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

Abstract

The present application relates to the underwater vehicle fluid mechanics and control technical field, especially in a kind of water tunnel three degrees of freedom attitude angle simulation and model internal and external flow characteristics measuring device, it mainly includes: base, angle of attack servo motor, gear set, C-type support, sideslip angle servo motor, V-shaped roller, V-shaped track, round support, roll angle servo motor, cam roller speed reducer, engine flow measuring pipeline, model.Angle of attack servo motor drives cylindrical roller type gear set in C-type support circular arc movement realizes model angle of attack;Sideslip angle servo motor cylindrical roller type gear set is circularly arc motion on V-shaped track and realizes model sideslip angle;Roll angle servo motor is located on the angle of attack mechanism C-type support, drives cam roller speed reducer to realize 90 degree commutation after driving model support pole roll movement;Cam roller speed reducer built-in engine flow measuring pipeline can simultaneously carry out dyeing liquid flow display (pressure) and model engine flow rate and other internal flow characteristics.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater vehicle fluid mechanics and control technology, and particularly relates to a device for simulating three-degree-of-freedom attitude angles of a water tunnel and measuring internal and external flow characteristics of a model. BACKGROUND

[0002] A water tunnel is an important scientific device for simulating fluid parameters of an underwater vehicle, and an efficient water tunnel needs to automatically and accurately simulate attitude angles of a model to realize underwater performance parameters of the vehicle and save water consumption.

[0003] The current technical solution has the following disadvantages: the model cannot change its own attitude when impacted by water flow, and can only obtain experimental data by using multiple fixed attitudes to simulate the characteristics of the vehicle when changing the attitude, and cannot intuitively and comprehensively reflect the fluid mechanics and control characteristics of the vehicle when the attitude is dynamically changed. At present, there is no device capable of autonomously controlling the attitude of the model of the vehicle. SUMMARY

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

[0005] The application provides a device for simulating three-degree-of-freedom attitude angles of a water tunnel and measuring internal and external flow characteristics of a model, comprising a bottom plate, a transition plate arranged on the upper portion of the bottom plate, a V-shaped track rotatably connected to the surface of the transition plate, first V-shaped roller wheels rotatably connected to the circumference of the V-shaped track, a sideslip angle gear ring fixedly connected to the upper portion of the V-shaped track, a sideslip angle driving motor arranged on the surface of the transition plate, a sideslip angle cylindrical roller gear fixedly connected to the driving shaft of the sideslip angle driving motor, and the sideslip angle cylindrical roller gear being engaged with the sideslip angle gear ring; an attack angle gear ring arranged above the sideslip angle gear ring, the axis of the attack angle gear ring being perpendicular to the axis of the sideslip angle gear ring, the attack angle gear ring being fixedly connected to the V-shaped track, a C-shaped support arranged on one side of the attack angle gear ring, an attack angle support fixedly connected to the C-shaped support, an attack angle mechanism servo motor fixedly connected to the attack angle support, an attack angle cylindrical roller gear fixedly connected to the driving shaft of the attack angle mechanism servo motor, and the attack angle cylindrical roller gear being engaged with the attack angle gear ring, the cross section of the C-shaped support being a combined structure of two-side V-shaped structures and a rectangle, the included angle of the two-side V-shaped structures being less than or equal to 60 degrees, the two-side V-shaped structures inside the water tunnel test section playing the roles of reducing drag, guiding flow and reducing flow separation, and the two-side V-shaped structures being similar to the fairing effects of the leading edge and the trailing edge of an airfoil; a plurality of second V-shaped roller wheels rotatably connected to the two-side V-shaped structures outside the water tunnel test section and playing the roles of guiding and supporting, one end of the C-shaped support penetrating through the V-shaped track, the connecting plate and the bottom plate and being rotatably connected to the V-shaped track, the connecting plate and the bottom plate, the connecting plate being fixedly connected to the end of the C-shaped support, a cam roller speed reducer fixedly connected to the connecting plate, and a model fixedly connected to the output shaft of the cam roller speed reducer; a roll angle support fixedly connected to the V-shaped track, a roll angle mechanism servo motor fixedly connected to the roll angle support, and the roll angle mechanism servo motor driving the cam roller speed reducer to vertically change direction and then driving 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 driving motor are protected against electric leakage by adopting a low-voltage waterproof IP68 level.

