CN110174236A - Bottom-sitting type multiple degrees of freedom hydrodynamic measurement system based on rope driving - Google Patents
Bottom-sitting type multiple degrees of freedom hydrodynamic measurement system based on rope driving Download PDFInfo
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- CN110174236A CN110174236A CN201910517432.2A CN201910517432A CN110174236A CN 110174236 A CN110174236 A CN 110174236A CN 201910517432 A CN201910517432 A CN 201910517432A CN 110174236 A CN110174236 A CN 110174236A
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- wirerope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
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Abstract
The invention discloses a kind of bottom-sitting type multiple degrees of freedom hydrodynamic measurement systems based on rope driving, including the cuboid framework and measuring system surrounded by more square tubes；Underwater immersed body model is equipped in the cuboid framework, the underwater immersed body model is in cuboid, the measuring system includes eight measuring units, and each measuring unit includes solid servo motor, reel, force snesor, wirerope I, wirerope II and multiple fixed pulleys；The other end of eight wirerope II respectively correspond the midpoint of the right and left of the front surface of the underwater immersed body model, the midpoint of the right and left of rear surface, upper surface the midpoint on front and back both sides be fixedly connected with the midpoint of the right and left of lower surface.The present invention is using rope driving underwater hiding-machine model, and small to the flow field destruction around underwater hiding-machine model, test effect is good, and whole to use frame structure, easy for assemble or unload, occupied area is small, saves pond space.
Description
Technical field
The present invention relates to a kind of hydrodynamic measurement system, specifically a kind of bottom-sitting type multiple degrees of freedom based on rope driving
Hydrodynamic measurement system.
Background technique
Currently, needing Underwater Engineering events in operation to increase as marine economy continues to develop, operating water depth is continuously increased,
The underwater immersed bodies such as underwater robot (ROV), autonomous robot (AUV) can replace the mankind to complete observation and engineering because of it at deep-sea
Task and continue to develop, the research of underwater immersed body is also constantly being carried out, underwater immersed body hydrodynamic characterisitic is wherein important
A part.
Underwater immersed body hydrodynamic characterisitic is the basis of underwater immersed body motion control.In order to obtain underwater immersed body in the design phase
The hydrodynamic force in linear motion of hydrodynamic force coefficient, traditional measurement underwater immersed body needs towing basin, and measures rotary motion
When hydrodynamic force need operational pond, rigidly fixing connection as used in connection underwater hiding-machine will affect underwater hiding-machine
Flow field in proper motion, measurement result generally requires two surveys processing, and can only carry out the hydrodynamic measurement of the single degree of freedom,
Pilot system takes up a large area, non-dismountable.And driving of restricting is since it passes through wirerope connection underwater hiding-machine model, wirerope phase
Than being fixedly connected in conventional rigid, its sectional area is smaller, and measurement result does not need to carry out secondary treatment, and more wirerope are mutual
Cooperation can not only make underwater hiding-machine complete single degree of freedom movement, can also complete multifreedom motion, make pilot system more
Add conveniently, efficiently.
Summary of the invention
According to technical problem set forth above, and provide a kind of bottom-sitting type multiple degrees of freedom hydrodynamic measurement based on rope driving
System.The technological means that the present invention uses is as follows:
Based on the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system of rope driving, including the cuboid frame surrounded by more square tubes
Frame and measuring system；
Underwater immersed body model is equipped in the cuboid framework, the underwater immersed body model is in cuboid；
The measuring system includes eight measuring units, and each measuring unit includes servo motor and servo electricity
The reel of machine connection, the fixed wirerope I, one being fixedly connected with the reel and the other end is fixedly connected with force snesor in one end
It holds the wirerope II connecting with the other end of the force sensor system, be fixed in the square tube and for changing the steel wire
It restricts multiple fixed pulleys of II other end extending direction；The other end of wirerope II in eight measuring units respectively corresponds the water
The midpoint of the right and left of the front surface of dive body Model, the midpoint of the right and left of rear surface, upper surface front and back both sides
The midpoint of the right and left at midpoint and lower surface is simultaneously firmly connected with it, and the underwater immersed body model is hung in the cuboid frame
In frame；The underwater immersed body model is arranged in water, and the force snesor, the servo motor and the reel are arranged at
It is more than the water surface.
