Six-degree-of-freedom airworthiness instrument

Abstract

The utility model discloses a six-degree-of-freedom airworthiness instrument which comprises a moving part and a moving return system, and the moving part comprises a yawing mechanism, a surging mechanism and a swaying mechanism. The motion recovery system comprises a swaying recovery system of the swaying mechanism, a surging recovery system of the surging mechanism and a yawing recovery system of the yawing mechanism. The six-degree-of-freedom airworthiness instrument is used for measuring the motion trail of the center of mass of the ship model when the ship model sails on oblique waves or short wind waves, measuring the angles of rolling, pitching and yawing and constraining the surging, swaying and heaving strokes, a tension spring is arranged in a motion return system, a trailer drags the six-degree-of-freedom airworthiness instrument to run when a test starts, the lower portion of the six-degree-of-freedom airworthiness instrument is connected with the ship model, and the ship model is connected with the ship model. The deformation quantity of the initial tension spring is large, the displacement of the tension spring is effectively restrained by the inner sleeve and the cylinder barrel on the two sides, when the test is stable, the stable time can be quickly entered, enough time is reserved for measurement, the test efficiency and precision are improved, and the stability is good.

Description

Technical Field

[0001] The utility model relates to the technical field of ship and ocean engineering, in particular to a six-degree-of-freedom seaworthiness instrument. Background Art

[0002] In the existing wave-added resistance model test of a ship model in a towing tank with all wave directions, the hull motion constraint and the measurement of wave-added resistance need to be completed with the help of a seaworthiness instrument. The existing seaworthiness instrument is large in volume, heavy in weight, and has a strong constraint on the test model, and cannot well reflect the true motion attitude of the test model. At the same time, the existing seaworthiness instrument cannot complete the multi-angle measurement of rolling, pitching, and yawing in the wave-added resistance model test of a ship model in a towing tank with all wave directions, nor can it complete the model test under the navigation conditions of oblique waves or short wind waves, and there are certain limitations in use. Therefore, with the development of model test measurement technology and the improvement of test measurement requirements, the original seaworthiness instrument is no longer applicable. In the process of designing a six-degree-of-freedom system, a tension spring is usually used as the motion recovery system. Through experiments, it is found that when only a tension spring acts on the moving parts, due to the certain stroke of the moving parts, problems of instability and poor accuracy are often caused during sway recovery and heave recovery, thus affecting the test results. Summary of the Invention

[0003] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide a six-degree-of-freedom seaworthiness instrument, which is used to measure the motion trajectory of the center of mass of a ship model when sailing in oblique waves or short wind waves, perform the angle measurement of rolling, pitching, and yawing, and constrain the stroke of heaving, swaying, and surging, with high precision and good stability.

[0004] To achieve the above object, the technical solution adopted by the present utility model is as follows: A six-degree-of-freedom airworthiness instrument includes a moving component and a motion recovery system. The moving component includes a yaw mechanism, a surge mechanism, and a sway mechanism. The motion recovery system includes a sway recovery system for the sway mechanism, a surge recovery system for the surge mechanism, and a yaw recovery system for the yaw mechanism. The sway recovery system includes a sway rope wheel steering component and a sway tension spring. Both ends of the sway tension spring are provided with sway spring guide seats. A sway spring guide wheel cover is provided on the sway spring guide seat. The sway tension spring is sleeved with a sway inner sleeve, and a sway cylinder barrel is provided outside the sway inner sleeve. The sway rope wheel steering component includes a sway guide wheel seat, a sway guide wheel cover, and a sway steering rope. The sway guide wheel seat is arranged at the end of the sway cylinder barrel. The sway guide wheel cover is arranged on the sway guide wheel seat. The sway guide wheel cover is connected to the sway mechanism. A sway guide wheel is arranged between the sway guide wheel seat and the sway guide wheel cover. One end of the sway steering rope is connected to the sway spring guide wheel cover, and the other end of the sway steering rope is connected to the surge mechanism after passing through the sway guide wheel. The surge recovery system includes a surge rope wheel steering component and a surge tension spring. One end of the surge tension spring is provided with a sway spring guide seat. A surge spring guide wheel cover is provided on the sway spring guide seat. The surge tension spring is sleeved with a surge inner sleeve, and a surge cylinder barrel is provided outside the surge inner sleeve. The surge rope wheel steering component includes a surge guide wheel seat, a surge guide wheel cover, a surge guide wheel, and a surge steering rope. The surge guide wheel seat is arranged at the end of the surge cylinder barrel and is connected to the other end of the surge tension spring. The surge guide wheel cover is arranged on the surge guide wheel seat. The surge guide wheel cover is connected to the surge mechanism. A surge guide wheel is arranged between the surge guide wheel seat and the surge guide wheel cover. Multiple groups of surge guide wheels are respectively arranged on the surge mechanism. One end of the surge steering rope on one side of the surge mechanism is connected to the surge spring guide wheel cover, and the other end of the surge steering rope passes through the surge guide wheel and the surge guide wheels and is connected to the surge spring guide wheel cover on the other side of the surge mechanism. The yaw recovery system includes a yaw tension spring. The end of the yaw tension spring is connected to the yaw mechanism. The telescopic direction of the yaw tension spring is the same as the movement trajectory of the yaw mechanism.

