Force testing device and force testing method for different pitch angles of underwater vehicle

Abstract

The application discloses a submarine different-pitch-angle force testing device and a force testing method. The device comprises a frame body, a trailer mounting portion arranged at the upper end of the frame body, a fixing frame arranged in a ship model to drive the ship model to move synchronously, an angle adjusting mechanism arranged on the fixing frame to adjust the pitch angle of the fixing frame, and a force sensing mechanism arranged between the angle adjusting mechanism and the frame body to feed back the force condition of the ship model under different pitch angles. After the fixing frame is fixed to the ship model, the trailer mounting portion of the frame body is connected to an external trailer, the frame body is dragged by the trailer to simulate the real sailing speed of the submarine in the towing pool, the pitch angle of the fixing frame and the whole ship model is adjusted by the angle adjusting mechanism, and then the force condition of the ship model under different pitch angles is monitored in real time by the force sensing mechanism. The device has the advantages that the force condition of the submarine under different sailing postures in the real sailing condition can be simulated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship testing, in particular to a force testing device and method for different pitch angles of a submerged vehicle. BACKGROUND

[0002] A submerged vehicle is a vehicle that can be used for underwater navigation or surface navigation. It is widely used in hydrological monitoring, fishery operation and marine rescue. The submerged vehicle changes the water depth by adjusting the pitch angle. Since the submerged vehicle receives different forces at different pitch angles, different forces will affect the performance of the submerged vehicle, including service life, heading accuracy and navigation safety. After the submerged vehicle is designed, it needs to be tested first. The actual performance of the submerged vehicle is verified by simulating the water conditions and the navigation attitude of the actual application. The existing simulation verification device and simulation verification method are not convenient for accurate force analysis of the submerged vehicle at different pitch angles.

[0003] Therefore, it is necessary to provide a force testing device and method for different pitch angles of a submerged vehicle. SUMMARY

[0004] The force testing device and method for different pitch angles of a submerged vehicle provided by the present application effectively solve the problem that the existing simulation verification device and simulation verification method are not convenient for accurate force analysis of the submerged vehicle at different pitch angles.

[0005] The technical scheme adopted by the present application is

[0006] The force testing device for different pitch angles of a submerged vehicle comprises,

[0007] A frame body, wherein an upper end of the frame body is provided with a trailer mounting portion;

[0008] A fixing frame, wherein the fixing frame is used for being mounted in a ship model to drive the ship model to move synchronously;

[0009] An angle adjusting mechanism, wherein the angle adjusting mechanism is arranged on the fixing frame and is used for adjusting the pitch angle of the fixing frame;

[0010] A force sensing mechanism, wherein the force sensing mechanism is used for connecting the angle adjusting mechanism and the frame body and feeding back the force condition of the ship model at different pitch angles.

[0011] Further, the angle adjusting mechanism comprises a hinged component connecting the force sensing mechanism and the fixing frame and a driving component arranged on the fixing frame and used for driving the hinged component to rotate.

[0012] Further, the hinge assembly comprises a first shaft, a pushing member, a first frame fixedly connected with the force sensing mechanism, a second frame fixedly connected with the fixed frame, a connecting seat fixedly connected with the fixed frame and hinged with the first frame through the first shaft, the first frame is provided with a first strip-shaped slot, the second frame is provided with a second strip-shaped slot in communication with the first strip-shaped slot and forming an included angle with the first strip-shaped slot, the pushing member is simultaneously in rolling connection with the first strip-shaped slot and the second strip-shaped slot or simultaneously in sliding connection with the first strip-shaped slot and the second strip-shaped slot, and the pushing member is connected with the driving assembly.

[0013] Further, the first frame comprises a first top plate fixedly connected with the force sensing mechanism, a first side plate A and a first side plate B fixedly arranged on the left and right sides of the first top plate, the first strip-shaped slot is two in number, and the two first strip-shaped slots are arranged on the first side plate A and the first side plate B respectively, the two ends of the first shaft are hinged with the first side plate A and the first side plate B respectively, and the first top plate is fixedly connected with the force sensing mechanism.

[0014] Further, the second frame comprises a bottom plate fixedly connected with the fixed frame, a second side plate A and a second side plate B fixedly arranged on the left and right sides of the bottom plate, the second strip-shaped slot is two in number, and the two second strip-shaped slots are arranged on the second side plate A and the second side plate B respectively, and the bottom plate is located between the first side plate A and the first side plate B.

