pressure sensing part is arranged, and the placement hole is used for placing the end of the wave glider to be tested.

7. The wave glider propulsion force simulation detection device according to claim 6, characterized in that: A plurality of rotating shafts are arranged in the placement hole, and the plurality of rotating shafts are arranged on the upper and lower sides of the end of the wave glider to be tested.

8. The wave glider propulsion force simulation detection device according to claim 7, characterized in that: The second sensing mechanism has the same structure as the first sensing mechanism but in the opposite direction.

9. The wave glider propulsion force simulation detection device according to claim 1, characterized in that: The pulley block includes: a first pulley fixedly arranged at one side of the upper end of the frame; a second pulley fixedly arranged at the lower end of the frame and corresponding to the position of the first pulley; and a third pulley fixedly arranged at the lower end of the frame and corresponding to the position of the power device.

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