Hydrodynamic force measuring device of fluctuating hydrofoil

Abstract

The utility model provides a hydrodynamic force measuring device of a fluctuating hydrofoil, and particularly belongs to the technical field of measurement. The hydrofoil position adjusting mechanism composed of the horizontal sliding block, the locking device and the horizontal sliding beam is used for controlling the position of the fluctuation hydrofoil assembly in the directions of three coordinate axes, the influence of the immersion depth on the propelling mechanism of the bionic fish can be further explored conveniently, the test cost is low, the efficiency is high, and a large amount of test data can be obtained in a short time. The device comprises a water tank container and a horizontal sliding beam, and further comprises a six-component force sensor and a fluctuation hydrofoil assembly. An elbow guide plate is fixedly arranged at the corner of the inner side wall of the water tank container, a honeycomb rectifier is fixedly installed in the water tank container, horizontal guide rails are fixedly installed on the upper edges of the two sides of the water tank container, horizontal sliding beams are arranged on the horizontal guide rails, vertical lifting rods are connected to the horizontal sliding beams, and six-component force sensors are installed on the vertical lifting rods. And one end of the vertical lifting rod is connected with a fluctuating hydrofoil assembly.

Description

Technical Field

[0001] This utility model relates to a hydrodynamic measurement device for a wave-shaped hydrofoil, specifically belonging to the field of measurement technology. Background Technology

[0002] Bionic robotic fish have been playing a unique role in underwater resource exploration and marine environmental protection. In the development of bionic underwater vehicles, measuring hydrodynamic response is a key foundation for scientific research and engineering design.

[0003] Currently, mature technical solutions mostly use airfoils or thin plates to represent the undulating motion of a robotic fish. However, in the field of biomimetic propulsion research, pitching and buoyancy correspond to lift-based propulsion, while wave-like oscillation corresponds to propulsion based on added mass effects. Therefore, there is still a significant difference between this pitching and buoyancy motion and the wave-like oscillation of the robotic fish, making it difficult to accurately simulate the undulating motion of the robotic fish. To address these problems and needs, it is necessary to design a hydrodynamic measurement device for a wave-like hydrofoil. Utility Model Content

[0004] The purpose of this invention is to provide a hydrodynamic measurement device for a wave-like hydrofoil, so as to ensure that the test method is easy to operate and can quickly carry out a large number of fish-inspired wave-like hydrofoil dynamic tests, which is convenient for the study of biomimetic fish propulsion mechanism.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: the new model includes a water tank container and a horizontal sliding beam, and also includes a six-component force sensor and a wave-shaped hydrofoil assembly;

[0006] An elbow guide plate is fixedly installed at the corner of the inner wall of the water tank container. A honeycomb rectifier is fixedly installed inside the water tank container. Horizontal guide rails are fixedly installed on the upper edges of both sides of the water tank container. Horizontal sliding beams are installed on the horizontal guide rails. Vertical lifting rods are connected to the horizontal sliding beams. Six-component force sensors are installed on the vertical lifting rods. A wave jet assembly is connected to one end of the vertical lifting rod.

[0007] Furthermore, using a water tank container as the basic framework of the device, and a horizontal sliding beam as the main structure of the hydrofoil position adjustment structure, the initial position of the undulating hydrofoil assembly is adjusted. The load data of the undulating hydrofoil assembly is recorded by a six-component force sensor, and the evolution of the pulse line in the wake is captured by a high-speed camera, which facilitates further investigation into the influence of immersion depth on the propulsion mechanism of the biomimetic fish.

[0008] The wave-shaped hydrofoil assembly includes a rigid hydrofoil nose, a flexible hydrofoil body, a rigid hydrofoil tail, an internal hydrofoil truss, and a servo motor;

[0009] A rigid hydrofoil nose is fixedly installed on one side of the flexible hydrofoil body, and a rigid hydrofoil tail is fixedly installed on the other side of the flexible hydrofoil body. An internal hydrofoil truss and a servo motor are fixedly installed inside the flexible hydrofoil body, with the servo motor located at the rigid hydrofoil nose.

[0010] One end of the vertical lifting rod is connected to a rigid hydrofoil head, and the rigid hydrofoil head is made of rigid material. The servo is a brushless motor.

[0011] Furthermore, by using rigid materials for support at the head of the rigid hydrofoil, the stability of the undulating hydrofoil under external forces is ensured, allowing the head of the undulating hydrofoil to effectively withstand fluid forces and avoid excessive deformation in the flow field. Stable and precise control is provided by using servos to power the brushless motor, allowing the undulating hydrofoil components to control parameters such as the undulation period and amplitude to achieve the desired undulation pattern. The internal truss of the hydrofoil provides necessary internal support for the flexible hydrofoil body, ensuring that the flexible hydrofoil body maintains sufficient flexibility while avoiding instability and damage due to excessive bending.

[0012] Two sets of symmetrical guide vanes are arranged at the elbows, with four guide vanes in each set;

[0013] Furthermore, the water flow is guided by the bend guide plate, which effectively changes the direction of the fluid flow and reduces turbulence caused by the bend.

