Device for simulating three-degree-of-freedom attitude angle of water tunnel and measuring internal and external flow characteristics of model

Abstract

The invention relates to the technical field of underwater vehicle fluid mechanics and control, in particular to a water tunnel three-degree-of-freedom attitude angle simulation and model internal and external flow characteristic measurement device which mainly comprises a base, an attack angle servo motor, a gear set, a C-shaped support, a sideslip angle servo motor, a V-shaped roller and a V-shaped track. The device comprises a circular support, a roll angle servo motor, a cam roller speed reducer, an engine flow measuring pipeline and a model. The attack angle servo motor drives the cylindrical roller type gear set to move on the C-shaped support in an arc mode to achieve the model attack angle. A cylindrical roller type gear set of the sideslip angle servo motor performs circular motion on the V-shaped track to realize the sideslip angle of the model; the roll angle servo motor is located on the attack angle mechanism C-shaped support and drives the cam roller speed reducer to achieve 90-degree reversing and then drives the model supporting rod to roll. The built-in engine flow measuring pipeline of the cam roller speed reducer can simultaneously display the flowing display (pressure) of staining fluid and model the internal flow characteristics such as engine flow and flow velocity.

Description

Technical Field

[0001] The invention relates to the field of underwater vehicle fluid mechanics and control technology, and in particular to a device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model. Background Art

[0002] Water tunnel is an important scientific device for simulating fluid parameters of underwater vehicles. An efficient water tunnel requires automatic and accurate simulation of the model's attitude angle to achieve the vehicle's underwater performance parameters and save water at the same time.

[0003] The disadvantage of the current technical solution is that the model cannot change its own posture when the water flow hits it. It can only obtain experimental data through multiple sets of fixed postures to simulate the characteristics of the aircraft when changing its posture. It cannot intuitively and comprehensively respond to the fluid mechanics and control characteristics of the aircraft when its posture changes dynamically. At present, there is no autonomous control of the posture of the aircraft model. Summary of the invention

[0004] The purpose of the present invention is to provide a device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of the model, which can solve the above-mentioned technical problems.

[0005] The present invention provides a device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model, comprising a bottom plate, an adapter plate is provided on the upper part of the bottom plate, a V-shaped track is rotatably connected to the surface of the adapter plate, a first V-shaped roller wheel rollingly connected to the V-shaped track is uniformly distributed on the circumference of the V-shaped track, a side slip angle gear ring is fixedly connected to the upper part of the V-shaped track, a side slip angle drive motor is provided on the surface of the adapter plate, a side slip angle cylindrical roller gear is fixedly connected to the driving shaft of the side slip angle drive motor, and the side slip angle cylindrical roller gear is meshed with the side slip angle gear ring; an attack angle gear ring is provided above the sideslip angle gear ring, and the axis of the attack angle gear ring is aligned with the axis of the side slip angle gear ring. The axis of the sideslip angle gear ring is vertical, the attack angle gear ring is fixedly connected to the V-shaped track, a C-shaped bracket is provided on one side of the attack angle gear ring, an attack angle support is fixedly connected to the C-shaped bracket, an attack angle mechanism servo motor is fixedly connected to the attack angle support, an attack angle cylindrical roller gear is fixedly connected to the drive shaft of the attack angle mechanism servo motor, the attack angle cylindrical roller gear is meshed with the attack angle gear ring, the cross-section of the C-shaped bracket is a combination of V-shaped structures on both sides and a rectangular structure, the V-shaped angle is ≤60°, and it is located inside the water tunnel test section to reduce drag and divert flow and reduce flow separation, which is similar to the straightening effect of the leading and trailing edges of the wing. A plurality of second V-shaped roller wheels are provided on the V-shaped surfaces on both sides outside the water tunnel test section, which are rollingly connected with the V-shaped rail, the connecting plate and the bottom plate and rollingly connected with the three. The end of the C-shaped rail is fixedly connected with a connecting plate, and a cam roller reducer is fixedly connected with the connecting plate. The output shaft of the cam roller reducer is fixedly connected with a model. A roll angle support is fixedly connected with the V-shaped rail, and a roll angle mechanism servo motor is fixedly connected with the roll angle support. The roll angle mechanism servo motor drives the cam roller reducer to vertically reverse through a transmission shaft, and then drives the model to realize roll angle measurement movement.

