A planar vector propulsion system test bed for an underwater unmanned vehicle

Abstract

The utility model discloses a kind of plane vector propulsion system test bench for underwater unmanned vehicle, including main stand, lifting rod, fixed auxiliary plate, circular rotary support plate, underwater robot propulsion system, U-shaped rotating frame, propeller, bearing tensile and compressive force sensor, symmetrical rotary tensile and compressive force sensor, end face disc type torsional tensile and compressive force sensor, side face disc type torsional tensile and compressive force sensor, lifting rod connects main stand and bearing tensile and compressive force sensor, fixed auxiliary plate and circular rotary support plate are sequentially connected below the sensor, U-shaped rotating frame is used to fix propulsion system and part sensor, end face disc type torsional tensile and compressive force sensor passes through the through-hole on U-shaped rotating frame and is connected with underwater robot propulsion system.The utility model technical innovation is in that sensor arrangement is arranged by reasonable structure design, high-precision dynamic data can be collected to plane vector propulsion system and omni-directional vector propulsion system underwater, to provide verification for underwater unmanned vehicle thrust control technology.

Description

Technical Field

[0001] This utility model relates to underwater vehicles and underwater unmanned equipment, and in particular to a test bench for a planar vector propulsion system for underwater unmanned vehicles. Background Technology

[0002] From the sky to the ocean, from the land to the deep blue, human exploration has never stopped. In order to better adapt to the underwater working environment, all kinds of underwater robots have emerged. In recent years, vector propulsion technology has gradually been applied in the aerospace and marine fields, which has greatly improved the power performance of vehicles. Vector propulsion technology includes planar vector propulsion technology and omnidirectional vector propulsion technology.

[0003] Previous research on underwater unmanned vehicles (UAVs) often involved extensive underwater operational tests after the UAVs were built, leading to continuous revisions. This approach was not only costly but also resulted in low accuracy and poor transferability of the established dynamic models. Thrust research test benches are generally technically complex and expensive, possessed only by large companies and research institutions. Therefore, this invention provides a new technical solution that utilizes lower costs to perform dynamic performance tests on both planar vector propulsion systems and omnidirectional vector propulsion systems, thereby establishing more accurate and widely applicable dynamic models. Utility Model Content

[0004] To achieve the aforementioned objective, the technical solution of this utility model is as follows:

[0005] A test bench for a planar vector propulsion system for underwater unmanned vehicles is characterized in that the device includes a main frame, a lifting rod, a fixed auxiliary plate, a circular rotary support plate, an underwater robot propulsion system, a U-shaped rotating frame, a load-bearing tensile and compressive sensor, a symmetrical rotary tensile and compressive sensor, an end-face disc-type torsional tensile and compressive sensor, and a side-face disc-type torsional tensile and compressive sensor.

[0006] Preferably, the main frame is vertically fixed to the ground of the pool, one end of the lifting rod can slide on the main frame and can be fixed at any position on the main frame, and the other end of the lifting rod is fixedly connected to the load-bearing tension and compression sensor.

[0007] Preferably, the aforementioned fixed auxiliary plate is fixedly connected to the lower side of the load-bearing tension and compression sensor, which can measure high-precision tensile stress. The aforementioned circular rotary support plate connects the fixed auxiliary plate and the U-shaped rotating frame. The circular rotary support plate can rotate slightly relative to the fixed auxiliary plate. The symmetrical rotary tension and compression sensor can measure the amplitude of rotation and convert the data into the torque of the underwater robot propulsion system's bow motion. The U-shaped rotating frame and the circular rotary support plate move together.

[0008] Preferably, the aforementioned symmetrical rotary tension and compression sensor consists of two parts: an encapsulation block and a tension spring sheet. There are two symmetrical rotary tension and compression sensors, located at the two symmetrical ends of the fixed auxiliary plate. The encapsulation block is fixed on the fixed auxiliary plate, and the tension spring sheet is connected to a fixed position on the circular rotary support plate, with its direction tangent to the cylindrical surface of the circular rotary support plate.