Further, the cuboid framework includes four first square tubes being vertically arranged, four first square tube groups
At four vertical edges of the cuboid framework, first layer frame, the first layer frame packet are fixed at the top of the first square tube
Four horizontally disposed second square tubes are included, and four second square tubes are successively fixedly connected to form with four first square tubes
Square；The first layer frame forms the top of the cuboid framework,
The first square tube is fixed with second layer frame below the first layer frame, and the second layer frame includes
Four horizontally disposed third party tubes, and four third party tubes are successively fixedly connected to form just with four first square tubes
It is rectangular；
The first square tube is fixed with third layer frame below the second layer frame, and the third layer frame includes
Four horizontally disposed 4th square tubes, and four the 4th square tubes are successively fixedly connected to form just with four first square tubes
It is rectangular；
The first square tube is fixed with the 4th layer of frame below the third layer frame, and the 4th layer of frame includes
Four horizontally disposed 6th square tubes, and four the 6th square tubes are successively fixedly connected to form just with four first square tubes
It is rectangular；
The bottom of the first square tube is fixed with bottom layer 5 frame, and the layer 5 frame includes four horizontally disposed
7th square tube, and four the 7th square tubes are successively fixedly connected to form square with four first square tubes, the described 5th
Layer frame forms the bottom of the cuboid framework；
It is enclosed with the third layer frame, the 4th layer of frame and four first square tubes at the center of the underwater immersed body model
At cuboid center be overlapped；
The midpoint of the 4th square tube and the both ends of the 5th square tube of the left and right sides are respectively fixedly connected in the third layer frame；
The midpoint of the 6th square tube and the both ends of eighth pipe of the left and right sides are respectively fixedly connected in the 4th layer of frame；
The first layer frame and the second layer frame are arranged at the water surface or more.
Further, eight measuring units are respectively measuring unit a, measuring unit b, measuring unit c, measuring unit
D, measuring unit e, measuring unit f, measuring unit g, measuring unit h；
The measuring unit a includes servo motor a, reel a, I a of wirerope, force snesor a, II a of wirerope, fixed pulley a
With fixed pulley A；
The measuring unit b includes servo motor b, reel b, I b of wirerope, force snesor b, II b of wirerope, fixed pulley b
With fixed pulley B；
The measuring unit c includes servo motor c, reel c, I c of wirerope, force snesor c, II c of wirerope, fixed pulley c
With fixed pulley C；
The measuring unit d includes servo motor d, reel d, I d of wirerope, force snesor d, II d of wirerope, fixed pulley d
With fixed pulley D；
The measuring unit e includes servo motor e, reel e, I e of wirerope, force snesor e, II e of wirerope, fixed pulley e
With fixed pulley E；
The measuring unit f includes servo motor f, reel f, I f of wirerope, force snesor f, II f of wirerope, fixed pulley f
With fixed pulley F；
The measuring unit g includes servo motor g, reel g, I g of wirerope, force snesor g, II g of wirerope, fixed pulley g
With fixed pulley G；
The measuring unit h includes servo motor h, reel h, I h of wirerope, force snesor h, II h of wirerope, fixed pulley h
With fixed pulley H；
The second square tube that the first layer frame rear portion is arranged in is fixedly connected with the servo motor a, the servo electricity
The output shaft of machine a is connect with the reel a, and one end of the reel a and I a of the wirerope being wrapped on the reel a is solid
Fixed connection, the other end of I a of wirerope is extended straight down through vertical deflecting bar and one end with the force snesor a
It is fixedly connected, the other end of the force snesor a is fixedly connected with one end of II a of wirerope, and II a's of wirerope is another
One end extends straight down and passes through the fixed pulley a that the 6th square tube midpoint is arranged in setting in the eighth
The fixed pulley A of pipe midpoint extends, and by the bottom edge on the right surface of the fixed pulley A and the underwater immersed body model
Midpoint is fixedly connected；
The second square tube that the first layer frame front is arranged in is fixedly connected with the servo motor b, the servo electricity
The output shaft of machine b is connect with the reel b, and one end of the reel b and I b of the wirerope being wrapped on the reel b is solid
Fixed connection, the other end of I b of wirerope is extended straight down through vertical deflecting bar and one end with the force snesor b
It is fixedly connected, the other end of the force snesor b is fixedly connected with one end of II b of wirerope, the other end of II b of wirerope
Extend straight down and by the fixed pulley b of the 6th square tube midpoint is arranged in being arranged in the eighth pipe
The fixed pulley B at point extends, and the midpoint on the bottom edge by the left surface of the fixed pulley B and the underwater immersed body model
It is fixedly connected；
The second square tube that the first layer frame left part is arranged in is fixedly connected with the servo motor c, the servo electricity
The output shaft of machine c is connect with the reel c, and one end of the reel c and I c of the wirerope being wrapped on the reel c is solid
Fixed connection, the other end of I c of wirerope is extended straight down through vertical deflecting bar and one end with the force snesor c