[0006] Preferably, the attack angle mechanism servo motor, the roll angle mechanism servo motor and the sideslip angle drive motor are protected against leakage using low-voltage waterproof grade IP68.

[0007] Preferably, the cross-section of the first V-shaped roller wheel, V-shaped track, C-shaped bracket, and second V-shaped roller wheel is V-shaped, and the composed kinematic pair is a rolling friction pair. Multiple first V-shaped roller wheels are evenly distributed around the V-shaped track, and multiple second V-shaped roller wheels are located on both sides of the C-shaped bracket to form a guiding support function.

[0008] Preferably, the sideslip angle gear ring, attack angle gear ring, attack angle cylindrical roller gear, and sideslip angle cylindrical roller gear adopt a zero backlash TCG type self-lubricating gear ring set.

[0009] Preferably, the cam roller reducer is a reducer of the cam roller divider type with a self-locking, the output shaft of the cam roller reducer is a hollow shaft, the tail of the model is fixedly connected with a flow pipeline, one end of the flow pipeline is connected to the nozzle outlet of the model engine, that is, the measurement flow inlet, and the other end is connected to the outer wall of the hollow shaft, the outlet end of the hollow shaft is connected to an internal flow characteristic measurement device such as a pipeline flow placed outside the water tunnel test section through a pipeline, so as to measure the internal flow characteristics of the engine.

[0010] Preferably, the hollow shaft has mutually unconnected chambers distributed along the central radial direction according to the number of jet outlets of the model engine.

[0011] Preferably, the tail of the model is fixedly connected to a support rod, the end of the hollow shaft is fixedly connected to a support rod joint, the support rod structure is a concave-convex structure, the convex end is fixedly connected to the hollow shaft, and the concave end is fixedly connected to the support rod via a locking nut, and the flow pipeline is distributed on both sides of the support rod.

[0012] Preferably, dyeing liquid inlet pipes are arranged around the front of the cam roller reducer, and form a dyeing liquid chamber with the dyeing liquid nozzle flange and spray out along multiple outlet pipes of the dyeing liquid nozzle flange.

[0013] Preferably, a clamping disc is provided at one end of the dyeing liquid nozzle flange, and the clamping disc clamps the dyeing liquid nozzle flange through screws and stop seals to make it roll together with the hollow shaft, thereby avoiding the problem of winding of the dyeing liquid inlet pipe.

[0014] Preferably, a hinge shaft is installed between the adapter plate and the bottom plate.

[0015] Beneficial effects:

[0016] The attack angle, roll angle and sideslip angle control of the present invention are relatively independent, the attitude angles are orthogonal to each other, and the coupling control of different attitude angles can be realized. The attack angle rotation center and the sideslip angle rotation center are on the same center line. The roll angle mechanism structure can achieve self-locking through the cam roller structure. The entire drive device is placed outside the test section, which is easy to achieve the maximum attitude angle control of the model and the maximum model size, and can intuitively and comprehensively respond to the fluid mechanics and control characteristics of the aircraft when the attitude changes dynamically. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A three-dimensional schematic diagram of the overall structure of an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the front view of the overall structure of an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of a partial cross-section of the overall structure of an embodiment of the present invention from top view;

[0021] Figure 4 It is a partial cross-sectional front view of the overall structure of an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of a top view of the overall structure of an embodiment of the present invention.

[0023] Explanation of the reference numerals: 1-base plate, 2-adapter plate, 3-first V-type roller wheel, 4-V-type track, 5-side slip angle gear ring, 6-attack angle gear ring, 7-C-type bracket, 8-attack angle cylindrical roller gear, 9-attack angle support, 10-attack angle mechanism servo motor, 11-roll angle mechanism servo motor, 12-second V-type roller wheel, 13-roll angle support, 14-transmission shaft, 15-connecting plate, 16-cam roller reducer, 1601-rear plate, 1602-side plate, 1603-rotation Cam, 1604-front plate, 1605-side plate, 1606-cam roller turret, 1607-first rolling bearing, 1608-hollow shaft, 1609-water-resistant sealing ring, 1610-second rolling bearing, 1611-plug, 17-dyeing liquid nozzle flange, 18-pressing disc, 19-flow pipeline, 20-support rod joint, 21-locking nut, 22-support rod, 23-model, 24-side slip angle drive motor, 25-side slip angle cylindrical roller gear, 26-hinge shaft. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Example 1