[0007] Preferably, the cross sections of the first V-shaped roller wheels, the V-shaped track, the C-shaped support and the second V-shaped roller wheels are V-shaped, the formed pairs of movements are rolling friction pairs, the plurality of first V-shaped roller wheels are arranged around the V-shaped track, and the plurality of second V-shaped roller wheels are arranged on the two sides of the C-shaped support to form guiding and supporting effects.

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

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

[0010] Preferably, the hollow shaft is radially distributed with chambers that are not communicated with each other according to the number of model engine nozzle outlets.

[0011] Preferably, the model tail 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 with the hollow shaft, and the concave end is fixedly connected with the support rod through a locking nut, and the flow pipeline is distributed on both sides of the support rod.

[0012] Preferably, the cam roller reducer is provided with dyeing liquid inlet pipes around the front part, and forms a dyeing liquid chamber with the dyeing liquid nozzle flange and sprays along the multiple outlet pipes of the dyeing liquid nozzle flange.

[0013] Preferably, one end of the dyeing liquid nozzle flange is provided with a pressing disc, the pressing disc is sealed and pressed to the dyeing liquid nozzle flange through a screw and a stop opening, so that the dyeing liquid nozzle flange rolls together with the hollow shaft, and the problem of winding of the dyeing liquid inlet pipe is avoided.

[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 application are relatively independent, the attitude angles are orthogonal to each other, 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 realize self-locking through the cam roller structure, the whole driving device is externally provided in the test section, the maximum attitude angle control of the model and the maximum model size can be easily realized, and the fluid mechanics and control characteristics of the vehicle when the attitude dynamically changes can be intuitively and comprehensively reflected. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a three-dimensional schematic view of the overall structure of an embodiment of the present application;

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

[0020] Figure 3 is a top view schematic view of the overall structure of an embodiment of the present application;

[0021] Figure 4 is a front view schematic view of the overall structure of an embodiment of the present application;

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

[0023] Legend of reference numerals: 1 - base plate, 2 - adapter plate, 3 - first V-shaped roller wheel, 4 - V-shaped track, 5 - side slip angle gear ring, 6 - attack angle gear ring, 7 - C-shaped support, 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-shaped roller wheel, 13 - roll angle support, 14 - transmission shaft, 15 - connecting plate, 16 - cam roller speed reducer, 1601 - rear plate, 1602 - side plate, 1603 - indexing cam, 1604 - front plate, 1605 - side plate, 1606 - cam roller turret, 1607 - first roll bearing, 1608 - hollow shaft, 1609 - water-resistant sealing ring, 1610 - second roll 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 solutions of the present application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0026] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited. In addition, the terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] Example 1