It is fixedly connected, the other end of the force snesor c is fixedly connected with one end of II c of wirerope, and II c's of wirerope is another
One end extends straight down and passes through the fixed pulley c that the 4th square tube midpoint is arranged in setting in the 5th side
The fixed pulley C of pipe midpoint extends, and the top margin by the rear surface of the fixed pulley C and the underwater immersed body model
Midpoint is fixedly connected；
The second square tube that the first layer frame right part is arranged in is fixedly connected with the servo motor d, the servo electricity
The output shaft of machine d is connect with the reel d, and one end of the reel d and I d of the wirerope being wrapped on the reel d is solid
Fixed connection, the other end of I d of wirerope is extended straight down through vertical deflecting bar and one end with the force snesor d
It is fixedly connected, the other end of the force snesor d is fixedly connected with one end of II d of wirerope, the other end of II d of wirerope
Extend straight down and by the fixed pulley d of the 4th square tube midpoint is arranged in being arranged in the 5th square tube
The fixed pulley D at point extends, and the midpoint of the top margin by the front surface of the fixed pulley D and the underwater immersed body model
It is fixedly connected；
The third party tube that the second layer frame rear portion is arranged in is fixedly connected with the servo motor e, the servo electricity
The output shaft of machine e is connect with the reel e, and one end of the reel e and I e of the wirerope being wrapped on the reel e is solid
The other end of fixed connection, I e of wirerope is extended through the right part of this axial third party tube of horizontal deflecting and is passed with the power
One end of sensor e is fixedly connected, and the other end of the force snesor e is fixedly connected with one end of II e of wirerope, the wirerope
The other end of II e, which extends to the right part of third party tube and passes through the fixed pulley e being arranged at this third party tube right end, to be erected
It directly extends downwardly, and the right side of the front surface by the fixed pulley E and the underwater immersed body model that are arranged in first square tube
Side midpoint is fixedly connected；Distance and the fixed pulley E to described the of the fixed pulley E to plane where the third layer frame
Plane is equidistant where four layers of frame；
The third party tube that the second layer frame front is arranged in is fixedly connected with the servo motor f, the servo electricity
The output shaft of machine f is connect with the reel f, and one end of the reel f and I f of wirerope being wrapped on the reel f is fixed to be connected
It connects, the other end of I f of wirerope is extended and by the left part of this axial third party tube of horizontal deflecting with force snesor f's
One end is fixedly connected, and the other end of the force snesor f is fixedly connected with one end of II f of wirerope, and II f's of wirerope is another
One end extends to the left part of third party tube and passes through the fixed pulley f being arranged at this third party tube right end and prolongs straight down
It stretches, and solid point in the left side by the front surface of the fixed pulley F and the underwater immersed body model that are arranged in first square tube
Fixed connection；The distance of plane where the fixed pulley F to the third layer frame and the fixed pulley F to the 4th layer of frame
Place plane is equidistant；
The third party tube that the second layer frame left part is arranged in is fixedly connected with the servo motor g, the servo electricity
The output shaft of machine g is connect with the reel g, and one end of the reel g and I g of wirerope being wrapped on the reel g is fixed to be connected
Connect, the other end of I g of wirerope extended through the rear end of this axial third party tube of horizontal deflecting and with the force snesor
One end of g is fixedly connected, and the other end of the force snesor g is fixedly connected with one end of II g of wirerope, II g of wirerope
The other end extend to the rear end of third party tube and through the fixed pulley g that setting at this third party tube rear end vertically to
Lower extension, and in the left side by the rear surface of the fixed pulley G and the underwater immersed body model that are arranged in first square tube
Point is fixedly connected；The distance and the fixed pulley G to described 4th layer of plane where the fixed pulley G to the third layer frame
Plane is equidistant where frame；
The third party tube that the second layer frame right part is arranged in is fixedly connected with the servo motor h, the servo electricity
The output shaft of machine h is connect with the reel h, and one end of the reel h and I h of wirerope being wrapped on the reel h is fixed to be connected
Connect, the other end of I h of wirerope extended through the front end of this axial third party tube of horizontal deflecting and with the force snesor
One end of h is fixedly connected, and the other end of the force snesor h is fixedly connected with one end of II h of wirerope, II h of wirerope
The other end extend to the rear end of third party tube and through the fixed pulley h that setting at this third party tube front end vertically to
Lower extension, and in the right by the rear surface of the fixed pulley H and the underwater immersed body model that are arranged in first square tube
Point is fixedly connected；The distance and the fixed pulley H to described 4th layer of plane where the fixed pulley H to the third layer frame
Plane is equidistant where frame.