[0028] A device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the flow characteristics inside and outside the model, such as Figure 1-5As shown, it includes a base plate 1, an adapter plate 2 is provided on the upper part of the base plate 1, a V-shaped track 4 is rotatably connected to the surface of the adapter plate 2, the circumference of the V-shaped track 4 is evenly distributed with a first V-shaped roller wheel 3 rollingly connected thereto, a side slip angle gear ring 5 is fixedly connected to the upper part of the V-shaped track 4, a side slip angle drive motor 24 is provided on the surface of the adapter plate 2, a side slip angle cylindrical roller gear 25 is fixedly connected to the driving shaft of the side slip angle drive motor 24, and the side slip angle cylindrical roller gear 25 is meshed with the side slip angle gear ring 5; an attack angle gear ring 6 is provided above the side slip angle gear ring 5, the axis of the attack angle gear ring 6 is perpendicular to the axis of the side slip angle gear ring 5, the attack angle gear ring 6 is fixedly connected to the V-shaped track 4, a C-shaped bracket 7 is provided on one side of the attack angle gear ring 6, an attack angle support 9 is fixedly connected to the C-shaped bracket 7, an attack angle mechanism servo motor 10 is fixedly connected to the attack angle support 9, and the drive shaft of the attack angle mechanism servo motor 10 is fixedly connected to the attack angle cylindrical roller Gear 8, the attack angle cylindrical roller gear 8 is meshed with the attack angle gear ring 6, and a plurality of second V-shaped roller wheels 12 (three are arranged in a triangle in this example) are provided on the V-shaped surfaces on both sides of the cross section of the C-shaped bracket 7, which are rollingly connected with it and play a guiding and supporting role. One end of the C-shaped bracket 7 passes through the V-shaped track 4, the connecting plate 2 and the bottom plate 1 and is rollingly connected with the three. The end of the C-shaped bracket 7 is fixedly connected with a connecting plate 15, and a cam roller reducer 16 is fixedly connected to the connecting plate 15. The output shaft of the cam roller reducer 16 with a tooth profile meshing relationship without intermittent motion is fixedly connected with a model 23; a roll angle support 13 is fixedly connected to the V-shaped track 4, and a roll angle mechanism servo motor 11 is fixedly connected to the roll angle support 13. The roll angle mechanism servo motor 11 drives the cam roller reducer 16 through the transmission shaft 14 to vertically reverse and then drives the model 23 to realize the roll angle measurement movement.

[0029] Specifically, the angle of attack mechanism servo motor 10, the angle of roll mechanism servo motor 11 and the side slip angle drive motor 24 are protected against leakage with low voltage waterproof grade IP68. The cross section of the first V-shaped roller wheel 3, the V-shaped track 4, the C-shaped bracket 7 and the second V-shaped roller wheel 12 is V-shaped, and the kinematic pair formed is a rolling friction pair. Multiple first V-shaped roller wheels are evenly distributed around the V-shaped track, and the second V-shaped roller wheel is located outside the C-shaped bracket to form a guiding support. The side slip angle gear ring, the angle of attack gear ring, the angle of attack cylindrical roller gear and the side slip angle cylindrical roller gear adopt a zero backlash TCG type self-lubricating gear ring set.

[0030] The cam roller reducer 16 is a reducer of the cam roller divider type with a self-locking. The output shaft of the cam roller reducer is a hollow shaft 1608. A flow pipeline 19 is fixedly connected to the tail of the model 23. One end of the flow pipeline 19 is an engine flow inlet, and the other end is connected to the outer wall of the hollow shaft 1608. The outlet end of the hollow shaft 1608 is connected to a pipeline flow measuring device. Specifically, the cam roller reducer 16 mainly includes a rear plate 1601, a side plate 1602, a transfer cam 1603, a front plate 1604, a side plate 1605, a cam roller turret 1606, a first rolling bearing 1607, a hollow shaft 1608, a water-resistant sealing ring 1609, a second rolling bearing 1610, and a plug 1611. The indexing cam 1603 drives the cam roller turret 1606 and the hollow shaft 1608 to rotate synchronously. The hollow shaft 1608 has chambers that are not connected to each other distributed along the center radial direction according to the number of jet outlets of the model 23 engine. The model engine flow passes through different transparent flow pipes 19 and flows through the respective chamber outlets of the hollow shaft 1608 to the external pipeline flow measurement device. Multiple water-resistant sealing rings 1609 isolate different chambers through sealing to ensure accurate measurement of their respective flows. This fluid flow channel design scheme can be used for the model engine inlet flow measurement pipeline, and can also be used for internal flow characteristic measurement devices such as the engine jet control pipeline to measure the internal flow flow characteristics of the engine.