[0028] A device for simulating three degrees of freedom attitude angle of a water tunnel and measuring flow characteristics inside and outside the model, comprising Figures 1-5As shown, including the base plate 1, the upper part of the base plate 1 is provided with adapter plate 2, the surface of adapter plate 2 is rotatably connected with V-shaped track 4, the circumference of V-shaped track 4 is uniformly distributed with first V-shaped roller 3 which is rolling connected with V-shaped track 4, the upper part of V-shaped track 4 is fixedly connected with side slip angle gear 5, the surface of adapter plate 2 is provided with side slip angle driving motor 24, the driving shaft of side slip angle driving motor 24 is fixedly connected with side slip angle cylindrical roller gear 25, side slip angle cylindrical roller gear 25 is engaged with side slip angle gear 5; The upper part of side slip angle gear 5 is provided with attack angle gear 6, the axis of attack angle gear 6 is perpendicular to the axis of side slip angle gear 5, attack angle gear 6 is fixedly connected with V-shaped track 4, one side of attack angle gear 6 is provided with C-shaped support 7, C-shaped support 7 is fixedly connected with attack angle support 9, attack angle support 9 is fixedly connected with attack angle mechanism servo motor 10, the driving shaft of attack angle mechanism servo motor 10 is fixedly connected with attack angle cylindrical roller gear 8, attack angle cylindrical roller gear 8 is engaged with attack angle gear 6, the V-shaped surface of the cross section of both sides of C-shaped support 7 is provided with multiple second V-shaped roller 12 which is rolling connected with the V-shaped surface and plays a guiding support role (three are arranged in a triangle in this example), one end of C-shaped support 7 passes through V-shaped track 4, connecting plate 2 and base plate 1 and is rolling connected with them, the end of C-shaped support 7 is fixedly connected with connecting plate 15, connecting plate 15 is fixedly connected with cam roller speed reducer 16, the output shaft of cam roller speed reducer 16 which adopts non-intermittent motion tooth profile meshing relationship is fixedly connected with model 23; V-shaped track 4 is fixedly connected with roll angle support 13, roll angle support 13 is fixedly connected with roll angle mechanism servo motor 11, roll angle mechanism servo motor 11 drives cam roller speed reducer 16 to realize roll angle measurement movement after vertical reversing through transmission shaft 14.

[0029] Specifically, attack angle mechanism servo motor 10, roll angle mechanism servo motor 11 and side slip angle driving motor 24 adopt low-voltage waterproof level IP68 for anti-electricity leakage protection. The cross section of first V-shaped roller 3, V-shaped track 4, C-shaped support 7 and second V-shaped roller 12 is V-shaped, the motion pair composed of them is rolling friction pair, multiple first V-shaped rollers are uniformly distributed around V-shaped track, and second V-shaped rollers are located outside C-shaped support to form guiding support role. Side slip angle gear, attack angle gear, attack angle cylindrical roller gear and side slip angle cylindrical roller gear adopt TCG type gear gear ring with self-lubricating gear teeth with zero backlash.

[0030] The cam roller speed reducer 16 is a cam roller divider type speed reducer with self-locking. The output shaft of the cam roller speed reducer is a hollow shaft 1608. The tail of the model 23 is fixedly connected with a flow pipeline 19. One end of the flow pipeline 19 is an engine flow inlet, and the other end is connected with the outer wall of the hollow shaft 1608. The outlet end of the hollow shaft 1608 is connected with a pipeline flow measuring device. Specifically, the cam roller speed reducer 16 mainly comprises a rear plate 1601, a side plate 1602, a indexing cam 1603, a front plate 1604, a side plate 1605, a cam roller turret 1606, a first rolling bearing 1607, the 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 a plurality of cavities which are distributed along the central radial direction and are not communicated with each other according to the number of model 23 engine jet outlets. The model engine flow passes through different transparent flow pipelines 19, passes through the respective cavity outlets of the hollow shaft 1608, and flows to the external pipeline flow measuring device. The plurality of water-resistant sealing rings 1609 are sealed to isolate different cavities and ensure accurate measurement of respective flows. The fluid flow channel design scheme can be used for model engine inlet flow measuring pipeline, engine jet control pipeline and other internal flow characteristic measuring devices to measure the internal flow characteristics of the engine.

[0031] The front part of the cam roller speed reducer 16 is provided with dyeing liquid inlet pipes, and forms a dyeing liquid chamber with the dyeing liquid nozzle flange 17 and sprays out along the multiple outlet pipes of the dyeing liquid nozzle flange 17. The transparent dyeing liquid pipes are arranged at the required positions of the model. The dyeing liquid nozzle flange 17 is tightly sealed by the pressing disc 18 through screws and a stopper, so that the dyeing liquid nozzle flange 17 rotates together with the hollow shaft 1608. The problem of winding of the dyeing liquid pipes is avoided. The dyeing liquid pipeline can also be used as a pressure measuring 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, the convex end of which is fixedly connected with the hollow shaft 1608, and the concave end is fixedly connected with the support rod 22 through a locking nut 21. The flow pipelines 19 are distributed on both sides of the support rod 22.

