A rotor cross-medium dynamic tension-torsion measurement device and testing method

Abstract

This invention discloses a rotor dynamic tension-torsion measurement device and testing method across media. The device comprises a motor, a gear meshing transmission mechanism, a dynamic tension measurement device, a rotor collective pitch device, a dynamic torque-speed measurement device, and a wave-generating and water level regulating device. The motor drives a short-axis gear, which meshes with a long-axis gear, thereby rotating the rotor. The tension generated by the rotor rotation drives the piston handle at the tail of the long shaft along the piston. Simultaneously, the piston's movement converts the rotor's tension into pressure through a spring mechanism, which is then applied to a miniature pressure sensor to measure the tension generated by the rotor's underwater motion. The rotor collective pitch device also provides a collective pitch control, enabling the measurement and testing of rotor tension at different angles of attack. The wave-generating device, operating within the water tank, can simulate ocean wave conditions that may occur in real lakes and rivers, expanding the experimental dimensions and improving the simulation accuracy.

Description

Technical Field

[0001] This invention relates to the field of force measurement technology, amphibious unmanned aerial vehicle technology, and underwater rotor technology. It is a device that can be used to perform cross-medium dynamic tension and torsion measurement of rotors in amphibious unmanned aerial vehicles. Background Technology

[0002] Amphibious unmanned aerial vehicles (UAVs) are a type of vehicle that combines the advantages of aircraft and submarines, enabling them to operate in both water and air environments. Initially widely used in the military for emergency penetration, their development in the civilian sector, driven by technological advancements, has led to the rapid growth of civilian amphibious UAVs. In recent years, countries have increasingly focused on researching amphibious unmanned control systems. Existing amphibious UAVs rely on their own propulsion systems to move through the water, consuming significant energy and resulting in limited endurance. Therefore, accurately measuring the thrust generated by different rotors and in different states is crucial.

[0003] However, existing rotor tension tests are mostly static tension tests on the ground. The measuring devices are complex and cannot be transferred to drones to measure the dynamic tension of drones. The underwater environment is complex, and the resistance of water is much greater than that of air. At the same time, there are very few static tension tests for underwater environments, let alone dynamic tension tests. Summary of the Invention

[0004] To address the shortcomings of existing underwater rotor dynamic tension-torsion measurement technologies, the purpose of this invention is to provide a rotor cross-medium dynamic tension-torsion measurement device and testing method.

[0005] This application achieves the above effects through the following technical solutions:

[0006] A rotor cross-medium dynamic tension and torsion measurement device and testing method comprises a motor, a gear meshing transmission device, a dynamic tension measuring device, a dynamic torque and speed measuring device, a rotor collective pitch device, a wave-generating and water level regulating device, and a waterproof shell.

[0007] Furthermore, the waterproof housing is fixed to the bottom of the pool and does not move upward with the rotor. Meanwhile, the long shaft and the crank rod can move through the waterproof bearing installed on the top of the waterproof housing, providing fixation, support, waterproofing and sealing for the entire measuring device.

[0008] Furthermore, the motor is mounted on two fixed threaded rods inside the device via positioning nuts, and the movement of the motor is generated by a short shaft connected to the motor shaft.

[0009] Furthermore, the gear meshing transmission device comprises a short shaft, a short shaft gear, a long shaft, a long shaft gear, and a long-short shaft support rod; the short shaft gear is mounted on the short shaft and is driven to rotate by the short shaft; the long shaft gear meshes with the short shaft gear, and while the long shaft gear is driven to rotate by the short shaft gear, it also drives the long shaft to rotate; the long-short shaft support rod has one end connected to the short shaft by a bearing and the other end connected to the long shaft by a bearing, mainly serving to support the long and short shafts.

