A comprehensive simulation and debugging platform for underwater vehicles

Abstract

The present invention provides an underwater vehicle comprehensive simulation debugging platform, which relates to the technical field of underwater vehicles, and includes a platform bracket, a platform plate, a first debugging mechanism and a second debugging mechanism; the first debugging mechanism includes two driving rods horizontally arranged on the top of the platform bracket, the surfaces of the right ends of the two driving rods are rotatably connected to support seats, the bottoms of the two support seats are fixedly connected to the top of the platform plate, the surfaces of the two driving rods are respectively connected to two cams by keyways, the surfaces of the four cams are all provided with slings, the four slings are divided into two groups, and the bottom ends of each group of slings are fixedly connected to a mounting frame through a lifting ring. This scheme finally realizes the switching of the state of the aircraft body, fully simulates the posture of the aircraft body in the water, and debugs the aircraft body on this basis, which can effectively ensure the accuracy and reliability of the parameters after debugging.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to a comprehensive simulation and debugging platform for underwater vehicles. Background Art

[0002] An underwater vehicle is a device that can autonomously navigate underwater. There are various types of underwater vehicles, including autonomous underwater vehicles and remote-controlled underwater vehicles, which can be used in marine scientific research, underwater detection, seabed resource development, water rescue and other fields. In the actual development of underwater vehicles, direct physical testing is often accompanied by high costs, including the cost of making prototypes and conducting sea trials. However, simulation debugging can quickly test various design solutions in a virtual environment without the need to manufacture multiple physical prototypes, greatly saving costs and development time.

[0003] Publication No.: CN116973150A discloses a simulated load test system and test method for an underwater vehicle. When the underwater vehicle moves, its rudder blades and counter-rotating propellers will be subject to water flow resistance. The simulated load test system mechanically loads the inner and outer shafts and rudder blades of the underwater vehicle through magnetic powder brakes and torsion bar springs to achieve load simulation of the underwater vehicle when it moves underwater. The load test system is easy to install and has a reliable structure, which can ensure the stable operation of the underwater vehicle simulated load test process.

[0004] However, the device is not convenient for simulating the posture of the underwater vehicle in water when in use. A big difference between underwater and land is that the dynamic environment is complex. The dynamic process on land is simple, and the general factor affecting the dynamic is wind resistance, but on land there is its own gravity, so the dynamic environment on land has less impact on driving; but the underwater vehicle in water is basically designed to be in a zero-gravity state, that is, it stays completely in a certain water layer in the water for a short time and is in a suspended state. At this time, any fluctuation will affect the posture of the underwater vehicle. In addition, the underwater environment is complex and there is great uncertainty. For example, water masses, rapids, thermohaline jump layers, etc. will have a great impact on the navigation of the underwater vehicle. Therefore, simulating the posture of the underwater vehicle in water is the basis for debugging the underwater vehicle. Debugging the underwater vehicle on this basis can ensure the accuracy and reliability of the parameters after debugging.

[0005] Therefore, it is necessary to provide a comprehensive simulation and debugging platform for underwater vehicles to solve the above technical problems. Summary of the invention

[0006] The present invention provides an underwater vehicle comprehensive simulation debugging platform, which solves the technical problem that some existing underwater vehicle simulation debugging devices in the related art are not convenient for simulating the posture of the underwater vehicle in water when in use.

[0007] In order to solve the above technical problems, the underwater vehicle comprehensive simulation debugging platform provided by the present invention includes a platform bracket, a platform plate, a first debugging mechanism and a second debugging mechanism;

[0008] The first debugging mechanism comprises two driving rods horizontally arranged on the top of the platform bracket, the surfaces of the right ends of the two driving rods are rotatably connected with support seats, the bottoms of the two support seats are fixedly connected to the top of the platform plate, the surfaces of the two driving rods are respectively connected with two cams by key grooves, the surfaces of the four cams are provided with slings, the four slings are divided into two groups, front and rear, and the bottom ends of each group of slings are fixedly connected to a mounting frame through a lifting ring, the inner sides of the two mounting frames are provided with an aircraft body, the top ends of the four slings are fixedly connected to the top of the platform plate through a lifting ring, and the left side of the top of the platform plate is provided with driving motors respectively used to drive the two driving rods to rotate;

[0009] The second debugging mechanism includes two trusses arranged on the top of the platform support, two rotating seats are respectively fixedly provided at the bottom of the two trusses, the four rotating seats are divided into two front and rear groups, and a winding rod is arranged on the inner side of each group of the rotating seats for transverse rotation, two limit plates are respectively fixedly provided on the surfaces of the two winding rods, a first pulley is fixedly provided on the left ends of the two winding rods, belts are sleeved on the surfaces of the two first pulleys, a second pulley is fixedly provided on the left surfaces of the two driving rods, the two first pulleys are respectively connected to the two second pulleys through the belts, four pulley seats are fixedly provided at the bottom of the platform plate, and pulleys are rotatably connected on the inner sides of the four pulley seats.