[0005] As a preferred solution, the sway mechanism includes a sway frame and a sway guiding mechanism. The sway frame includes a first sway profile and a second sway profile. The first sway profile and the second sway profile are connected in a frame structure. The sway guiding mechanism includes a sway guide rail and a sway guide rail seat. The sway guide rail is connected to the first sway profile through the sway guide rail seat.

[0006] As a preferred solution, a reinforcing beam is further arranged at the bottom of the sway frame.

[0007] As a preferred solution, the heaving mechanism includes a heaving frame and a heaving assembly. The heaving frame includes a first heaving profile, a second heaving profile, a sway base, and a sway intermediate support. A first heaving track is provided on the first heaving profile, and a second heaving track is provided on the second heaving profile. One end portions of the first heaving profile and the second heaving profile are respectively connected to the sway base, and the other end portions of the first heaving profile and the second heaving profile are connected to both sides of the sway intermediate support. Steel wheels are provided on the sway intermediate support and the sway base. The steel wheels are arranged on the sway guide rail to generate structural frictional resistance. The heaving assembly is connected to the second heaving track through a second heaving guide wheel.

[0008] As a preferred solution, the yawing mechanism includes a yawing frame and a yawing assembly. The yawing frame is connected to the first heaving track through a first heaving guide wheel. A yawing guide rail is provided on the yawing frame. The yawing assembly is connected to the yawing guide rail through a yawing guide wheel.

[0009] As a preferred solution, there are two sets of heaving return systems on both sides of the heaving assembly along the moving direction of the heaving assembly. The two sets of heaving return systems on the same side are arranged in opposite directions up and down.

[0010] As a preferred solution, the heaving guide wheels include a first heaving guide wheel and a second heaving guide wheel. The first heaving guide wheel is arranged on the heaving assembly, and the second heaving guide wheel is arranged on the heaving frame.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model is used to measure the movement trajectory of the centroid of a ship model when sailing on oblique waves or short wind waves, measure the angles of rolling, pitching, and yawing, restrict the strokes of heaving, swaying, and heaving. A tension spring is arranged in the motion return system. At the beginning of the test, the trailer drags the six-degree-of-freedom seaworthiness instrument to travel, and the ship model is connected below. The initial deformation of the tension spring is relatively large. The inner sleeves and cylinder barrels on both sides effectively restrict the displacement of the tension spring. When the test is stable, it can quickly enter the stable time, leaving enough time for measurement, improving the test efficiency and accuracy, and having good stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic structural diagram of the present utility model;

[0013] Figure 2 is a schematic principle diagram of the test in the present utility model;

[0014] Figure 3 is a schematic structural diagram of the sway return system in the present utility model;

[0015] Figure 4 is a schematic structural diagram of the heaving return system in the present utility model;

[0016] Figure 5 is a schematic structural view of the yaw restoring system in the present utility model;

[0017] Figure 6 is a side view of the present utility model. Specific embodiments

[0018] The present utility model will be further described below in conjunction with specific embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present utility model, and cannot be used to limit the protection scope of the present utility model.