[0010] Furthermore, the dynamic tension measuring device consists of a piston cylinder, a piston handle, a spring, and a miniature pressure sensor. The piston cylinder is fixed to the bottom of the waterproof shell, and its top is pierced by a waterproof bearing through which a long shaft passes. The piston handle is installed inside the piston cylinder and can rotate along the long shaft and move vertically up and down along the piston cylinder. The spring is installed between the piston handle and the miniature pressure sensor, transmitting the pressure from the piston handle to the miniature pressure sensor. At the same time, the spring converts tension into pressure and can also cancel out the relatively large vibration and counter-torque caused by the rotor rotation, thus improving the accuracy of the measurement. The miniature pressure sensor is installed on the top of the piston cylinder, with the spring installed at the other end. It receives the pressure transmitted by the spring and outputs data.

[0011] Furthermore, the dynamic torque and speed measuring device is mounted on a long shaft via a coupling. As the long shaft rotates, it measures the rotational speed of the rotor, the torque generated, and the power of the rotor.

[0012] Furthermore, the rotor collective pitch device comprises a servo motor, a servo motor rod, a servo motor connecting rod, a crank connecting rod, a crank, a stationary ring, a bearing, a moving ring, a pitch control rod, a fixed plate, a pitch control rod, and a rotor. The servo motor has a sliding groove at its bottom and is mounted by a bearing, allowing it to slide along a circular tube inside the waterproof housing. The servo motor rod is mounted on the servo motor's shaft and can rotate around the servo motor shaft under the servo motor's drive. One end of the servo motor connecting rod is connected to the servo motor rod, and the other end is connected to the crank connecting rod, converting the rotational motion of the servo motor rod into vertical upward motion. The crank connecting rod is connected to the servo motor connecting rod in the middle and to two cranks at each end. One end of the crank is connected to the servo motor connecting rod, and the other end is connected to the stationary ring, converting vertical motion in one plane into another. Vertical motion within the plane, i.e., driving the stationary ring to move vertically; all connections between the rods are ball joints; the moving ring is fitted onto the bearing and can move vertically upward under the action of the crank rod; the bearing is fitted onto the long shaft and can move upward along with the long shaft; the stationary ring is fitted onto the bearing, concentric with the moving ring, and can move along with the bearing; the pitch-changing rod is fixed to the stationary ring, and when the stationary ring moves upward, it drives the pitch-changing rod to change pitch through the hinge; the fixed disk is installed on the top of the long shaft as a fixing device for the pitch-changing rod and can rotate along with the long shaft; the rotor root is installed on the pitch-changing rod and can rotate around the long shaft along with the pitch-changing rod, or change pitch along with the pitch-changing rod.

[0013] Furthermore, the wave-generating and water level regulating device consists of a pair of rows of water outlets installed on the side of the pool, and four wave-generating devices installed inside the pool at upper and lower positions. The wave-generating mechanism consists of an underwater propeller and a fixed outer shell; the underwater propeller drives the water environment to move by rotating, thereby simulating the wind and waves of rivers and lakes; the water level regulating device can discharge or inject water as needed.

[0014] Furthermore, while the rotor generates tension during rotation, it also drives the gear meshing transmission device, the dynamic tension measuring device, the dynamic torque and speed measuring device, and the rotor collective pitch device to move upward together.

[0015] Furthermore, the working process of the testing method is as follows: the motor drives the short shaft to rotate, and the short shaft moves simultaneously, driving the gear meshing transmission device to move. At this time, the rotor rotates in the water, generating an upward pull, which pulls the piston top to rotate and move upward. The piston handle converts the obtained pull into a pull force on the pressure sensor through the spring, thereby measuring the pull data generated by the rotor. The dynamic torque and speed measuring device measures the torque, speed, and power data generated by the rotor while moving upward with the rotation of the long shaft. The rotor collective pitch device can change the rotor's angle of attack by manipulating the servo motor to drive a series of lever movements, thereby changing the rotor's pull force and obtaining rotor pull data at different angles of attack. The wave-making device can simulate the wind and waves in rivers and lakes by rotating the water propeller, thereby obtaining rotor pull data under different intensities of wind and waves.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. The rotor cross-medium dynamic tension and torsion measurement device and testing method described in this invention adopts a new underwater and airborne unmanned vehicle configuration, and incorporates the rotor technology used in helicopters into the aircraft, providing a good reference for the design of the aircraft's power unit.