[0010] Preferably, a keyway connection point between the cam and the driving rod is far away from the center of the driving rod, and positions of the keyway connection points between the four cams and the driving rod are all different.

[0011] Preferably, the four pulleys are respectively located at the same vertical line position as the four cams, and the four limit plates are respectively located directly in front of or directly behind the four pulleys.

[0012] Preferably, the right ends of the two driving rods are provided with an acoustic interference mechanism, and the acoustic interference mechanism includes two adjustment disks fixedly arranged at the right ends of the two driving rods, the inner sides of the two adjustment disks are vertically rotatably connected with threaded rods, the surfaces of the two threaded rods are threadedly connected with adjustment blocks, the two adjustment blocks are respectively slidably connected with the inner sides of the two adjustment disks, and the right sides of the two adjustment blocks are fixed with rotating disks;

[0013] A support frame is arranged on the inner side of the right side of the platform bracket, and two guide frames are vertically fixed on the top of the support frame. The inner sides of the two guide frames are vertically slidably connected with sliding plates, and a mounting bracket is fixed on the opposite side of the two sliding plates, and an acoustic jammer is arranged on the top of the mounting bracket.

[0014] Preferably, an annular groove is provided on the inner side of the right side of the two rotating disks, a cylindrical protrusion is provided on the inner side of the top of the two sliding plates, and the two cylindrical protrusions are respectively located in the annular grooves in the two rotating disks.

[0015] Preferably, the inner sides of the two adjustment disks are respectively provided with sliding grooves for use with the two adjustment blocks, which can provide the two adjustment blocks with up and down sliding, and the inner sides of the two adjustment blocks are respectively provided with threaded grooves for use with the two threaded rods.

[0016] Preferably, a wind tunnel simulation mechanism is provided on the inner side of the left side of the platform bracket, and the wind tunnel simulation mechanism comprises an adjustment plate provided on the inner side of the left side of the platform bracket, studs are fixedly provided at both ends of the adjustment plate, and the two studs are slidably connected to the inner side of the platform bracket, and locking nuts are threadedly connected to the surfaces of the two studs and the surfaces located on the platform bracket, and a slide rail is fixedly provided on the top of the adjustment plate, and a sliding platform is slidably connected to the surface of the slide rail;

[0017] The inner side of the sliding platform is vertically rotatably connected with an adjustment handle, the top of the adjustment handle and the top of the sliding platform are fixed with a gear, the top of the sliding platform is rotatably connected with a toothed disc, the gear is meshed with the toothed disc, a universal adjustment frame is fixed on the top of the toothed disc, two limit brackets are fixed on the top of the universal adjustment frame, and spray rods are arranged on the inner sides of the two limit brackets.

[0018] Preferably, a slide groove for cooperating with the stud is provided on the inner side of the left side of the platform bracket, and a slide groove for cooperating with the slide rail is provided on the inner side of the sliding platform.

[0019] Preferably, four connecting seats are fixedly provided at the bottom of the platform bracket, and bolt holes are provided on the inner sides of the four connecting seats.

[0020] Compared with the related art, the underwater vehicle comprehensive simulation debugging platform provided by the present invention has the following beneficial effects:

[0021] By using two driving motors and two driving rods to drive four cams to rotate, the four slings drive the aircraft body to shake irregularly through two mounting frames, thereby simulating the irregular shaking of the aircraft body caused by waves, water masses or rapids in the water. By replacing the sizes of the four cams or changing the positions of the keyway connection points of the four cams and the driving rods, the amplitude of the shaking of the aircraft body can be adjusted, thereby simulating the size of the waves, water masses or rapids in the water. After the four slings are disassembled and connected to the four limit plates respectively, one of the driving motors is started separately, so that the head of the aircraft body can be adjusted to an upward or downward posture by winding or lowering the slings through the limit plate, and then the aircraft body can be adjusted to a regular solid-state posture for debugging. The structure is simple and practical, and the cost is relatively low. By switching the state of the aircraft body, the posture of the aircraft body in the water can be fully simulated. On this basis, the aircraft body is debugged, which can effectively ensure the accuracy and reliability of the parameters after debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 The best structural diagram provided by the present invention;