[0009] Preferably, the U-shaped rotating frame consists of an annular positioning frame and two U-shaped frames. The short and long U-shaped frames are connected by a rotating joint. The annular positioning frame has positioning holes for fixing the underwater robot propulsion system. The crossbar of the short frame is fixed to the circular rotary support plate. The side bar has through holes for connecting the long frame and the side disc torsional tension and compression sensor. The crossbar of the long frame has through holes for connecting the end face disc torsional tension and compression sensor. The intersection of the pin hole and the through hole axis is the center of mass of the underwater robot propulsion system. The end face disc torsional tension and compression sensor and the side disc torsional tension and compression sensor are used to measure the tensile and compressive stress and torque of the underwater robot propulsion system during swaying, pitching, rolling, and yaw.

[0010] Preferably, the underwater robot propulsion system described above is a planar vector propulsion system, which consists of five symmetrically distributed identical thrusters, each equipped with a thruster thrust sensor.

[0011] During the swaying motion of the underwater robot propulsion system, the underwater robot propulsion system moves together with the U-shaped rotating frame, and the end-face disc-type torsional tension and compression sensors measure the tension and compression. During the rolling motion of the underwater robot propulsion system, the U-shaped rotating frame remains stationary, while the underwater robot propulsion system rotates relative to the U-shaped rotating frame, and the end-face disc-type torsional tension and compression sensors measure the torque. During the pitching motion of the underwater robot propulsion system, the underwater robot propulsion system and the shorter frame of the U-shaped rotating frame rotate relative to the longer frame, and the side-face disc-type torsional tension and compression sensors measure the torque. During the heeling motion of the underwater robot propulsion system, the load-bearing tension and compression sensors measure the tension and compression. During the bowing motion of the underwater robot propulsion system, the underwater robot propulsion system, the U-shaped rotating frame, and the circular rotating support plate rotate relative to the fixed auxiliary plate, and the tension and compression are measured by symmetrical rotating tension and compression sensors, indirectly measuring the torque.

[0012] The beneficial effects of this utility model are as follows: This utility model has good universality. After replacing the underwater robot propulsion system with an omnidirectional vector underwater unmanned vehicle propulsion system, the dynamic test of the omnidirectional vector propulsion system can also be carried out. This utility model realizes precise multi-degree-of-freedom constraints on the underwater unmanned vehicle model, which greatly improves the operational safety and the accuracy of experimental data. The structural design of this utility model and the special arrangement of high-precision sensors ensure the accurate measurement of force and torque, providing reliable data for in-depth analysis of propulsion performance. Attached Figure Description

[0013] Figure 1 An isometric view of a test bench for a planar vector propulsion system for an underwater unmanned vehicle;

[0014] Figure 2 This is a schematic diagram of an underwater unmanned vehicle model.

[0015] Figure 3 A schematic diagram of a U-shaped rotating frame for a test bench of a planar vector propulsion system for underwater unmanned vehicles;

[0016] Figure 4 A schematic diagram of the kinematics of an underwater unmanned vehicle using Cartesian coordinates and forces and moments.

[0017] In the diagram: 1. Main frame; 2. Lifting rod; 3. Fixed auxiliary plate; 4. Circular rotary support plate; 6. Underwater robot propulsion system; 7. U-shaped rotating frame; 10. Load-bearing tension and compression sensor; 5. Symmetrical rotary tension and compression sensor; 8. End face disc type torsional tension and compression sensor; 9. Side disc type torsional tension and compression sensor; 601. Thruster; 602. Thruster tension and compression sensor; 603. Circular base; 604. Main body; 605. Cylindrical positioning pin; 701. Annular positioning frame; 702. U-shaped short frame; 704. U-shaped long frame; 703. Frame positioning hole. Detailed Implementation

[0018] The figures accompanying this specification are intended to aid in understanding the text and are for reference by those in the industry. The following is a detailed description of the embodiments of this utility model, intended for illustration and explanation, but not covering all possible situations. Based on the embodiments of this utility model, any similar embodiments obtained by those skilled in the art without creative modifications should be considered to fall within the scope of technical protection set forth in this specification.

[0019] This utility model relates to underwater vehicles and underwater unmanned equipment, and in particular to a test bench for a planar vector propulsion system for underwater unmanned vehicles.