[0018] 2. The present invention provides a dynamic tension-torsion measurement device and testing method for a rotor across a medium. This device and method is based on the underwater rotor of an amphibious unmanned aerial vehicle. By using a spring device to convert the rotor tension into pressure, the dynamic tension of the rotor can be measured very well.

[0019] 3. The rotor cross-medium dynamic tension and torque measurement device and testing method described in this invention can measure the tension, torque, speed and power data generated by the rotor at different angles of attack by introducing a rotor collective pitch device.

[0020] 4. The rotor cross-medium dynamic tension and torque measurement device and testing method described in this invention can measure the tension, torque, speed and power data generated by the rotor in complex water environments by introducing wave generation and water level adjustment devices.

[0021] 5. The rotor cross-medium dynamic tension and torsion measurement device and testing method described in this invention make up for the deficiencies of underwater rotor measurement technology, and at the same time provide a good idea for the dynamic tension testing of propellers. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall dynamic tension-torsion measuring device;

[0023] Figure 2 This is a schematic diagram of the internal structure of the dynamic tension-torsion measuring device;

[0024] Figure 3 This is a schematic diagram of a gear meshing transmission mechanism;

[0025] In the diagram, 1. Motor, 2. Short shaft, 3. Short shaft gear, 4. Long shaft gear, 5. Long and short shaft support rod, 6. Long shaft;

[0026] Figure 4 This is a schematic diagram of a dynamic tensile force measuring device;

[0027] In the diagram, 7. Piston handle, 8. Spring, 9. Pressure sensor, 10. Piston cylinder;

[0028] Figure 5 This is a schematic diagram of a rotor variable collective pitch device;

[0029] In the diagram, 11. Servo motor, 12. Servo motor stick, 13. Servo motor connecting rod, 14. Crank connecting rod, 15. Crank, 16. Stationary ring, 17. Bearing, 18. Moving ring, 19. Pitch control rod, 20. Pitch control rod, 21. Fixed plate, 22. Dynamic torque and speed measuring device;

[0030] Figure 6 A schematic diagram of the wave-making mechanism;

[0031] In the diagram, 23 is the fixed outer shell, and 24 is the underwater propeller.

[0032] Figure 7 A schematic diagram of the waterproof top of the waterproof casing;

[0033] In the diagram, 25. Waterproof shell, 26. Screw, 27. Long-shaft waterproof nut, 28. Waterproof nut fastener, and 29. Short-shaft waterproof nut. Detailed Implementation

[0034] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings of the embodiments of the present invention. (See attached drawings.) Figure 1 As shown, this application presents a dynamic tension-torsion measurement device and testing method based on the underwater rotor of an amphibious unmanned aerial vehicle (UAV), employing a novel dynamic tension-torsion measurement device configuration, as shown in the attached figure. Figure 1 , 2 As shown, this application designs a dynamic tension-torsion measurement device and testing method based on the underwater rotor of an amphibious unmanned aerial vehicle, such as... Figure 4 As shown, this application introduces a novel dynamic tension measurement device by utilizing the idea of ​​converting rotor thrust into pressure through a spring mechanism, such as... Figure 5 As shown, this application, through the design of a rotor variable collective pitch device, realizes real-time measurement of thrust, torque, speed, and power data generated by the rotor at different angles of attack, such as... Figure 6 As shown, this application achieves the simulation of complex aquatic environments by introducing wave generation and water level regulation. Example

[0035] This embodiment is a rotor cross-medium dynamic tension-torsion measurement device. The device comprises a motor, a gear meshing transmission device, a dynamic tension measurement device, a dynamic torque-speed measurement device, a rotor collective pitch device, a wave-generating and water level regulating device, and a waterproof housing. Its key feature is that the motor is mounted on two fixed threaded rods inside the device via positioning nuts, and the motor's output shaft is connected to a short shaft. The motor drives the short shaft to rotate, and the movement of the short shaft simultaneously drives the gear meshing transmission device. At this time, the rotor rotates in the water, generating an upward tension that pulls the piston top to rotate and move upward. The piston handle converts the obtained tension into a tension force on a pressure sensor through a spring, thereby measuring the tension data generated by the rotor.