[0024] Figure 2 A schematic diagram of the structure of the rear view provided by the present invention;

[0025] Figure 3 A structural schematic diagram of a first debugging mechanism provided by the present invention;

[0026] Figure 4 A structural schematic diagram of a second debugging mechanism provided by the present invention;

[0027] Figure 5 for Figure 4 A schematic diagram of the structure of the bottom view of the platform plate shown;

[0028] Figure 6 A schematic diagram of the structure of the acoustic interference mechanism provided by the present invention;

[0029] Figure 7 for Figure 6 The enlarged structural diagram of A shown;

[0030] Figure 8 for Figure 6The structural schematic diagram of the rotating disk shown;

[0031] Fig. 9 for Figure 6 The schematic diagram of the state in which the two driving rods respectively drive the two rotating disks to rotate through the two adjusting disks, so that the two sliding plates drive the mounting bracket and the acoustic jammer to move up and down;

[0032] Fig.10 A schematic diagram of the structure of the wind tunnel simulation mechanism provided by the present invention;

[0033] Fig.11 for Fig.10 The structural schematic diagram of the adjustment plate is shown.

[0034] Description of Figure Numbers:

[0035] 1. Platform bracket; 2. Platform board;

[0036] 3. First debugging mechanism; 31. Driving rod; 32. Support seat; 33. Cam; 34. Lifting rope; 35. Mounting frame; 36. Driving motor;

[0037] 4. Second debugging mechanism; 41. Truss; 42. Rotating seat; 43. Winding rod; 44. Limiting plate; 45. First pulley; 46. Belt; 47. Second pulley; 48. Pulley seat; 49. Pulley;

[0038] 5. The aircraft body;

[0039] 6. Acoustic interference mechanism; 61. Adjustment disk; 62. Threaded rod; 63. Adjustment block; 64. Rotating disk; 65. Support frame; 66. Guide frame; 67. Sliding plate; 68. Mounting bracket; 69. Acoustic jammer;

[0040] 7. Wind tunnel simulation mechanism; 71. Adjustment plate; 72. Stud; 73. Locking nut; 74. Slide rail; 75. Sliding platform; 76. Adjustment handle; 77. Gear; 78. Toothed plate; 79. Universal adjustment bracket; 710. Limit bracket; 711. Spray rod;

[0041] 8. Connecting socket.

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The invention provides an underwater vehicle comprehensive simulation debugging platform.

[0045] First embodiment:

[0046] See also Figures 1 to 5 , an underwater vehicle comprehensive simulation debugging platform, comprising a platform bracket 1, a platform plate 2, a first debugging mechanism 3 and a second debugging mechanism 4;

[0047] The first debugging mechanism 3 includes two driving rods 31 horizontally arranged on the top of the platform bracket 1, the surfaces of the right ends of the two driving rods 31 are rotatably connected to the support seats 32, the bottoms of the two support seats 32 are fixedly connected to the top of the platform plate 2, the surfaces of the two driving rods 31 are respectively connected to two cams 33 by keyways, the surfaces of the four cams 33 are provided with slings 34, the four slings 34 are divided into two groups, front and rear, and the bottom ends of each group of slings 34 are fixedly connected to the mounting frame 35 through a lifting ring, the inner sides of the two mounting frames 35 are provided with the aircraft body 5, the top ends of the four slings 34 are fixedly connected to the top of the platform plate 2 through the lifting ring, and the left side of the top of the platform plate 2 is provided with a driving motor 36 for driving the two driving rods 31 to rotate;

[0048] Please combine Figure 3 : Start the two driving motors 36, and the two driving rods 31 are driven to rotate by the rotation of the two driving motors 36. The rotation of the two driving rods 31 then drives the four cams 33 to rotate. Since the four cams 33 are at different positions of the keyway connection points with the driving rods 31, the positions of the highest points of the tops will change all the time during the rotation. The slings 34 arranged on the surfaces of the cams 33 will change with the changes of the cams 33. The bottom ends of the four slings 34 will pull the two mounting frames 35 to shake irregularly. The shaking of the two mounting frames 35 will then drive the aircraft body 5 to shake irregularly, thereby simulating the irregular shaking of the aircraft body 5 in the water caused by waves, water masses or rapids;