The bottom of the first square tube is fixed with force dispersion plate.
The fixed pulley a, the fixed pulley b, the fixed pulley c, the fixed pulley d, the fixed pulley e, described determine cunning
Take turns f, the fixed pulley g and the fixed pulley h fixed pulley fixed frame with its corresponding to the surface of square tube weld；
The fixed pulley A, fixed pulley B, fixed pulley C, fixed pulley D, fixed pulley E, fixed pulley F, fixed pulley G and fixed pulley H
Fixed pulley fixed frame connected by the corresponding square tube of fixed device, and processed on the surface of the steel pipe corresponding to it
There is long stripes through hole, the fixed device includes fixing bolt, and the screw terminal setting of the fixing bolt is in square tube and described
Fixing bolt is pierced by the long stripes through hole far from one end of the screw terminal and is fixedly connected with fixed pulley fixed frame, described to twist
Fixed plate is accompanied between moved end and the square tube inner surface, stripper plate is tight by the fixture nut matched with the fixing bolt
It is pressed in the square tube outer surface.
The invention has the following advantages that
1, the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system of the invention based on rope driving drives underwater hiding-machine using rope
Model, small to the flow field destruction around underwater hiding-machine model, test effect is good.
2, the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system of the invention based on rope driving, it is whole to use frame structure,
Easy for assemble or unload, occupied area is small, saves pond space.
3, the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system of the invention based on rope driving, reasonable in design, principle
Simply, swift to operate to be illustrated, it is suitble to underwater immersed body hydrodynamic measurement.
The present invention can be widely popularized in fields such as hydrodynamic measurements based on the above reasons.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system structure based on rope driving in the specific embodiment of the invention
Schematic diagram.
Fig. 2 is measuring unit a attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 3 is measuring unit b attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 4 is measuring unit c attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 5 is measuring unit d attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 6 is measuring unit e attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 7 is measuring unit f attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 8 is measuring unit g attachment structure schematic diagram in the specific embodiment of the invention.
Fig. 9 is measuring unit h attachment structure schematic diagram in the specific embodiment of the invention.
Figure 10 is fixture structure schematic diagram in the specific embodiment of the invention.
Figure 11 is the portion A enlarged drawing in Fig. 1.
Figure 12 is the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system main view based on rope driving in specific embodiment.
In figure: 1, underwater immersed body model；2, first square tube；21, first layer frame；211, second square tube；22, second layer frame
Frame；221, third party tube；23, third layer frame；231, the 4th square tube；232, the 5th square tube；24, the 4th layer of frame；241,
Six square tubes；242, eighth pipe；25, layer 5 frame；251, the 7th square tube；26, force dispersion plate；3, measuring system；31, it surveys
Measure unit a；311, servo motor a；312, reel a；313, I a of wirerope；314, force snesor a；315, II a of wirerope；316,
Fixed pulley a；317, fixed pulley A；32, measuring unit b；321, servo motor b；322, reel b；323, I b of wirerope；324, power
Sensor b；325, II b of wirerope；326, fixed pulley b；327, fixed pulley B；33, measuring unit c；331, servo motor c；332,