[0015] Further, the pushing member comprises a second shaft, a plurality of first ball bearings fixedly connected with the two ends of the second shaft, the outer ring of the first ball bearing is simultaneously in rolling connection with the first strip-shaped slot and the second strip-shaped slot, the second shaft is connected with the driving assembly, and the jack is arranged on the cross beam.

[0016] Further, the driving assembly comprises a jack arranged on the fixed frame and a connecting rod connecting the jack and the pushing member, and the jack is arranged on the fixed frame.

[0017] Further, the fixed frame comprises a cross beam fixedly arranged in the ship model and a bracket arranged on the cross beam, the connecting seat is fixedly arranged on the bracket, and the second frame is fixedly arranged on the bracket.

[0018] Further, the frame body comprises a frame and a connecting column connecting the frame and the force sensing mechanism, and the force sensing mechanism is a six-component force sensor.

[0019] The force testing method for different pitch angles of the underwater vehicle comprises the following steps: after the fixed frame is fixed with the ship model, the towing vehicle installation part of the frame body is connected with an external towing vehicle, the towing vehicle is used to tow the frame body to simulate the real sailing speed of the underwater vehicle in the towing pool, the pitch angle of the fixed frame is adjusted by the angle adjusting mechanism to drive the pitch angle of the whole ship model, and then the force sensing mechanism is used to monitor the force of the ship model under different pitch angles in real time.

[0020] Advantages of the application:

[0021] 1. The whole submarine different pitch angle force testing device can simulate the force condition of submarine in different navigation postures under real navigation condition.

[0022] 2. The structure design of the hinged assembly not only facilitates the angle adjustment of the model ship, but also the whole structure is simple and convenient for assembly.

[0023] 3. The structure design and specific implementation of the second frame can effectively realize the rolling connection of the second strip groove and the pushing piece, and the cooperation mode between the second frame and the first frame facilitates the assembly of the second frame and the first frame, and ensures the stability of the rolling frame rolling with the first strip groove and the second strip groove. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The whole schematic diagram of the submarine different pitch angle force testing device provided by the embodiment of the application and the ship model.

[0025] Figure 2 The whole schematic diagram of the submarine different pitch angle force testing device provided by the embodiment of the application.

[0026] Figure 3 The schematic diagram of the submarine different pitch angle force testing device provided by the embodiment of the application without the frame body.

[0027] Figure 4 The schematic diagram of the angle adjusting mechanism of the submarine different pitch angle force testing device provided by the embodiment of the application.

[0028] Figure 5 The exploded view of the angle adjusting mechanism of the submarine different pitch angle force testing device provided by the embodiment of the application.

[0029] Figure 6 The schematic diagram of the first frame and the second frame of the submarine different pitch angle force testing device provided by the embodiment of the application.

[0030] As shown in the figure: 1, frame; 2, fixed frame; 3, angle adjusting mechanism; 4, force sensing mechanism; 31, hinged assembly; 32, driving assembly; 311, No. 1 shaft; 312, pusher; 313, No. 1 frame; 314, No. 2 frame; 315, connecting seat; 301, No. 1 strip-shaped groove; 302, No. 2 strip-shaped groove; 3131, No. 1 top plate; 3132, No. 1 side plate A; 3133, No. 1 side plate B; 3141, bottom plate; 3142, No. 2 side plate A; 3143, No. 2 side plate B; 3121, No. 2 shaft; 3122, No. 1 ball bearing; 321, jack; 322, connecting rod; 21, cross beam; 22, bracket; 11, frame; 12, connecting column; 8, ship model. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0032] As shown in the figure: Figure 1 , Figure 2 The present application provides a first embodiment, which is a submarine different pitch angle force testing device, comprising a frame 1, the upper end of the frame 1 is provided with a trailer mounting portion. A fixed frame 2 is used for mounting in a ship model 8 to drive the ship model 8 to move synchronously. An angle adjusting mechanism 3 is arranged on the fixed frame 2, which is used for adjusting the pitch angle of the fixed frame 2. A force sensing mechanism 4 is used for connecting the angle adjusting mechanism 3 and the frame 1, and feeding back the force condition of the ship model 8 under different pitch angles.

[0033] In actual use, the ship model 8 is provided with a metal shell in proportion to the submarine and a counterweight in accordance with the real internal structure of the submarine. After the fixed frame 2 is fixed with the ship model 8, the trailer mounting portion of the frame 1 is connected with an external trailer, the trailer is used to drive the frame 1 to simulate the real sailing speed of the submarine in the towing pool, the pitch angle of the fixed frame 2 is adjusted by the angle adjusting mechanism 3 to drive the whole ship model 8, and then the force sensing mechanism 4 is used to monitor the force condition of the ship model 8 under different pitch angles in real time.