[0049] Furthermore, the four cams 33 and the driving rod 31 are in a keyway connection state. If the size of the cam 33 is replaced or the position of the keyway connection point between the cam 33 and the driving rod 31 is adjusted, the amplitude of the shaking of the vehicle body 5 can be adjusted, thereby simulating the size of waves, water masses or rapids in the water.

[0050] The second debugging mechanism 4 includes two trusses 41 arranged on the top of the platform bracket 1, two rotating seats 42 are fixedly provided at the bottom of the two trusses 41, and the four rotating seats 42 are divided into two groups, front and rear, and the inner side of each group of rotating seats 42 is provided with a winding rod 43 for transverse rotation, and the surfaces of the two winding rods 43 are respectively fixed with two limit plates 44, and the left ends of the two winding rods 43 are fixed with a first pulley 45, and the surfaces of the two first pulleys 45 are sleeved with belts 46, and the surfaces of the left sides of the two driving rods 31 are fixed with a second pulley 47, and the two first pulleys 45 are respectively connected to the two second pulleys 47 through the belts 46, and the bottom of the platform plate 2 is fixed with four pulley seats 48, and the inner sides of the four pulley seats 48 are rotatably connected with pulleys 49;

[0051] Please combine Figure 4 and Figure 5 : First, the two belts 46 are respectively sleeved on the surfaces of the two first pulleys 45 and the two second pulleys 47, then the four slings 34 are removed from the top of the platform plate 2, and respectively passed through the tops of the four pulleys 49, and after adjusting the lengths and positions of the four slings 34, they are correspondingly installed in the four limit plates 44, so that the aircraft body 5 is in a horizontal state, and the two driving motors 36 are started, and the two second pulleys 47 are driven to rotate by the two driving rods 31 through the rotation of the two driving motors 36, and the two second pulleys 47 respectively drive the two first pulleys 45 to rotate through the two belts 46, and the two first pulleys 45 then drive the two winding rods 43 to rotate, and the two winding rods 43 respectively drive the two limit plates 44 to wind up the slings 34, and by winding up the four slings 34 at the same time, the two mounting frames 35 can be used to adjust the debugging height of the aircraft body 5 upward, and by lowering the four slings 34 at the same time, the two mounting frames 35 can be used to adjust the debugging height of the aircraft body 5 downward;

[0052] Furthermore, by separately starting the driving motor 36 located on the front side or the driving motor 36 located on the rear side, and using the winding rod 43 and the limit plate 44 to wind up or lower two of the slings 34, the head of the aircraft body 5 can be adjusted to an upward or downward posture through the mounting frame 35, so that the aircraft body 5 can be adjusted to a regular solid-state posture for debugging.

[0053] The keyway connection point between the cam 33 and the driving rod 31 is far away from the center of the driving rod 31 , and the positions of the keyway connection points between the four cams 33 and the driving rod 31 are all different.

[0054] The four pulleys 49 are respectively located at the same vertical line position as the four cams 33 , and the four limit plates 44 are respectively located right in front of or right behind the four pulleys 49 .

[0055] In this embodiment, unlike the existing underwater vehicle simulation device, the present case uses two driving motors 36 to drive four cams 33 to rotate using two driving rods 31, so that the four slings 34 drive the vehicle body 5 to shake irregularly through two mounting frames 35, thereby simulating the irregular shaking of the vehicle body 5 in the water caused by waves, water masses or rapids. By replacing the size of the four cams 33 or changing the position of the keyway connection point of the four cams 33 and the driving rods 31, the amplitude of the shaking of the vehicle body 5 can be adjusted, thereby simulating the size of the waves, water masses or rapids in the water, and the four cams 33 can be adjusted. After the sling 34 is disassembled and connected to the four limit plates 44 respectively, one of the driving motors 36 is started separately, so that the sling 34 can be wound up or lowered through the limit plate 44, and the head of the aircraft body 5 can be adjusted to an upward or downward posture, and then the aircraft body 5 can be adjusted to a regular solid-state posture for debugging. The structure is simple and practical, and the cost is relatively low. By switching the state of the aircraft body 5, the posture of the aircraft body 5 in the water can be fully simulated. On this basis, the aircraft body 5 is debugged, which can effectively ensure the accuracy and reliability of the parameters after debugging.