Reel c；333, I c of wirerope；334, force snesor c；335, II c of wirerope；336, fixed pulley c；337 fixed pulley C；34, it measures
Unit d；341, servo motor d；342, reel d；343, I d of wirerope；344, force snesor d；345, II d of wirerope；346, fixed
Pulley d；347 fixed pulley D；35, measuring unit e；351, servo motor e；352, reel e；353, I e of wirerope；354, power senses
Device e；355, II e of wirerope；356, fixed pulley e；357, fixed pulley E；36, measuring unit f；361, servo motor f；362, reel
f；363, I f of wirerope；364, force snesor f；365, II f of wirerope；366, fixed pulley f；367 fixed pulley F；37, measuring unit
g；371, servo motor g；372, reel g；373, I g of wirerope；374, force snesor g；375, II g of wirerope；376, fixed pulley
g；377 fixed pulley G；38, measuring unit h；381, servo motor h；382, reel h；383, I h of wirerope；384, force snesor h；
385, II h of wirerope；386, fixed pulley h；387 fixed pulley H；4, vertical deflecting bar；5, horizontal deflecting bar；6, fixed device；61
Fixing bolt；611, screw terminal；62 fixed plates；63, stripper plate；64, fixture nut；7, long stripes through hole.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Fig. 1-Figure 12, based on the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system of rope driving, including by more sides
The cuboid framework and measuring system 3 that pipe surrounds；
Underwater immersed body model 1 is equipped in the cuboid framework, the underwater immersed body model 1 is in cuboid；
The cuboid framework includes four first square tubes being vertically arranged 2, and four first square tubes 2 form the length
Four vertical edges of cube frame, the top of the first square tube 2 are fixed with first layer frame 21, and the first layer frame 21 includes four
The horizontally disposed second square tube 211 of root, and four second square tubes 211 are successively fixedly connected with four first square tubes 2
Form square；The first layer frame 21 forms the top of the cuboid framework,
The first square tube 2 is fixed with second layer frame 22, the second layer frame in the lower section of the first layer frame 21
Frame 22 include four horizontally disposed third party tubes 221, and four third party tubes 221 successively with four first square tubes
2 are fixedly connected to form square；
The first square tube 2 is fixed with third layer frame 23, the third layer frame in the lower section of the second layer frame 22
Frame 23 include four horizontally disposed 4th square tubes 231, and four the 4th square tubes 231 successively with four first square tubes
2 are fixedly connected to form square；The midpoint of 4th square tube 231 of the left and right sides and the 5th square tube in the third layer frame 23
232 both ends are respectively fixedly connected with；
The first square tube 2 is fixed with the 4th layer of frame 24, the 4th layer of frame in the lower section of the third layer frame 23
Frame 24 include four horizontally disposed 6th square tubes 241, and four the 6th square tubes 241 successively with four first square tubes
2 are fixedly connected to form square；The midpoint of 6th square tube 241 of the left and right sides and eighth pipe in the 4th layer of frame 24
242 both ends are respectively fixedly connected with；
The bottom of the first square tube 2 is fixed with bottom layer 5 frame 25, and the layer 5 frame 25 includes four levels
The 7th square tube 251 being arranged, and four the 7th square tubes 251 are successively fixedly connected to form just with four first square tubes 2
Rectangular, the layer 5 frame 25 forms the bottom of the cuboid framework；
The bottom of the first square tube 2 is fixed with force dispersion plate 26.
The center of the underwater immersed body model 1 and the third layer frame 23, the 4th layer of frame 24 and four described first
The center for the cuboid that square tube 2 surrounds is overlapped；
In water, the first layer frame 21 and the second layer frame 22 are arranged at water for the cuboid framework setting
It is more than face.