[0034] In the above design, the whole submarine different pitch angle force testing device can simulate the force condition of the submarine under different sailing postures in the real sailing condition.

[0035] Specifically, as shown in the figure: Figure 2 The angle adjusting mechanism 3 comprises a hinged assembly 31 connecting the force sensing mechanism 4 and the fixed frame 2, and a driving assembly 32 arranged on the fixed frame 2 and used for driving the hinged assembly 31 to rotate.

[0036] In actual use, the driving assembly 32 drives the hinged assembly 31 to drive the fixed frame 2 to adjust the pitch, so as to drive the whole ship model 8 to change the sailing angle.

[0037] In the above design, the structure design and specific implementation of the angle adjusting mechanism 3 can effectively realize the rapid angle adjustment of the fixed frame 2.

[0038] Specifically, as shown in Figure 3 , Figure 4 and Figure 5 , the hinged assembly 31 comprises a first shaft 311, a pushing piece 312, a first frame 313 fixedly connected with the force sensing mechanism 4 at the upper end, a second frame 314 fixedly connected with the fixed frame 2 at the lower end, a connecting seat 315 fixedly connected with the fixed frame 2 and hinged with the first frame 313 through the first shaft 311, the first frame 313 is provided with a first strip-shaped groove 301, the second frame 314 is provided with a second strip-shaped groove 302 which is in communication with the first strip-shaped groove 301 and forms an included angle with the first strip-shaped groove 301, the pushing piece 312 is simultaneously in rolling connection or sliding connection with the first strip-shaped groove 301 and the second strip-shaped groove 302, and the pushing piece 312 is connected with the driving assembly 32.

[0039] In actual use, the first frame 313 is fixed on the fixed frame 2 in a constant state, when angle adjustment is needed, the driving assembly 32 drives the pushing piece 312 to roll or slide in the first strip-shaped groove 301 and the second strip-shaped groove 302, so that the pushing piece 312 moves along the extension direction of the first strip-shaped groove 301, in the moving process, since the first frame 313 is fixed, the track of the first strip-shaped groove 301 is unchanged. Since the second frame 314 is fixedly connected with the fixed frame 2 and is not connected with the first frame 313, and the connecting seat 315 is fixedly connected with the fixed frame 2 and is hinged with the first frame 313 through the first shaft 311, as the pushing piece 312 moves in the first strip-shaped groove 301, the pushing piece 312 will move synchronously in the second strip-shaped groove 302, since there is an included angle between the first strip-shaped groove 301 and the second strip-shaped groove 302, the pushing piece 312 will extrude the second frame 314 to rotate through the second strip-shaped groove 302, when rotating, the second frame 314 drives the fixed frame 2 and the connecting seat 315 to rotate synchronously, so as to realize the angle adjustment of the whole ship model.

[0040] In the above design, the structure design of the hinged assembly 31 not only facilitates the angle adjustment of the ship model, but also the whole structure is simple and convenient to assemble.

[0041] Specifically, as shown in Figure 3 , Figure 5 and Figure 6As shown in the figure, the first frame 313 comprises a first top plate 3131 fixedly connected with the force sensing mechanism 4, a first side plate A 3132 and a first side plate B 3133 fixedly arranged on the left and right sides of the first top plate 3131, the number of the first strip-shaped grooves 301 is two, and the two first strip-shaped grooves 301 are arranged on the first side plate A 3132 and the first side plate B 3133 respectively, the two ends of the first shaft 311 are hingedly connected with the first side plate A 3132 and the first side plate B 3133 respectively, and the first top plate 3131 is fixedly connected with the force sensing mechanism 4.

[0042] In actual use, since the first top plate 3131 is fixedly connected with the force sensing mechanism 4, the first side plate A 3132 and the first side plate B 3133 are also in a constant state due to being fixedly connected with the first top plate 3131. The two ends of the pusher 312 are rollingly or slidingly connected with the two first strip-shaped grooves 301 on the first side plate A 3132 and the first side plate B 3133 respectively.

[0043] In the above design, the structural design and specific implementation of the first frame 313 facilitate the connection with the force sensing mechanism 4 and facilitate the stability of the connection with the pusher 312.

[0044] Specifically, as shown in the figures, Figure 5 and Figure 6 The second frame 314 comprises a bottom plate 3141 fixedly connected with the fixed frame 2, a second side plate A 3142 and a second side plate B 3143 fixedly arranged on the left and right sides of the bottom plate 3141, the number of the second strip-shaped grooves 302 is two, and the two second strip-shaped grooves 302 are arranged on the second side plate A 3142 and the second side plate B 3143 respectively, and the bottom plate 3141 is located between the first side plate A 3132 and the first side plate B 3133.