[0036] The dynamic torque and speed measuring device measures the torque, speed, and power data generated by the rotor as it moves upward with the rotation of the long shaft.

[0037] The rotor variable collective pitch device can change the rotor's angle of attack by rotating a servo motor, which in turn drives a series of lever movements, thereby changing the thrust generated by the rotor and obtaining rotor thrust data at different angles of attack.

[0038] The wave-generating device simulates the wind and waves in rivers and lakes by rotating a water propeller to move the water in the pool, thereby obtaining rotor thrust data under different wave intensities.

[0039] The waterproof housing described in this example is fixed to the bottom of the pool and does not move upward with the rotor. At the same time, the long shaft 6 and the crank 15 can move through the waterproof bearing, and provide fixation, support, waterproofing and sealing for the entire measuring device.

[0040] The motor 1 is mounted on two fixed threaded rods inside the device by positioning nuts, and the movement of the motor is generated by the short shaft 2 connected to the motor shaft.

[0041] The gear meshing transmission device consists of a short shaft 2, a short shaft gear 3, a long shaft 6, a long shaft gear 4, and a long and short shaft support rod 5. The short shaft gear 3 is mounted on the short shaft 2 and is driven to rotate by the short shaft 2. The long shaft gear 4 meshes with the short shaft gear 3, and while the long shaft gear 4 is driven to rotate by the short shaft gear 3, it also drives the long shaft 6 to rotate.

[0042] The dynamic tensile force measuring device consists of a piston cylinder 10, a piston handle 7, a spring 8, and a miniature pressure sensor 9; the piston cylinder is fixed to the bottom of the waterproof shell, and its top is pierced by a waterproof bearing through which the long shaft 6 passes.

[0043] The dynamic torque and speed measuring device 22 is mounted on the long shaft 6 by a coupling. As the long shaft rotates, it measures the rotational speed of the rotor, the torque generated, and the power of the rotor.

[0044] The rotor collective pitch device consists of a servo motor 11, a servo motor rod 12, a servo motor connecting rod 13, a crank connecting rod 14, a crank rod 15, a stationary ring 16, a bearing 17, a moving ring 18, a pitch control rod 19, a fixed disk 21, a pitch control rod 20, and a rotor.

[0045] The servo motor has a sliding groove at the bottom and is mounted by bearing 17, allowing it to slide along the circular tube inside the waterproof housing.

[0046] The servo stick 12 is mounted on the shaft of the servo 11 and can rotate around the servo shaft under the drive of the servo 11.

[0047] The servo connecting rod 13 is connected to the servo rod 12 at one end and to the crank connecting rod 14 at the other end, which can convert the rotational motion of the servo rod 12 into vertical upward motion.

[0048] The crank connecting rod 14 is connected to the servo motor connecting rod 13 in the middle, and two crank rods 15 are connected to each end;

[0049] One end of the crank 15 is connected to the servo motor connecting rod 13, and the other end is connected to the stationary ring 16, which converts the vertical motion in one plane into the vertical motion in another plane, that is, drives the stationary ring 16 to move vertically.

[0050] All the connections between the rods are ball joints; the moving ring is fitted on the bearing and can move vertically upward under the action of the curved rod.

[0051] The bearing 17 is mounted on the long shaft 6 and can move upward together with the long shaft 6;

[0052] The stationary ring 16 is fitted on the bearing 17 and is concentric with the moving ring 18, and can move together with the bearing 17.