[0056] Second embodiment:

[0057] See also Figure 1 , Figures 6 to 9 The right ends of the two driving rods 31 are provided with an acoustic interference mechanism 6, and the acoustic interference mechanism 6 includes two adjustment disks 61 fixedly arranged at the right ends of the two driving rods 31, the inner sides of the two adjustment disks 61 are vertically rotatably connected with threaded rods 62, the surfaces of the two threaded rods 62 are threadedly connected with adjustment blocks 63, the two adjustment blocks 63 are respectively slidably connected with the inner sides of the two adjustment disks 61, and the right sides of the two adjustment blocks 63 are fixed with rotating disks 64;

[0058] A support frame 65 is provided on the inner side of the right side of the platform bracket 1, and two guide frames 66 are vertically fixed on the top of the support frame 65. The inner sides of the two guide frames 66 are vertically slidably connected with sliding plates 67. A mounting bracket 68 is fixed on the opposite side of the two sliding plates 67, and an acoustic disruptor 69 is provided on the top of the mounting bracket 68;

[0059] Please combine Figure 1 , Figures 6 to 9: Start the two driving motors 36, and drive the two driving rods 31 to rotate through the rotation of the two driving motors 36, and the rotation of the two driving rods 31 drives the two adjusting disks 61 to rotate, and the rotation of the two adjusting disks 61 drives the two adjusting blocks 63 and the two rotating disks 64 to rotate respectively, and the two rotating disks 64 rotate, so that the two sliding plates 67 slide up and down on the inner side of the guide frame 66, and the two sliding plates 67 drive the mounting bracket 68 and the acoustic jammer 69 to move up and down, and start the acoustic jammer 69, and use the acoustic jammer 69 to interfere and debug the acoustic equipment of the aircraft body 5 from far to near or from near to far;

[0060] Further, the two threaded rods 62 are rotated, and the two adjusting blocks 63 are driven to move upward on the inner side of the adjusting disk 61 through the rotation of the two threaded rods 62, and the centers of the two adjusting disks 61 and the two rotating disks 64 are respectively adjusted to the same position. At this time, the two driving motors 36 are started, and the two driving rods 31 are used to drive the two adjusting disks 61 to rotate through the two driving motors 36. When the two adjusting disks 61 drive the two rotating disks 64 to rotate, the two sliding plates 67 will not move in position, so that the acoustic jammer 69 is in a stationary state. In the stationary state, the acoustic jammer 69 can also be used to debug the acoustic equipment of the aircraft body 5;

[0061] Preferably, underwater vehicles usually rely on acoustic equipment for communication, navigation and detection. The underwater acoustic environment can be simulated by the acoustic jammer 69, thereby interfering with the acoustic equipment of the vehicle body 5, and then detecting and debugging the acoustic equipment of the vehicle body 5. The acoustic jammer 69 is a common device on the existing market, and can also be a player, which interferes with the acoustic equipment by playing audio through the player.

[0062] An annular groove is provided on the inner side of the right side of the two rotating disks 64 , and a cylindrical protrusion is provided on the inner side of the top of the two sliding plates 67 , and the two cylindrical protrusions are respectively located in the annular grooves in the two rotating disks 64 .

[0063] The inner sides of the two adjustment disks 61 are respectively provided with sliding grooves for use with the two adjustment blocks 63, which can provide the two adjustment blocks 63 with up and down sliding. The inner sides of the two adjustment blocks 63 are respectively provided with threaded grooves for use with the two threaded rods 62.

[0064] In this embodiment, two adjusting disks 61 are driven to rotate by two driving rods 31, and the rotation of the two adjusting disks 61 drives the two adjusting blocks 63 and the two rotating disks 64 to rotate. Through the rotation of the two rotating disks 64, the two sliding plates 67 slide up and down on the inner side of the guide frame 66, and the two sliding plates 67 drive the mounting bracket 68 and the acoustic jammer 69 to move up and down reciprocatingly, and the acoustic jammer 69 is started. The acoustic equipment of the aircraft body 5 is interfered and debugged from far to near or from near to far by the acoustic jammer 69, and the underwater acoustic environment is simulated by the acoustic jammer 69. The interference from far to near or from near to far is more in line with the uncontrollable factors underwater, thereby making the simulation of the acoustic environment more realistic and flexible. By adjusting the center of the two adjusting disks 61 and the two rotating disks 64 to the same position, the acoustic jammer 69 can be kept in a stationary state, and thus the acoustic equipment of the aircraft body 5 can be debugged without affecting other debugging of the aircraft body 5.