[0020] See Figure 4 The diagram shows the kinematics of the underwater unmanned vehicle in this example, represented by a Cartesian coordinate system and a schematic diagram of forces and moments. The six degrees of freedom motion of the underwater robot's propulsion system in the Cartesian coordinate system is described as follows: the linear motion of the underwater robot's propulsion system along the X-axis is called sway; the rotational motion of the underwater robot's propulsion system along the X-axis is called roll; the linear motion of the underwater robot's propulsion system along the Y-axis is called pitch; the rotational motion of the underwater robot's propulsion system along the Y-axis is called yaw; the linear motion of the underwater robot's propulsion system along the Z-axis is called heave; and the rotational motion of the underwater robot's propulsion system along the Z-axis is called pitch.

[0021] See a specific embodiment of this utility model. Figure 1 The figure shown is an isometric view of a test bench for a planar vector propulsion system for an underwater unmanned vehicle, including a main frame 1, a lifting rod 2, a fixed auxiliary plate 3, a circular rotary support plate 4, an underwater robot propulsion system 6, a U-shaped rotating frame 7, a load-bearing tensile and compressive sensor 10, a symmetrical rotary tensile and compressive sensor 5, an end face disc type torsional tensile and compressive sensor 8, and a side face disc type torsional tensile and compressive sensor 9.

[0022] See Figure 2 The diagram shows a model of an underwater unmanned vehicle, including a thruster 601, a thruster tension / compression sensor 602, a disc base 603, a main body 604, and a cylindrical positioning pin 605.

[0023] See Figure 3 The diagram shows a U-shaped rotating frame for a test bench of a planar vector propulsion system for underwater unmanned vehicles, including an annular positioning frame 701, U-shaped frames 702 and 704, and frame positioning holes 703.

[0024] Preferably, the lifting rod 2 can be positioned on the main frame 1 and its height can be flexibly adjusted to allow the test platform to be placed in water or retrieved.

[0025] Preferably, the load-bearing tensile and compressive sensor 10 is used to connect the test bench and the mounting bracket. The load-bearing tensile and compressive sensor can obtain high-precision radial tensile and compressive forces when subjected to large loads. When the underwater robot propulsion system generates heave motion, the load-bearing tensile and compressive force of the underwater robot propulsion system in the Z-axis direction is obtained by the load-bearing tensile and compressive sensor.

[0026] Preferably, the circular rotary support plate 4 can deflect slightly relative to the fixed auxiliary plate 3, causing the tension spring of the symmetrical rotary tension and compression sensor 10 to deform. When the underwater robot propulsion system generates pitching motion, the torque of the underwater robot propulsion system around the Z-axis is obtained by the symmetrical rotary tension and compression sensor.

[0027] Preferably, the end-face disc type torsional tension and compression sensor 8 is directly connected to the underwater robot propulsion system. When the underwater robot propulsion system produces a rolling motion, the end-face disc type torsional tension and compression sensor obtains the tensile stress of the underwater robot propulsion system along the X-axis direction; when the underwater robot propulsion system produces a swaying motion, the end-face disc type torsional tension and compression sensor obtains the torque of the underwater robot propulsion system around the X-axis.

[0028] Preferably, the U-shaped rotating frame 7 consists of two parts: a short U-shaped frame and a long U-shaped frame. The short frame is fixed to the underwater robot propulsion system, while the short and long frames can rotate relative to each other. The side-mounted disc-type torsional tension and compression sensor 9 is connected to the short frame. When the underwater robot propulsion system generates swaying motion, the side-mounted disc-type torsional tension and compression sensor obtains the tensile stress of the underwater robot propulsion system along the Y-axis. When the underwater robot propulsion system generates yaw motion, the side-mounted disc-type torsional tension and compression sensor obtains the torque of the underwater robot propulsion system around the Y-axis.

[0029] Preferably, the thruster tension / compression sensor 602 is arranged on the underwater unmanned vehicle's thruster, and the actual thrust of the underwater unmanned vehicle's thruster is obtained by the thruster tension / compression sensor.