[0045] In actual use, the pusher 312 moves in the second strip-shaped groove 302 through the connection of the bottom plate 3141 with the fixed frame 2, thereby driving the second side plate A 3142 and the second side plate B 3143 to rotate synchronously, and since the fixed frame 2 and the connecting seat 315 are fixedly connected, the connecting seat 315 is hingedly connected with the first frame 313 through the first shaft 311, so the second frame 314 will not always make the pusher 312 abut against one end of the second strip-shaped groove 302 due to gravity, thereby ensuring that the movement in the second strip-shaped groove 302 can be completed.

[0046] The structure design and specific implementation of the second frame 314 can effectively realize the rolling connection of the second strip-shaped groove 302 and the pushing piece 312, and the cooperation between the second frame 314 and the first frame 313 facilitates the assembly of the second frame 314 and the first frame 313, and ensures the stability of the rolling or sliding of the pushing piece 312 with the first strip-shaped groove 301 and the second strip-shaped groove 302.

[0047] Specifically, as shown in Figure 5 The pushing piece 312 comprises a second shaft 3121 and a plurality of first ball bearings 3122 fixedly connected to both ends of the second shaft 3121, the outer ring of the first ball bearing 3122 is rollingly connected with the first strip-shaped groove 301 and the second strip-shaped groove 302, and the second shaft 3121 is connected with the driving assembly 32.

[0048] In actual use, the second shaft 3121 is driven to move by the driving assembly 32, so that the first ball bearing 3122 is driven to roll along the extension direction of the first strip-shaped groove 301, thereby realizing the rolling extrusion of the second strip-shaped groove 302 by the outer ring of the first shaft 311 bearing and driving the entire second frame 314 to rotate.

[0049] In the above design, the structure design and specific implementation of the pushing piece 312 can effectively realize the rolling contact of the first strip-shaped groove 301 and the second strip-shaped groove 302, and reduce the friction of the pushing piece 312 in the rolling connection with the first strip-shaped groove 301 and the second strip-shaped groove 302.

[0050] Specifically, as shown in Figure 4 and Figure 5 The driving assembly 32 comprises a jack 321 arranged on the fixed frame 2, and a connecting rod 322 connecting the jack 321 and the pushing piece 312, and the jack 321 is arranged on the fixed frame 2.

[0051] In actual use, the connecting rod 322 is driven by the jack 321 to drive the pushing piece 312 to roll along the extension direction of the first strip-shaped groove 301.

[0052] In the above design, the driving assembly 32 uses the jack 321 as a power source, which can drive the pushing piece 312 by using the good load capacity of the jack 321.

[0053] Specifically, as shown in Figure 3 The fixed frame 2 comprises a cross beam 21 fixedly arranged in the ship model 8, and a bracket 22 arranged on the cross beam 21, the connecting seat 315 is fixedly arranged on the bracket 22, the second frame 314 is fixedly arranged on the bracket 22, and the jack 321 is arranged on the cross beam 21.

[0054] In actual use, the bracket 22 is mounted by the cross beam 21, and the model boat 8 is fixed by the cross beam 21.

[0055] In the above design, the jack 321 is arranged on the cross beam 21, so that the load bearing of the bracket 22 can be reduced.

[0056] Specifically, as shown in Figure 1 and Figure 2 The frame body 1 includes a frame 11 and a connecting column 12 connecting the frame 11 and a force sensing mechanism 4, and the force sensing mechanism 4 is a six-component force sensor.

[0057] In actual use, the model boat is subjected to forces in the positive X-axis direction, the negative X-axis direction, the positive Y-axis direction, the negative Y-axis direction, the positive Z-axis direction, and the negative Z-axis direction during sailing. The six-component force sensor is used to monitor the forces in the six directions. The frame body 1 is fixedly installed with the external trailer, and when the frame body 1 moves with the trailer, the connecting column 12 drives the entire force sensing mechanism 4 and the fixed frame 2 to move.

[0058] In the above design, the structural design of the frame body 1 and the structural design of the force sensing mechanism 4 can facilitate the synchronous towing and monitoring of the entire model boat 8.

[0059] The second embodiment provided in the present application is a method for testing forces at different pitch angles of a submarine. After the fixed frame 2 is fixed with the model boat 8, the trailer installation part of the frame body 1 is connected with the external trailer, the pitch angle of the entire model boat 8 is adjusted by the angle adjusting mechanism 3, the frame body 1 is towed by the trailer to simulate the real sailing speed of the submarine in the towing pool, and then the force sensing mechanism 4 is used to monitor the force of the model boat 8 at different pitch angles in real time.