[0031] The front of the cam roller reducer 16 is surrounded by a dyeing liquid inlet pipe, and forms a dyeing liquid chamber with the dyeing liquid nozzle flange 17 and sprays out along multiple outlet pipes of the dyeing liquid nozzle flange 17. The dyeing liquid is arranged at the required position of the model through a transparent dyeing liquid pipe. The clamping disc 18 clamps the dyeing liquid nozzle flange 17 through screws and stop seals to make it roll together with the hollow shaft 1608. The problem of dyeing liquid pipe winding is avoided. The dyeing liquid pipeline can also be used as a pressure measurement pipeline for model pressure test.

[0032] The tail of the model 23 is fixedly connected with a support rod 22, and the end of the hollow shaft 1608 is fixedly connected with a support rod joint 20. The support rod structure is a concave-convex structure, wherein the convex end is fixedly connected to the hollow shaft 1608, and the concave end is fixedly connected to the support rod 22 via a locking nut 21. The flow pipeline 19 is distributed on both sides of the support rod 22.

[0033] The structural components located in the water, such as the C-type bracket 7, the transmission shaft 14, the connecting plate 15, the cam roller reducer 16, the dyeing liquid nozzle flange 17, the clamping disc 18, the support rod joint 20, the locking nut 21, the support rod 22, and the model 23, are made of waterproof materials such as 17-4PH or aluminum alloy. The locking nut 21 is provided with a lifting lug to facilitate the installation of the model.

[0034] A hinge shaft 26 is installed between the adapter plate 2 and the base plate 1. The model can be placed outside the water tunnel test section by rotating the hinge shaft 26 by 90° and then driven by the sideslip angle driving motor 24 and the sideslip angle cylindrical roller gear 25, so as to facilitate model replacement.

[0035] The entire device is provided with necessary supports and lifting lugs for easy installation and storage.

[0036] Working and use process:

[0037] The present invention adopts an attack angle mechanism servo motor 10 to drive the attack angle cylindrical roller gear 8 to rotate. When the attack angle cylindrical roller gear 8 rotates, the attack angle cylindrical roller gear 8 is meshed with the attack angle gear ring 6 (fixed state), so that the entire C-type bracket 7 can perform circular motion, and the model 23 fixedly connected to the C-type bracket 7 can achieve the attack angle motion.

[0038] The sideslip angle driving motor 24 drives the sideslip angle cylindrical roller gear 25 to rotate. When the cylindrical roller gear 25 rotates, the cylindrical roller gear 25 meshes with the sideslip angle gear ring 5, and the sideslip angle gear ring 5 is fixedly connected to the V-shaped track 4, so that the V-shaped track 4 rotates, and the model 23 realizes the sideslip angle movement;

[0039] The roll angle mechanism servo motor 11 drives the cam roller reducer 16 through the transmission shaft 14 to vertically reverse, and then drives the model 23 through the support rod to realize the roll angle movement.