[0019] Embodiment:

[0020] As Figure 1 shown, a six-degree-of-freedom seaworthiness instrument includes a moving component and a motion restoring system. The moving component includes a yaw mechanism 1, a surge mechanism 2, and a sway mechanism 3; the sway mechanism 3 includes a sway frame 4 and a sway guiding mechanism 5. The sway frame 4 includes a first sway profile 6 and a second sway profile 7, and the first sway profile 6 and the second sway profile 7 are connected in a frame shape. The sway guiding mechanism 5 includes a sway guide rail 8 and a sway guide rail seat 9, and the sway guide rail 8 is connected to the first sway profile 6 through the sway guide rail seat 9; the surge mechanism 2 includes a surge frame 10 and a surge component 11. The surge frame 10 includes a first surge profile 12, a second surge profile 13, a sway seat 14, and a sway intermediate support 15. A first surge track 16 is provided on the first surge profile 12, and a second surge track 17 is provided on the second surge profile 13. One end portions of the first surge profile 12 and the second surge profile 13 are respectively connected to the sway seat 14, and the other end portions of the first surge profile 12 and the second surge profile 13 are connected to both sides of the sway intermediate support 15. Steel wheels 18 are provided on the sway intermediate support 15 and the sway seat 14, and the steel wheels 18 are provided on the sway guide rail 8 and generate structural frictional resistance. The surge component 11 is connected to the second surge track 17 through a second surge guide wheel (not shown in the figure); the yaw mechanism 1 includes a yaw frame 19 and a yaw component 20. The yaw frame 19 is connected to the first surge track 16 through a first surge guide wheel (not shown in the figure). A yaw guide rail 21 is provided on the yaw frame 19, and the yaw component 20 is connected to the yaw guide rail 21 through a yaw guide wheel (not shown in the figure); the motion restoring system includes a sway restoring system 22 of the sway mechanism 3, a surge restoring system 23 of the surge mechanism 2, and a yaw restoring system 24 of the yaw mechanism 1. There are two groups of the sway restoring system 22, which are respectively arranged on both sides of the sway frame 4; there are four groups of the surge restoring system 23, and two groups are arranged on both sides of the second surge profile 13; there are two groups of the yaw restoring system 24, which are respectively arranged on both sides of the yaw frame 19.

[0021] Specifically, as Figure 2 shown, the six-degree-of-freedom seaworthiness instrument is installed on the base frame 25 and connected to the ship model 26. The six-degree-of-freedom seaworthiness instrument measures a total of seven measurement quantities of the ship model 26 in still water and waves in the pool, including resistance, roll, pitch, yaw, heave, surge, and sway. The motion seaworthiness of the six-degree-of-freedom seaworthiness instrument consists of a motion recovery system, a force measuring element, and a displacement measuring element. Among them, the displacement is obtained by an external optical measuring sensor, and the angle is obtained by a potentiometer. After the stiffness calibration of the tension spring is determined, the tensile force can be estimated by the displacement and the angle.

[0022] More specifically, during the test, the six-degree-of-freedom seaworthiness instrument is installed above the trailer measuring bridge, and the ship model 26 is installed below. The six-degree-of-freedom seaworthiness instrument is connected to the ship model 26 through the heave rod 27 and the navigation rod 28. The bottom of the heave rod 27 is connected to the ship model 26 through the roll-pitch universal joint device 29, and a locking device 30 is provided at the connection. The top of the heave rod 27 is connected to the surge mechanism 2, and the top of the navigation rod 28 is connected to the yaw mechanism 1. The bottom of the navigation rod 28 is connected to the ship model 26 through the navigation universal joint device 31.

[0023] The trailer is connected to the base frame 25 by a cable for towing movement, so that the six-degree-of-freedom seaworthiness instrument drives the ship model 26 to move. Among them, the principle for determining the cable length is: ensure that the heave rod 27 does not exceed the maximum stroke of the surge of the six-degree-of-freedom seaworthiness instrument. Connect all the sensor signal lines, and the instrument works normally. Enter the test stage. When the six-degree-of-freedom seaworthiness instrument is in the free state, each tension spring is in the middle position.

[0024] During the test, the structure of the six-degree-of-freedom seaworthiness instrument is suitable for releasing the six-degree-of-freedom movement of the ship model 26. Among them, the motion constraints of sway, surge, and yaw are realized by the six-degree-of-freedom seaworthiness instrument. As Figure 1 shown, heave, roll, and pitch are in a completely released state.