[0014] A horizontal slider is installed on the horizontal guide rail. There are two sets of horizontal sliders, and each set has two horizontal sliders. The two sets of horizontal sliders are symmetrically arranged at both ends of the horizontal sliding beam.

[0015] Each horizontal slider is equipped with a locking device on one side, and the locking device is connected to the outside of the horizontal sliding beam;

[0016] Furthermore, the position of the wave-shaped hydrofoil assembly is controlled by two sets of horizontal sliders. The locking device can take effect quickly after the position is adjusted to ensure that the position of the wave-shaped hydrofoil assembly will not drift due to vibration or external force interference. The horizontal sliding beam allows the wave-shaped hydrofoil assembly to be precisely adjusted in the horizontal plane, and the vertical lifting rod is used to control the lifting height of the wave-shaped hydrofoil assembly.

[0017] The beneficial effects of this utility model are:

[0018] 1. The position adjustment mechanism of the hydrofoil, consisting of a horizontal slider, a locking device, and a horizontal sliding beam, controls the position of the undulating hydrofoil assembly in three coordinate axes. This facilitates further investigation into the influence of immersion depth on the propulsion mechanism of the bionic fish, resulting in low experimental cost and high efficiency. A large amount of experimental data can be obtained in a short time. Furthermore, load data can be output through a six-component force sensor to analyze the dynamic propulsion mechanism of the bionic fish. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model;

[0020] Figure 2 This is a three-dimensional structural diagram of the flexible hydrofoil body of this utility model;

[0021] Figure 3 This is a three-dimensional structural diagram of the water tank container of this utility model;

[0022] Figure 4 This is a three-dimensional structural diagram of the horizontal sliding beam of this utility model.

[0023] 1. Rigid hydrofoil nose; 2. Flexible hydrofoil body; 3. Rigid hydrofoil tail; 4. Hydrofoil internal truss; 5. Servo; 6. Water tank; 7. Elbow guide vane; 8. Honeycomb rectifier; 9. Horizontal guide rail; 10. Horizontal slider; 11. Locking device; 12. Horizontal sliding beam; 13. Vertical lifting rod; 14. Six-component force sensor. Detailed Implementation

[0024] The following will be combined with the appendix Figure 1-4 The technical solutions in the embodiments are described clearly and completely.

[0025] Specific implementation method one: as follows Figure 1 and 3 As shown, the device consists of a water tank container 6, a wave-shaped hydrofoil assembly, and a hydrofoil position adjustment mechanism. The water tank container 6 serves as the basic frame of the device. Two sets of elbow guide plates 7 are fixedly installed at the corners of the inner wall of the water tank container 6 to guide the water flow, which can effectively change the flow direction of the fluid and reduce turbulence caused by the bend. A honeycomb rectifier 8 is fixedly installed inside the water tank container 6. The pore structure of the honeycomb rectifier 8 reduces the turbulence of the water flow and ensures that the fluid can generate a uniform flow after passing through the honeycomb rectifier 8. The hydrofoil position adjustment mechanism is set above the horizontal guide rails 9 fixedly installed on both sides of the water tank container 6. The position of the wave-shaped hydrofoil assembly is controlled by the hydrofoil position adjustment mechanism in three coordinate axis directions, which makes the test low-cost and efficient, and can obtain a large amount of test data in a short time. The horizontal sliding beam 12 serves as the main structure of the hydrofoil position adjustment structure. At the same time, the load data of the wave-shaped hydrofoil assembly is recorded by a six-component force sensor 14, and the evolution of the pulse line in the wake is captured by a high-speed camera, which facilitates further investigation of the influence of immersion depth on the propulsion mechanism of the bionic fish.

[0026] Specific implementation method two: such as Figure 2As shown, a rigid hydrofoil head 1 is fixedly installed on one side of the outer wall of the flexible hydrofoil body 2. The rigid hydrofoil head 1 is made of rigid material. By using rigid material as support for the rigid hydrofoil head 1, the stability of the wave hydrofoil assembly when subjected to external force is ensured, so that the head of the wave hydrofoil assembly can effectively withstand the fluid force and avoid excessive deformation in the flow field.

[0027] The flexible hydrofoil body 2 is internally fitted with a hydrofoil internal truss 4 and a servo motor 5. The servo motor 5 is located at the head 1 of the rigid hydrofoil and is a brushless motor. By using the brushless motor 5, stable and precise control can be provided. The servo motor 1 can control the undulation period, amplitude and other parameters of the undulating hydrofoil assembly to achieve the required undulation form. The hydrofoil internal truss 4 provides the necessary internal support for the flexible hydrofoil body 2, so that the flexible hydrofoil body 2 can maintain sufficient flexibility while avoiding instability and damage due to excessive bending.