[0040] The present invention realizes the coupling simulation of precise multi-attitude angles of attack angle, sideslip angle and roll angle, and improves the comprehensive effect of test efficiency. It can simultaneously complete the synchronous measurement of internal and external flows such as model balance load, flow performance of internal flow field of model engine, flow display of dyeing liquid in external flow field of model, and measurement of model surface pressure, and improves the comprehensive effect of test efficiency.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of the model, characterized in that: It comprises a bottom plate, an adapter plate is provided on the upper part of the bottom plate, a V-shaped track is rotatably connected on the surface of the adapter plate, a first V-shaped roller wheel is uniformly distributed on the circumference of the V-shaped track and is rollingly connected thereto, a sideslip angle gear ring is fixedly connected to the upper part of the V-shaped track, a sideslip angle drive motor is provided on the surface of the adapter plate, a sideslip angle cylindrical roller gear is fixedly connected to the driving shaft of the sideslip angle drive motor, and the sideslip angle cylindrical roller gear is meshed with the sideslip angle gear ring; an attack angle gear ring is provided above the sideslip angle gear ring, the axis of the attack angle gear ring is perpendicular to the axis of the sideslip angle gear ring, the attack angle gear ring is fixedly connected to the V-shaped track, a C-shaped bracket is provided on one side of the attack angle gear ring, an attack angle support is fixedly connected to the C-shaped bracket, an attack angle mechanism servo motor is fixedly connected to the attack angle support, and the attack angle The driving shaft of the mechanism servo motor is fixedly connected with an attack angle cylindrical roller gear, and the attack angle cylindrical roller gear is meshed with the attack angle gear ring. The V-shaped surfaces on both sides of the cross section of the C-shaped bracket are provided with a plurality of second V-shaped roller wheels which are rollingly connected with them and serve as guiding supports. One end of the C-shaped bracket passes through the V-shaped track, the connecting plate and the bottom plate and is rollingly connected with the three. The end of the C-shaped bracket is fixedly connected with a connecting plate, and a cam roller reducer is fixedly connected with the connecting plate, and the output shaft of the cam roller reducer is fixedly connected with a model; a roll angle support is fixedly connected to the V-shaped track, and a roll angle mechanism servo motor is fixedly connected to the roll angle support. The roll angle mechanism servo motor drives the cam roller reducer to vertically reverse through a transmission shaft, and then drives the model to realize roll angle measurement movement.

2. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 1, characterized in that: The attack angle mechanism servo motor, the roll angle mechanism servo motor and the sideslip angle drive motor are protected against leakage by low-voltage waterproof grade IP68.

3. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 1, characterized in that: The cross-sections of the first V-shaped roller wheel, V-shaped track, C-shaped bracket, and second V-shaped roller wheel are V-shaped, and the kinematic pair they form is a rolling friction pair. Multiple first V-shaped roller wheels are evenly distributed around the V-shaped track, and multiple second V-shaped roller wheels are located on both sides of the C-shaped bracket to form a guiding support function.

4. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 1, characterized in that: The side slip angle gear ring, attack angle gear ring, attack angle cylindrical roller gear, and side slip angle cylindrical roller gear adopt a zero backlash TCG type self-lubricating gear ring set.

5. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 1, characterized in that: The cam roller reducer is a cam roller divider type reducer with a self-locking tooth profile meshing relationship that adopts non-intermittent motion. The output shaft of the cam roller reducer is a hollow shaft. The tail of the model is fixedly connected with a flow pipeline, one end of the flow pipeline is the engine flow inlet, and the other end is connected to the outer wall of the hollow shaft. The outlet end of the hollow shaft is connected to a pipeline flow internal flow characteristic measurement device placed outside the water tunnel test section through a pipeline to measure the internal flow flow characteristics of the engine.

6. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 5, characterized in that: The hollow shaft has mutually unconnected chambers distributed along the central radial direction according to the number of jet outlets of the model engine.

7. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 5, characterized in that: The tail of the model is fixedly connected with a support rod, the end of the hollow shaft is fixedly connected with a support rod joint, the support rod structure is a concave-convex structure, the convex end is fixedly connected to the hollow shaft, and the concave end is fixedly connected to the support rod through a locking nut, and the flow pipeline is distributed on both sides of the support rod.

8. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 5, characterized in that: The front of the cam roller reducer is surrounded by dyeing liquid inlet pipes, which form a dyeing liquid chamber with the dyeing liquid nozzle flange and are sprayed along multiple outlet pipes of the dyeing liquid nozzle flange. The model surface is connected through a transparent rubber tube to display the outflow characteristics of the measurement model.

9. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 8, characterized in that: A clamping disc is provided at one end of the dyeing liquid nozzle flange, and the clamping disc clamps the dyeing liquid nozzle flange through screws and stop seals to make it roll together with the hollow shaft, thereby avoiding the problem of winding of the dyeing liquid inlet pipe.

10. The device for simulating the three-degree-of-freedom attitude angle of a water tunnel and measuring the internal and external flow characteristics of a model according to claim 1, characterized in that: A hinge shaft is installed between the adapter plate and the bottom plate.

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