[0025] Preferably, as Figure 3As shown, the sway restoring system 22 includes a sway rope wheel steering component 32 and a sway tension spring 33. Both ends of the sway tension spring 33 are provided with sway spring guide seats 34. A sway spring guide wheel cover 35 is arranged on the sway spring guide seat 34. A sway inner sleeve 36 is sleeved outside the sway tension spring 33. A sway cylinder barrel 37 is arranged outside the sway inner sleeve 36. The sway rope wheel steering component 32 includes a sway guide wheel seat 38, a sway guide wheel cover 39, and a sway steering rope 40. The sway guide wheel seat 38 is arranged at the end of the sway cylinder barrel 37. The sway guide wheel cover 39 is arranged on the sway guide wheel seat 38. The sway guide wheel cover 39 is connected to the first sway profile 6. A sway guide wheel 41 is arranged between the sway guide wheel seat 38 and the sway guide wheel cover 39. One end of the sway steering rope 40 is connected to the sway spring guide wheel cover 35, and the other end of the sway steering rope 40 is connected to the sway seat 14 after passing through the sway guide wheel 41.

[0026] Preferably, as Figure 4 shown, the heave restoring system 23 includes a heave rope wheel steering component 42 and a heave tension spring 43. One end of the heave tension spring 43 is provided with a sway spring guide seat 44. A heave spring guide wheel cover 56 is arranged on the sway spring guide seat 44. A heave inner sleeve 45 is sleeved outside the heave tension spring 43. A heave cylinder barrel 46 is arranged outside the heave inner sleeve 45. The heave rope wheel steering component 42 includes a heave guide wheel seat 47, a heave guide wheel cover 48, a heave guide wheel 49, and a heave steering rope 50. The heave guide wheel seat 47 is arranged at the end of the heave cylinder barrel 46 and is connected to the other end of the heave tension spring 43. The heave guide wheel cover 48 is arranged on the heave guide wheel seat 47. The heave guide wheel cover 48 is connected to the second heave profile 13. A heave guide wheel 51 is arranged between the heave guide wheel seat 47 and the heave guide wheel cover 48. Multiple groups of heave guide wheels 49 are respectively arranged on the heave frame 10 and the heave assembly 11. One end of the heave steering rope 50 on one side of the second heave profile 13 is connected to the heave spring guide wheel cover 56, and the other end of the heave steering rope 50 is connected to the heave spring guide wheel cover 56 on the other side of the second heave profile 13 after passing through the heave guide wheel 51 and the heave guide wheel 49.

[0027] Specifically, the heave guide wheel 49 includes a first heave guide wheel 52 and a second heave guide wheel 53. The first heave guide wheel 52 is arranged on the heave assembly 11, and the second heave guide wheel 53 is arranged on the heave frame 10.

[0028] More specifically, during the test, there are four first surge guide wheels 52. Two of the first surge guide wheels 52 are arranged on the sway base 14, and the other two first surge guide wheels 52 are arranged on the sway intermediate support base 15. There are two second surge guide wheels 53, and the two second surge guide wheels 53 are arranged on the surge assembly 11 and located on the movement track of the surge assembly 11.

[0029] Furthermore, during the test, on both sides of the surge assembly 11 along the movement direction of the surge assembly 11, there are two groups of surge return systems 23, and the two groups of surge return systems 23 on the same side are arranged in opposite directions up and down.

[0030] Preferably, as Figure 5 shown, the yaw return system 24 includes a yaw tension spring 54. One end of the yaw tension spring 54 is connected to the yaw frame 19, and the other end of the yaw tension spring 54 is connected to the yaw assembly 20. The telescopic direction of the yaw tension spring 54 is the same as the movement track of the yaw assembly 20.

[0031] Specifically, there are two groups of sway return systems 22, which are respectively arranged on both sides of the sway frame 4; there are four groups of surge return systems 23, which are arranged in pairs on both sides of the second surge profile 13; there are two groups of yaw return systems 24, which are respectively arranged on both sides of the yaw frame 19; each system is composed of pre-tensioned tension springs and acts on the moving parts through rope pulley steering components. The elongation and shear stress of the tension springs when actually stressed are calculated, so as to select appropriate tension springs.

[0032] Preferably, as Figure 6 shown, a strengthening beam 55 is arranged at the bottom of the sway frame 4 of the six-degree-of-freedom seaworthiness instrument. There are two strengthening beams 55 in total during the test, which improves the stability.