[0065] Third embodiment:

[0066] See also Fig.10 and Fig.11 A wind tunnel simulation mechanism 7 is provided on the inner side of the left side of the platform bracket 1. The wind tunnel simulation mechanism 7 includes an adjustment plate 71 provided on the inner side of the left side of the platform bracket 1. Both ends of the adjustment plate 71 are fixed with studs 72. The two studs 72 are slidably connected to the inner side of the platform bracket 1. The surfaces of the two studs 72 and the surfaces located on the platform bracket 1 are threadedly connected with locking nuts 73. A slide rail 74 is fixed on the top of the adjustment plate 71. A slide platform 75 is slidably connected to the surface of the slide rail 74.

[0067] The inner side of the sliding platform 75 is vertically rotatably connected with an adjusting handle 76, and a gear 77 is fixedly arranged at the top of the adjusting handle 76 and located at the top of the sliding platform 75. A toothed disc 78 is rotatably connected to the top of the sliding platform 75, and the gear 77 meshes with the toothed disc 78. A universal adjustment frame 79 is fixedly arranged at the top of the toothed disc 78, and two limit brackets 710 are fixedly arranged at the top of the universal adjustment frame 79. Spray rods 711 are arranged at the inner sides of the two limit brackets 710.

[0068] Please combine Fig.10 and Fig.11: Loosen the two locking nuts 73, and then adjust the position of the adjustment plate 71 upward or downward. After adjustment, tighten the two locking nuts 73, so that the height position of the spray rod 711 when in use can be adjusted. By adjusting the sliding platform 75 forward and backward on the slide rail 74, the front and rear position of the spray rod 711 when in use can be adjusted. The gear 77 is driven to rotate by rotating the adjustment handle 76, and the gear 77 is driven to rotate by the rotation of the gear 77. The gear plate 78 is driven to rotate by the rotation of the gear plate 78, and the universal adjustment frame 79 and the spray rod 711 are driven to rotate by the rotation of the gear plate 78, so that the angle position of the spray rod 711 when in use can be adjusted;

[0069] Preferably, the spray rod 711 is externally connected to a smoke generating device via a hose. After the spray rod 711 is connected to the smoke generating device in the absence of wind, the nozzle position of the spray rod 711 is adjusted to the fin position of the aircraft body 5, and the distribution position of the smoke on the fin surface and the tail is observed, thereby simulating the resistance of the fin in the water.

[0070] A slide groove for cooperating with the stud 72 is provided on the inner side of the left side of the platform bracket 1 , and a slide groove for cooperating with the slide rail 74 is provided on the inner side of the sliding platform 75 .

[0071] Four connecting seats 8 are fixedly provided at the bottom of the platform bracket 1 , and bolt holes are provided on the inner sides of the four connecting seats 8 .

[0072] In this embodiment, after the spray rod 711 is connected to the smoke generating device through a hose, the nozzle position of the spray rod 711 is adjusted to the fin position of the aircraft body 5 in the absence of wind, and the distribution position of the smoke on the fin surface and the tail is observed, so as to simulate the resistance of the fin in the water. Compared with the existing wind tunnel equipment, this small wind tunnel equipment has low cost and flexible structure, and is convenient for simulating and debugging the fins of the aircraft body 5.