[0053] The variable pitch rod 19 is fixed to the stationary ring 16. When the stationary ring 16 moves upward, the variable pitch rod 19 is driven to change pitch through the hinge.

[0054] The fixed plate 21 is installed on the top of the long shaft 6 and serves as a fixing device for the pitch rod 20. It can rotate together with the long shaft 6.

[0055] The rotor root is mounted on the pitch control rod 20, and can rotate around the major axis 6 together with the pitch control rod 20, or change pitch together with the pitch control rod 20.

[0056] The wave-making and water level regulating device consists of a pair of rows installed on the side of the pool and four wave-making devices installed at the upper and lower positions inside the pool.

[0057] The wave-generating mechanism consists of an underwater propeller 24 and a fixed outer shell 23;

[0058] While the rotor generates tension during rotation, it also drives the gear meshing transmission device, dynamic tension measuring device, dynamic torque and speed measuring device, and rotor collective pitch device to move upward together.

[0059] The working process of the test method is as follows: the motor 1 drives the short shaft 2 to rotate, and the short shaft moves while driving the gear meshing transmission device. At this time, the rotor rotates in the water and generates an upward pull, which pulls the piston handle 7 to rotate and move upward. The piston handle will convert the obtained pull through the spring 8 into a pull on the pressure sensor 9, thereby measuring the pull data generated by the rotor. The dynamic torque and speed measuring device will measure the torque, speed and power data generated by the rotor while it moves upward with the rotation of the long shaft 6. The rotor collective pitch device can change the rotor's angle of attack by manipulating the servo motor 11 to drive a series of lever movements, thereby changing the rotor's pull and obtaining the rotor's pull data at different angles of attack. The wave-making device can use the rotation of the water propeller to drive the water in the pool to move, simulating the wind and waves in rivers and lakes, and obtaining the rotor's pull data under different intensities of wind and waves.

Claims

1. A rotor cross-medium dynamic tension-torsion measuring device, characterized in that, The measuring device includes a motor, a gear meshing transmission device, a dynamic tension measuring device, a dynamic torque and speed measuring device, a rotor collective pitch device, a wave-making and water level regulating device, and a waterproof housing. The motor is connected to the gear meshing transmission device, which converts the motor's output into a pressure signal detected by a sensor in the dynamic torque and speed measuring device. The dynamic torque and speed measuring devices are connected to the gear meshing transmission device. The rotor collective pitch device is mounted on the output end of the motor and connected to the output end of the gear meshing transmission device. The dynamic tensile force measuring device includes a piston cylinder, a piston handle, a spring, and a miniature pressure sensor; The piston cylinder is fixed to the bottom of the waterproof housing, and its top is passed through by a long shaft and fixed by a bearing; The piston handle is installed inside the piston cylinder and can move vertically up and down along the piston cylinder. While being fixed to the long axis, it can also rotate under the drive of the long axis. The spring is installed between the piston handle and the miniature pressure sensor to transmit the pressure from the piston handle to the miniature pressure sensor. The miniature pressure sensor is mounted on the top of the piston cylinder, and the spring is installed on the other end to receive the tension transmitted by the spring and output data. The rotor collective pitch device includes a servo motor, a servo motor stick, a servo motor connecting rod, a crank connecting rod, a crank, a moving ring, a bearing, a stationary ring, a pitch control rod, a fixed disc, a pitch control rod, and a rotor. The servo motor has a sliding groove at the bottom and is mounted by a bearing, sliding along a circular tube inside the waterproof housing; The servo stick is mounted on the servo motor shaft and rotates around the servo motor shaft under the drive of the servo motor. One end of the servo connecting rod is connected to the servo stick, and the other end is connected to the crank connecting rod, which converts the rotational motion of the servo stick into vertical upward motion; The crank connecting rod is connected to the servo motor connecting rod in the middle, and two crank rods are connected to each end; One end of the crank is connected to the servo motor connecting rod, and the other end is connected to the moving ring, which converts the vertical motion in one plane into the vertical motion in another plane, that is, drives the moving ring to move vertically. All connections between the rods are ball joints. The moving ring is fitted onto the bearing and moves vertically upward under the action of the crank. The bearing is fitted onto the long shaft and moves upward together with the long shaft; The stationary ring is fitted onto the bearing, is concentric with the moving ring, and moves together with the bearing; The variable pitch rod is fixed to the stationary ring. When the stationary ring moves upward, the variable pitch rod is driven to change pitch through the hinge. The fixed plate is installed on the top of the long shaft and serves as a fixing device for the pitch rod, and can rotate together with the long shaft; The rotor root is mounted on the pitch control rod, and rotates around the long axis together with the pitch control rod, or changes pitch together with the pitch control rod. The waterproof outer shell is also equipped with a wave-making and water level regulating device to adjust the internal water level and wave height.