[0033] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A six-degree-of-freedom airworthiness instrument, characterized in that: Comprising a moving part and a motion restoring system, the moving part includes a yaw mechanism, a surge mechanism, and a sway mechanism; the motion restoring system includes a sway restoring system for the sway mechanism, a surge restoring system for the surge mechanism, and a yaw restoring system for the yaw mechanism. The sway restoring system includes a sway rope wheel steering component and a sway tension spring. Both ends of the sway tension spring are provided with sway spring guide seats. A sway spring guide wheel cover is arranged on the sway spring guide seat. The sway tension spring is sleeved with a sway inner sleeve, and a sway cylinder barrel is arranged outside the sway inner sleeve. The sway rope wheel steering component includes a sway guide wheel seat, a sway guide wheel cover, and a sway steering rope. The sway guide wheel seat is arranged at the end of the sway cylinder barrel. The sway guide wheel cover is arranged on the sway guide wheel seat. The sway guide wheel cover is connected to the sway mechanism. A sway guide wheel is arranged between the sway guide wheel seat and the sway guide wheel cover. One end of the sway steering rope is connected to the sway spring guide wheel cover, and the other end of the sway steering rope is connected to the surge mechanism after passing through the sway guide wheel; the surge restoring system includes a surge rope wheel steering component and a surge tension spring. One end of the surge tension spring is provided with a sway spring guide seat. A surge spring guide wheel cover is arranged on the sway spring guide seat. The surge tension spring is sleeved with a surge inner sleeve, and a surge cylinder barrel is arranged outside the surge inner sleeve. The surge rope wheel steering component includes a surge guide wheel seat, a surge guide wheel cover, a surge guide wheel, and a surge steering rope. The surge guide wheel seat is arranged at the end of the surge cylinder barrel and is connected to the other end of the surge tension spring. The surge guide wheel cover is arranged on the surge guide wheel seat. The surge guide wheel cover is connected to the surge mechanism. A surge guide wheel is arranged between the surge guide wheel seat and the surge guide wheel cover. Multiple groups of surge guide wheels are respectively arranged on the surge mechanism. One end of the surge steering rope on one side of the surge mechanism is connected to the surge spring guide wheel cover, and the other end of the surge steering rope passes through the surge guide wheel and the surge guide wheels and is connected to the surge spring guide wheel cover on the other side of the surge mechanism; the yaw restoring system includes a yaw tension spring. The end of the yaw tension spring is connected to the yaw mechanism. The telescopic direction of the yaw tension spring is the same as the movement trajectory of the yaw mechanism.

2. The six-degree-of-freedom airworthiness instrument according to claim 1, wherein: The sway mechanism includes a sway frame and a sway guiding mechanism. The sway frame includes a first sway profile and a second sway profile. The first sway profile and the second sway profile are connected in a frame structure. The sway guiding mechanism includes a sway guide rail and a sway guide rail seat. The sway guide rail is connected to the first sway profile through the sway guide rail seat.

3. The six-degree-of-freedom airworthiness instrument according to claim 2, characterized in that: A reinforcing beam is further arranged at the bottom of the sway frame.

4. A six-degree-of-freedom airworthiness instrument according to claim 1, characterized in that: The surge mechanism includes a surge frame and a surge assembly. The surge frame includes a first surge profile, a second surge profile, a sway base, and a sway intermediate support. A first surge track is provided on the first surge profile, and a second surge track is provided on the second surge profile. One end portions of the first surge profile and the second surge profile are respectively connected to the sway base, and the other end portions of the first surge profile and the second surge profile are connected to both sides of the sway intermediate support. Steel wheels are provided on the sway intermediate support and the sway base. The steel wheels are arranged on the sway guide rail to generate structural frictional resistance. The surge assembly is connected to the second surge track through a second surge guide wheel.

5. The six-degree-of-freedom airworthiness instrument according to claim 4, wherein: The yaw mechanism includes a yaw frame and a yaw assembly. The yaw frame is connected to the first surge track through a first surge guide wheel. A yaw guide rail is provided on the yaw frame. The yaw assembly is connected to the yaw guide rail through a yaw guide wheel.

6. The six-degree-of-freedom airworthiness instrument according to claim 4, characterized in that: On both sides of the surge assembly along the movement direction of the surge assembly, there are two sets of surge restoring systems respectively, and the two sets of surge restoring systems on the same side are arranged in opposite directions up and down.

7. The six-degree-of-freedom airworthiness instrument according to claim 4, characterized in that: The surge guide wheels include a first surge guide wheel and a second surge guide wheel. The first surge guide wheel is arranged on the surge assembly, and the second surge guide wheel is arranged on the surge frame.

Images