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

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

[0035] The whole device is provided with necessary supports, lifting lugs and other devices to facilitate installation and storage.

[0036] Working and using process:

[0037] The attack angle mechanism servo motor 10 drives the attack angle cylindrical roller gear 8 to rotate, and the attack angle cylindrical roller gear 8 rotates at the same time, and since the attack angle cylindrical roller gear 8 is meshed with the attack angle gear ring 6 (in a fixed state), the whole C-shaped support 7 realizes circular arc motion, and the model 23 fixedly connected with the C-shaped support 7 realizes attack angle motion.

[0038] The sideslip angle driving motor 24 drives the sideslip angle cylindrical roller gear 25 to rotate, and the cylindrical roller gear 25 rotates at the same time, and since the cylindrical roller gear 25 is meshed with the sideslip angle gear ring 5, the sideslip angle gear ring 5 is fixedly connected with the V-shaped track 4, and then the V-shaped track 4 rotates, and the model 23 realizes sideslip angle motion.

[0039] The roll angle mechanism servo motor 11 drives the cam roller speed reducer 16 through the transmission shaft 14, and then drives the model 23 through the supporting rod after vertical reversing to realize roll angle motion.

[0040] The present application realizes accurate multi-posture angle coupling simulation of attack angle, sideslip angle and roll angle, improves test efficiency and comprehensive effect. The model balance load, model engine internal flow field flow performance, model external flow field dye flow display, model surface pressure measurement and other internal and external flow synchronous measurement can be completed at the same time, and the test efficiency and comprehensive effect are improved.

[0041] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

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: The wheelbase is calculated based on the number of shifts in the range of 1 to 25. The present invention relates to a gearbox having a first end in contact with the gearbox and a second end in contact with the gearbox, wherein the shifters have a first end in contact with the gearbox and a second end in contact with the gearbox. The shifters have a first end in contact with the gearbox and a second end in contact with the gearbox. The driving shaft of the mechanism servo motor is fixedly connected to the attack angle cylindrical roller gear, which 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 that are rollingly connected to them and serve as guide supports. One end of the C-shaped bracket passes through the V-shaped track, the connecting plate and the base plate and is rollingly connected to the three. The end of the C-shaped bracket is fixedly connected to the connecting plate, and the connecting plate is fixedly connected to the cam roller reducer. The output shaft of the cam roller reducer is fixedly connected to the model; the V-shaped track is fixedly connected to a roll angle support, and the roll angle support is fixedly connected to a roll angle mechanism servo motor. The roll angle mechanism servo motor drives the cam roller reducer to vertically reverse through the 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 the model according to claim 1 is characterized in that: The attack angle mechanism servo motor, roll angle mechanism servo motor and sideslip angle drive motor are protected against leakage using 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 the model according to claim 1 is 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 the model according to claim 1 is characterized in that: 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.

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 the model according to claim 1 is 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 to 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 measuring device outside the water tunnel test section through a pipeline to measure the internal 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 the 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 the model according to claim 5, characterized in that: 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 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 the model according to claim 5, characterized in that: The front of the cam roller reducer is provided with a dyeing liquid inlet pipe around the periphery, and forms a dyeing liquid chamber with the dyeing liquid nozzle flange and sprays out along multiple outlet pipes of the dyeing liquid nozzle flange, and is connected to the model surface 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 the 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 compresses the dyeing liquid nozzle flange through screws and stop seals to make it roll together with the hollow shaft, thereby avoiding the problem of entanglement 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 the 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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