[0073] Please refer to Figures 1 to 11 The working principle of the underwater vehicle comprehensive simulation and debugging platform provided by the present invention is as follows:

[0074] Step S1, firstly, the device is installed in an indoor windless environment by bolts through the connecting seat 8, and then the aircraft body 5 is fixed by the mounting frame 35, and the two driving motors 36 are started, and the two driving motors 36 are rotated to drive the two driving rods 31 to rotate, and the rotation of the two driving rods 31 drives the four cams 33 to rotate. During the rotation of the cam 33, the bottom height of the sling 34 arranged on the surface of the cam 33 will change position with the rotation of the cam 33, and the bottom ends of the four slings 34 will pull the two mounting frames 35 to shake irregularly, and the shaking of the two mounting frames 35 will drive the aircraft body 5 to shake irregularly, thereby simulating the irregular shaking of the aircraft body 5 in the water caused by waves, water masses or rapids;

[0075] The two driving rods 31 will drive the two second belt pulleys 47 to rotate during the rotation process, and the two second belt pulleys 47 will respectively drive the two first belt pulleys 45 to rotate through the two belts 46, and the two first belt pulleys 45 will further drive the two winding rods 43 to rotate, and the two winding rods 43 will further drive the four limit plates 44 to rotate idly;

[0076] Step S2, when the two driving rods 31 rotate, they will simultaneously drive the two adjusting disks 61 at the right end to rotate, and the two adjusting disks 61 will respectively drive the two adjusting blocks 63 and the two rotating disks 64 to rotate, and the two rotating disks 64 will rotate, so that the two sliding plates 67 slide up and down on the inner side of the guide frame 66, and the two sliding plates 67 drive the mounting bracket 68 and the acoustic jammer 69 to move up and down, and start the acoustic jammer 69, and the acoustic jammer 69 will be used to perform interference debugging on the acoustic equipment of the aircraft body 5 from far to near or from near to far;

[0077] Step S3, remove the four slings 34 from the top of the platform plate 2, and pass them through the tops of the four pulleys 49 respectively. After adjusting the lengths and positions of the four slings 34, they are correspondingly installed in the four limit plates 44, so that the aircraft body 5 is in a horizontal state, start the two driving motors 36, and use the two driving rods 31 to drive the two second pulleys 47 to rotate through the rotation of the two driving motors 36. The two second pulleys 47 drive the two first pulleys 45 to rotate respectively through the two belts 46. The two first pulleys 45 then drive the two winding rods 43 to rotate, and the two winding rods 43 drive the two limit plates 44 to wind up the slings 34 respectively. By winding up the four slings 34 at the same time, the two mounting frames 35 can be used to adjust the debugging height of the aircraft body 5 upward, and by lowering the four slings 34 at the same time, the two mounting frames 35 can be used to adjust the debugging height of the aircraft body 5 downward;

[0078] Step S4, when the aircraft body 5 is in a horizontal state, the driving motor 36 located at the front side or the driving motor 36 located at the rear side is started separately, and the two slings 34 are wound or lowered by using the winding rod 43 and the limit plate 44, and the head of the aircraft body 5 can be adjusted to an upward or downward posture through the mounting frame 35, so that the aircraft body 5 can be adjusted to a regular solid posture for debugging;

[0079] Step S5, connect the spray rod 711 to the smoke generating device through a hose, then adjust the height position of the adjustment plate 71 and the spray rod 711 by loosening the locking nut 73, and adjust the sliding platform 75 forward and backward on the slide rail 74 to adjust the forward and backward position of the spray rod 711 when in use, and rotate the adjustment handle 76 to drive the gear 77 to rotate, and the rotation of the gear 77 drives the gear plate 78 to rotate, and the rotation of the gear plate 78 drives the universal adjustment frame 79 and the spray rod 711 to rotate, so that the angle position of the spray rod 711 when in use can be adjusted, and after adjusting the nozzle position of the spray rod 711 to the fin position of the aircraft body 5, start the smoke generating device, and by observing the distribution position of the white smoke on the fin surface and the tail, the resistance of the fin in water can be simulated.

[0080] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An underwater vehicle comprehensive simulation and debugging platform, characterized in that: It includes a platform bracket, a platform plate, a first debugging mechanism and a second debugging mechanism; The first debugging mechanism comprises two driving rods horizontally arranged on the top of the platform bracket, the surfaces of the right ends of the two driving rods are rotatably connected with support seats, the bottoms of the two support seats are fixedly connected to the top of the platform plate, the surfaces of the two driving rods are respectively connected with two cams by key grooves, the surfaces of the four cams are provided with slings, the four slings are divided into two groups, front and rear, and the bottom ends of each group of slings are fixedly connected to a mounting frame through a lifting ring, the inner sides of the two mounting frames are provided with an aircraft body, the top ends of the four slings are fixedly connected to the top of the platform plate through a lifting ring, and the left side of the top of the platform plate is provided with driving motors respectively used to drive the two driving rods to rotate; The second debugging mechanism includes two trusses arranged on the top of the platform support, two rotating seats are respectively fixedly provided at the bottom of the two trusses, the four rotating seats are divided into two front and rear groups, and a winding rod is arranged on the inner side of each group of the rotating seats for transverse rotation, two limit plates are respectively fixedly provided on the surfaces of the two winding rods, a first pulley is fixedly provided on the left ends of the two winding rods, belts are sleeved on the surfaces of the two first pulleys, a second pulley is fixedly provided on the left surfaces of the two driving rods, the two first pulleys are respectively connected to the two second pulleys through the belts, four pulley seats are fixedly provided at the bottom of the platform plate, and pulleys are rotatably connected on the inner sides of the four pulley seats.