[0030] The main technical effects of this utility model are as follows:

[0031] The underwater robot propulsion system configured in this invention is a planar vector propulsion system. The thruster can only generate thrust in three degrees of freedom. However, this propulsion system can be replaced with an omnidirectional vector propulsion system, which can also be tested. Through reasonable structural design and sensor layout, this invention enables the underwater unmanned vehicle to obtain accurate dynamic parameters in real time when moving rapidly in the underwater environment, and ensures safe operation, thus providing a priori conditions for the research of underwater unmanned vehicles.

Claims

1. A test rig for a planar vector propulsion system for underwater unmanned vehicles, characterized in that... include: Main frame (1), lifting rod (2), fixed auxiliary plate (3), circular rotary support plate (4), underwater robot propulsion system (6), U-shaped rotating frame (7), load-bearing tensile and compressive sensor (10), symmetrical rotary tensile and compressive sensor (5), end face disc torsional tensile and compressive sensor (8), side face disc torsional tensile and compressive sensor (9); The main frame (1) is fixed in the pool. One end of the lifting rod (2) is connected to the main frame (1) and can slide on it. The other end of the lifting rod (2) passes through the through hole on the fixed auxiliary plate (3) and connects to the circular rotary support plate (6). 4) Fixed connection: One end of the symmetrical rotary tension and compression sensor (5) is fixed below the fixed auxiliary plate (3), and the other end is fixed on the side column of the circular rotary support plate (4). The U-shaped rotating frame (7) is fixedly connected below the circular rotary support plate (4). The underwater robot propulsion system (6) is fixedly connected to the U-shaped rotating frame (7). The end face disc torsional tension and compression sensor (8) and the side disc torsional tension and compression sensor (9) are installed on the outside of the U-shaped rotating frame (7) and are respectively connected to the U-shaped rotating frame (7) and the underwater robot propulsion system (6).

2. The test rig for a planar vector propulsion system for an underwater unmanned vehicle according to claim 1, characterized in that, The lifting rod (2) can be adjusted in height and position on the main frame (1).

3. The test rig for a planar vector propulsion system for an underwater unmanned vehicle according to claim 1, characterized in that, The circular rotary support plate (4) is connected to the fixed auxiliary plate (3) on the top and can rotate slightly relative to the fixed auxiliary plate (3). The circular rotary support plate (4) is fixed to the U-shaped rotating frame (7) on the bottom.

4. The test rig for a planar vector propulsion system for an underwater unmanned vehicle according to claim 1, characterized in that, The symmetrical rotary tension and compression sensor (5) consists of two parts: a package block and a tension spring sheet. A pair of tension and compression sensors (5) are located at the two symmetrical ends of the fixed auxiliary plate (3). The package block is fixed on the fixed auxiliary plate (3), and the tension spring sheet is fixed on the circular rotary support plate (4) and is tangent to the cylindrical surface of the circular rotary support plate (4).

5. A test rig for a planar vector propulsion system for an underwater unmanned vehicle according to claim 1, characterized in that, The U-shaped rotating frame (7) consists of an annular positioning frame (701), a U-shaped short frame (702) and a U-shaped long frame (704). The two frames are cross-connected to form a rotating pair. The crossbar of the short frame is fixed to the circular rotating support plate (4). The crossbar of the short frame has through holes for connecting the long frame and the side disc torsional tension and compression sensor (9). The annular positioning frame is used to connect the underwater robot propulsion system (6). The crossbar of the long frame has through holes for connecting the end face disc torsional tension and compression sensor (8). The intersection of the pin hole and the through hole axis is the center of mass of the underwater robot propulsion system (6). The end face disc torsional tension and compression sensor (8) and sensor (602) are used to measure the tensile and compressive stress and torque of the underwater robot propulsion system (6) during swaying, pitching, rolling and yaw.

6. A test rig for a planar vector propulsion system for an underwater unmanned vehicle according to claim 1, characterized in that, The underwater robot propulsion system (6) consists of five symmetrically distributed identical thrusters (601), and thrusters are equipped with thruster sensors (602); when the underwater robot propulsion system (6) is in sway, pitch, roll, heave and yaw motion, each sensor can measure the corresponding tension, force and torque respectively.

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