[0028] Specific implementation method three: such as Figure 4 As shown,

[0029] A horizontal slider 10 is installed on the horizontal guide rail 9. There are two sets of horizontal sliders 10, with two sliders in each set. The two sets of horizontal sliders 10 are symmetrically arranged at both ends of the horizontal sliding beam 12. The position of the wave hydrofoil assembly is controlled by the cooperation of the two sets of horizontal sliders 10. Each horizontal slider 10 is equipped with a locking device 11 on one side, which is connected to the outside of the horizontal sliding beam 12. The locking device 11 can quickly take effect after the position is adjusted to ensure that the position of the wave hydrofoil assembly will not drift due to vibration or external force interference. The precise position of the wave hydrofoil assembly in the horizontal plane is then adjusted by the horizontal sliding beam 12. Finally, the lifting height of the wave hydrofoil assembly is controlled by the vertical lifting rod 13.

[0030] The specific steps for using the device are as follows:

[0031] 1. Installation and Preparation

[0032] A hydrofoil position adjustment structure is installed on the water tank container 6 to ensure that the undulating hydrofoil assembly can be accurately adjusted and positioned within the water tank container 6. The six-component force sensor 14 is installed on the vertical lifting rod 13, and the initial position of the undulating hydrofoil assembly is adjusted through the hydrofoil position adjustment mechanism to ensure that it is in the correct experimental position. The six-component force sensor 14 is calibrated to ensure that the measurement accuracy of the six-component force sensor 14 is verified.

[0033] 2. Experimental Operation

[0034] Start servo motor 5, adjust the speed and control mode of servo motor 5 to control the periodic wave-like oscillation of the wave hydrofoil assembly, and adjust the parameters of servo motor 5 to ensure that the amplitude and frequency of the wave hydrofoil assembly meet the experimental requirements.

[0035] 3. Data recording and testing

[0036] The load data of the wave hydrofoil assembly at different time points is recorded using a six-component force sensor 14. The data from the six-component force sensor 14 can show the force situation of the wave hydrofoil assembly during the wave process, including the changes in resultant force and torque.

[0037] 4. Data Analysis

[0038] Based on the load data from the six-component force sensor 14, the dynamic characteristics of the wave hydrofoil assembly are analyzed, and the force situation of the wave hydrofoil assembly under different control conditions is discussed.

[0039] This ensures that the experimental method is easy to operate and can quickly conduct a large number of fish-inspired wave hydrofoil dynamics experiments, facilitating research on the biomimetic fish propulsion mechanism.

[0040] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model's technical solution. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present utility model's technical solution, based on the technical essence of the present utility model and within the spirit and principles of the present utility model, shall still fall within the protection scope of the present utility model's technical solution.

Claims

1. A hydrodynamic measuring device for a wave-shaped hydrofoil, comprising a water tank container (6) and a horizontal sliding beam (12), characterized in that, It also includes a six-component force sensor (14) and a wave-shaped hydrofoil assembly; A bent guide plate (7) is fixedly installed at the corner of the inner wall of the water tank container (6). A honeycomb rectifier (8) is fixedly installed inside the water tank container (6). Horizontal guide rails (9) are fixedly installed on the upper edges of both sides of the water tank container (6). A horizontal sliding beam (12) is installed on the horizontal guide rail (9). A vertical lifting rod (13) is connected to the horizontal sliding beam (12). A six-component force sensor (14) is installed on the vertical lifting rod (13). A wave jet assembly is connected to one end of the vertical lifting rod (13).

2. The hydrodynamic measuring device for a wave-shaped hydrofoil according to claim 1, characterized in that, The wave-shaped hydrofoil assembly includes a rigid hydrofoil nose (1), a flexible hydrofoil body (2), a rigid hydrofoil tail (3), an internal hydrofoil truss (4), and a servo motor (5); A rigid hydrofoil head (1) is fixedly installed on one side of the flexible hydrofoil body (2), and a rigid hydrofoil tail (3) is fixedly installed on the other side of the flexible hydrofoil body (2). An internal hydrofoil truss (4) and a servo motor (5) are fixedly installed inside the flexible hydrofoil body (2), and the servo motor (5) is located at the rigid hydrofoil head (1).

3. The hydrodynamic measuring device for a wave-shaped hydrofoil according to claim 1, characterized in that, Two sets of elbow guide vanes (7) are symmetrically arranged, with four elbow guide vanes (7) in each set.

4. The hydrodynamic measuring device for a wave-shaped hydrofoil according to claim 1, characterized in that, A horizontal slider (10) is installed on the horizontal guide rail (9). There are two sets of horizontal sliders (10), and each set of horizontal sliders (10) has two sliders. The two sets of horizontal sliders (10) are symmetrically arranged at both ends of the horizontal sliding beam (12).

5. The hydrodynamic measuring device for a wave-shaped hydrofoil according to claim 4, characterized in that, Each horizontal slider (10) is provided with a locking device (11) on one side, and the locking device (11) is connected to the outside of the horizontal sliding beam (12).

6. The hydrodynamic measuring device for a wave-shaped hydrofoil according to claim 1, characterized in that, One end of the vertical lifting rod (13) is connected to a rigid hydrofoil head (1), and the rigid hydrofoil head (1) is made of rigid material, and the servo motor (5) is a brushless motor.

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