2. The underwater vehicle comprehensive simulation and debugging platform according to claim 1, characterized in that: The keyway connection point between the cam and the driving rod is far away from the center of the driving rod, and the positions of the keyway connection points between the four cams and the driving rod are all different.

3. The underwater vehicle comprehensive simulation and debugging platform according to claim 1, characterized in that: The four pulleys are respectively located at the same vertical line position as the four cams, and the four limit plates are respectively located directly in front of or directly behind the four pulleys.

4. The underwater vehicle comprehensive simulation and debugging platform according to claim 1, characterized in that: The right ends of the two driving rods are provided with an acoustic interference mechanism, and the acoustic interference mechanism includes two adjustment disks fixedly arranged at the right ends of the two driving rods, the inner sides of the two adjustment disks are vertically rotatably connected with threaded rods, the surfaces of the two threaded rods are threadedly connected with adjustment blocks, the two adjustment blocks are respectively slidably connected with the inner sides of the two adjustment disks, and the right sides of the two adjustment blocks are fixed with rotating disks; A support frame is arranged on the inner side of the right side of the platform bracket, and two guide frames are vertically fixed on the top of the support frame. The inner sides of the two guide frames are vertically slidably connected with sliding plates, and a mounting bracket is fixed on the opposite side of the two sliding plates, and an acoustic jammer is arranged on the top of the mounting bracket.

5. The underwater vehicle comprehensive simulation and debugging platform according to claim 4, characterized in that: An annular groove is provided on the inner side of the right side of the two rotating disks, and a cylindrical protrusion is provided on the inner side of the top of the two sliding plates, and the two cylindrical protrusions are respectively located in the annular grooves in the two rotating disks.

6. The underwater vehicle comprehensive simulation and debugging platform according to claim 4, characterized in that: The inner sides of the two adjusting disks are respectively provided with sliding grooves used in conjunction with the two adjusting blocks, which can provide the two adjusting blocks to slide up and down, and the inner sides of the two adjusting blocks are respectively provided with threaded grooves used in conjunction with the two threaded rods.

7. The underwater vehicle comprehensive simulation and debugging platform according to claim 1, characterized in that: A wind tunnel simulation mechanism is arranged on the inner side of the left side of the platform bracket, and the wind tunnel simulation mechanism comprises an adjustment plate arranged on the inner side of the left side of the platform bracket, studs are fixedly arranged at both ends of the adjustment plate, and the two studs are slidably connected to the inner side of the platform bracket, and locking nuts are threadedly connected to the surfaces of the two studs and the surface located on the platform bracket, and a slide rail is fixedly arranged on the top of the adjustment plate, and a sliding platform is slidably connected to the surface of the slide rail; The inner side of the sliding platform is vertically rotatably connected with an adjustment handle, the top of the adjustment handle and the top of the sliding platform are fixed with a gear, the top of the sliding platform is rotatably connected with a toothed disc, the gear is meshed with the toothed disc, a universal adjustment frame is fixed on the top of the toothed disc, two limit brackets are fixed on the top of the universal adjustment frame, and spray rods are arranged on the inner sides of the two limit brackets.

8. The underwater vehicle comprehensive simulation and debugging platform according to claim 7, characterized in that: A slide groove used in cooperation with the stud is provided on the inner side of the left side of the platform bracket, and a slide groove used in cooperation with the slide rail is provided on the inner side of the sliding platform.

9. The underwater vehicle comprehensive simulation and debugging platform according to claim 1, characterized in that: Four connecting seats are fixedly arranged at the bottom of the platform bracket, and bolt holes are arranged on the inner sides of the four connecting seats.

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