[0060] It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A force testing device for underwater vehicles at different pitch angles, characterized in that: include, The frame (1) has a trailer mounting section at its upper end; A fixing frame (2) is used to be installed inside the ship model (8) to drive the ship model (8) to move synchronously; An angle adjustment mechanism (3) is provided on the fixed frame (2) and is used to adjust the pitch angle of the fixed frame (2); Force sensing mechanism (4), the force sensing mechanism (4) is used to connect the angle adjustment mechanism (3) and the frame (1) to provide feedback on the force on the ship model (8) at different pitch angles; The angle adjustment mechanism (3) includes a hinge assembly (31) connecting the force sensing mechanism (4) and the fixed frame (2) and a drive assembly (32) disposed on the fixed frame (2) for driving the hinge assembly (31) to rotate. The hinge assembly (31) includes a first shaft (311), a pusher (312), a first frame (313) whose upper end is fixedly connected to the force sensing mechanism (4), a second frame (314) whose lower end is fixedly connected to the fixed frame (2), and a connecting seat (315) fixedly connected to the fixed frame (2) and hinged to the first frame (313) through the first shaft (311). The first frame (313) is provided with a first strip groove (301). The second frame (314) is provided with a second strip groove (302) that communicates with the first strip groove (301) and forms an angle with the first strip groove (301). The pusher (312) is simultaneously rolledly connected to the first strip groove (301) and the second strip groove (302) or simultaneously slidably connected to the first strip groove (301) and the second strip groove (302). The pusher (312) is connected to the drive assembly (32). The drive assembly (32) includes a jack (321) mounted on a fixed frame (2) and a connecting rod (322) connecting the jack (321) and the pusher (312). The jack (321) is pushed out towards the pusher (312). The fixed frame (2) includes a crossbeam (21) fixedly installed inside the ship model (8), a bracket (22) installed on the crossbeam (21), a connecting seat (315) fixedly installed on the bracket (22), and a second frame (314) fixedly installed on the bracket (22).

2. The underwater vehicle pitch angle force testing device according to claim 1, characterized in that: The first frame (313) includes a first top plate (3131) fixedly connected to the force sensing mechanism (4), a first side plate A (3132) and a first side plate B (3133) fixedly disposed on the left and right sides of the first top plate (3131), and two first strip grooves (301) are provided. The two first strip grooves (301) are respectively disposed on the first side plate A (3132) and the first side plate B (3133). The two ends of the first shaft (311) are respectively hinged to the first side plate A (3132) and the first side plate B (3133). The first top plate (3131) is fixedly connected to the force sensing mechanism (4).

3. The underwater vehicle pitch angle force testing device according to claim 2, characterized in that: The second frame (314) includes a base plate (3141) fixedly connected to the fixed frame (2), and second side plates A (3142) and B (3143) fixedly arranged on the left and right sides of the base plate (3141). There are two second strip grooves (302), and the two second strip grooves (302) are respectively arranged on the second side plates A (3142) and B (3143). The base plate (3141) is located between the first side plate A (3132) and the first side plate B (3133).

4. The underwater vehicle pitch angle force testing device according to claim 1, characterized in that: The pusher (312) includes a second shaft (3121) and several first ball bearings (3122) whose inner rings are fixedly connected to both ends of the second shaft (3121). The outer ring of the first ball bearing (3122) is simultaneously rolledly connected to the first strip groove (301) and the second strip groove (302). The second shaft (3121) is connected to the drive assembly (32). The jack (321) is mounted on the crossbeam (21).

5. The underwater vehicle pitch angle force testing device according to claim 1, characterized in that: The frame (1) includes a frame (11) and a connecting column (12) connecting the frame (11) and the force sensing mechanism (4), wherein the force sensing mechanism (4) is a six-component force sensor.

6. A method for testing forces at different pitch angles of an underwater vehicle, using the underwater vehicle force testing device at different pitch angles as described in any one of claims 1 to 5, characterized in that: After being fixed to the boat model (8) by the fixing frame (2), the external trailer is connected to the trailer mounting part of the frame (1). The pitch angle of the entire boat model (8) is adjusted by the angle adjustment mechanism (3). The trailer is used to drag the frame (1) to simulate the real speed of the submarine in the towing pool. Then, the force sensing mechanism (4) is used to monitor the force on the boat model (8) at different pitch angles in real time.

Images