2. The rotor cross-medium dynamic tension-torsion measuring device according to claim 1, characterized in that: The motor is mounted on two fixed threaded rods inside the device by positioning nuts, and the output shaft of the motor is connected to a short shaft; The gear meshing transmission device consists of a short shaft, a short shaft gear, a long shaft, a long shaft gear, and a long and short shaft support rod; The short-shaft gear is mounted on a short shaft and is driven to rotate by the short shaft; The long shaft gear meshes with the short shaft gear, and while the long shaft gear is driven to rotate by the short shaft gear, it also drives the long shaft to rotate. The long and short shaft support rod has a bearing connecting the short shaft at one end and a bearing connecting the long shaft at the other end, and mainly serves to support the long and short shafts.

3. The rotor cross-medium dynamic tension-torsion measurement device and testing method according to claim 1, characterized in that: The dynamic torque and speed measuring device is mounted on a long shaft via a coupling. As the long shaft rotates, it measures the rotational speed of the rotor, the torque generated, and the power of the rotor.

4. The rotor cross-medium dynamic tension-torsion measuring device according to claim 1, characterized in that: The waterproof outer shell is installed at the bottom of the pool, and has a long shaft fixed bearing and a crank fixed bearing at the top. When the long shaft and crank rotate or move vertically, they also play a role in sealing and waterproofing.

5. The rotor cross-medium dynamic tension-torsion measuring device according to claim 1, characterized in that: The wave-making and water level regulating device consists of a pair of rows installed on the side of the pool and four wave-making devices installed at the upper and lower positions inside the pool. The wave-generating device consists of a water propeller and a fixed outer shell.

6. A method for dynamic tensile-torsional testing of rotors across media, characterized in that: The test method is achieved by the rotor cross-medium dynamic tension-torsion measuring device as described in claim 1. The test method is as follows: while the rotor is rotating and generating tension, it drives the gear meshing transmission device, the dynamic tension measuring device, the dynamic torque-speed measuring device, and the rotor collective pitch device to move upward together. The motor drives the short shaft to rotate, and the short shaft moves at the same time, driving the gear meshing transmission device to move. At this time, the rotor rotates in the water and generates an upward pull, which pulls the piston top to rotate and move upward. The piston handle converts the obtained pull into a pull force on the pressure sensor through the spring, thereby measuring the pull data generated by the rotor. The dynamic torque and speed measuring device measures the torque, speed, and power data generated by the rotor as it moves upward with the rotation of the long shaft.

7. The method for dynamic tensile-torsional testing of a rotor across a medium according to claim 6, characterized in that: The testing method is as follows: the rotor variable collective pitch device changes the rotor angle of attack by manipulating the servo motor to rotate, thereby driving the column lever to move and changing the thrust generated by the rotor, so as to obtain rotor thrust data at different angles of attack.

8. The method for dynamic tensile-torsional testing of a rotor across a medium according to claim 6, characterized in that: Wave-generating devices can simulate the wind and waves in rivers and lakes by rotating water propellers to move the water in a pool, thereby obtaining rotor thrust data under different wind and wave intensities.

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