The measuring system 3 includes eight measuring units, respectively measuring unit a31, measuring unit b32, measuring unit
C33, measuring unit d34, measuring unit e35, measuring unit f36, measuring unit g37, measuring unit h38；
The measuring unit a31 includes servo motor a311, reel a312, I a313 of wirerope, force snesor a314, steel
II a315 of cord, fixed pulley a316 and fixed pulley A317；
The measuring unit b32 includes servo motor b321, reel b322, I b323 of wirerope, force snesor b324, steel
II b325 of cord, fixed pulley b326 and fixed pulley B327；
The measuring unit c33 includes servo motor c331, reel c332, I c333 of wirerope, force snesor c334, steel
II c335 of cord, fixed pulley c336 and fixed pulley C337；
The measuring unit d34 includes servo motor d341, reel d342, I d343 of wirerope, force snesor d344, steel
II d345 of cord, fixed pulley d346 and fixed pulley D347；
The measuring unit e35 includes servo motor e351, reel e352, I e353 of wirerope, force snesor e354, steel
II e355 of cord, fixed pulley e356 and fixed pulley E357；
The measuring unit f includes servo motor f361, reel f362, I f363 of wirerope, force snesor f364, steel wire
Restrict II f365, fixed pulley f366 and fixed pulley F367；
The measuring unit g includes servo motor g371, reel g372, I g373 of wirerope, force snesor g374, steel wire
Restrict II g375, fixed pulley g376 and fixed pulley G377；
The measuring unit h includes servo motor h381, reel h382, I h383 of wirerope, force snesor h384, steel wire
Restrict II h385, fixed pulley h386 and fixed pulley H387；
All force snesors are arranged at the water surface or more；
The second square tube 211 that 21 rear portion of first layer frame is arranged in is fixedly connected with the servo motor a311, institute
The output shaft for stating servo motor a311 is connect with the reel a312, the reel a312 and is wrapped on the reel a312
One end of I a313 of wirerope is fixedly connected, and the other end of I a313 of wirerope is downward by vertical deflecting bar vertical 4
Extend and is fixedly connected with one end of the force snesor a314, the other end of the force snesor a314 and the wirerope II
One end of a315 is fixedly connected, and the other end of II a315 of wirerope extends straight down and by setting in the 6th side
The fixed pulley a316 of 241 midpoint of pipe extends to the fixed pulley A317 that 242 midpoint of eighth pipe is arranged in,
And it is fixedly connected by the fixed pulley A317 with the midpoint on the bottom edge on the right surface of the underwater immersed body model 1；
The second square tube 211 that 21 front of first layer frame is arranged in is fixedly connected with the servo motor b321, institute
The output shaft for stating servo motor b321 is connect with the reel b322, the reel b322 and is wrapped on the reel b322
One end of I b323 of wirerope is fixedly connected, the other end of I b323 of wirerope by vertical deflecting bar 4 straight down
Extend and is fixedly connected with one end of the force snesor b324, the other end and II b325 of wirerope of the force snesor b324
One end be fixedly connected, the other end of II b325 of wirerope extend straight down and by setting in the 6th square tube
The fixed pulley b326 of 241 midpoints extends to the fixed pulley B327 that 242 midpoint of eighth pipe is arranged in, and
It is fixedly connected by the fixed pulley B327 with the midpoint on the bottom edge of the left surface of the underwater immersed body model 1；
The second square tube 211 that 21 left part of first layer frame is arranged in is fixedly connected with the servo motor c331, institute
The output shaft for stating servo motor c331 is connect with the reel c332, the reel c332 and is wrapped on the reel c332
One end of I c333 of wirerope is fixedly connected, the other end of I c333 of wirerope by vertical deflecting bar 4 straight down
Extend and is fixedly connected with one end of the force snesor c334, the other end of the force snesor c334 and the wirerope II
One end of c335 is fixedly connected, and the other end of II c335 of wirerope extends straight down and by setting in the four directions
The fixed pulley c336 of 231 midpoint of pipe extends to the fixed pulley C337 that 232 midpoint of the 5th square tube is arranged in,
And it is fixedly connected by the fixed pulley C337 with the midpoint of the top margin of the rear surface of the underwater immersed body model 1；
The second square tube 211 that 21 right part of first layer frame is arranged in is fixedly connected with the servo motor d341, institute
The output shaft for stating servo motor d341 is connect with the reel d342, the reel d342 and is wrapped on the reel d342
One end of I d343 of wirerope is fixedly connected, the other end of I d343 of wirerope by vertical deflecting bar 4 straight down
Extend and is fixedly connected with one end of the force snesor d344, the other end and II d345 of wirerope of the force snesor d344
One end be fixedly connected, the other end of II d345 of wirerope extend straight down and by setting in the 4th square tube
The fixed pulley d345 of 231 midpoints extends to the fixed pulley D347 that 232 midpoint of the 5th square tube is arranged in, and
It is fixedly connected by the fixed pulley D347 with the midpoint of the top margin of the front surface of the underwater immersed body model 1；
The third party tube 221 that 22 rear portion of second layer frame is arranged in is fixedly connected with the servo motor e351, institute
The output shaft for stating servo motor e351 is connect with the reel e352, the reel e352 and is wrapped on the reel e352
One end of I e353 of wirerope is fixedly connected, and the other end of I e353 of wirerope is by horizontal turning axis 5 to this third
The right part of square tube 221 extends and is fixedly connected with one end of the force snesor e354, and the force snesor e354's is another
End is fixedly connected with one end of II e355 of wirerope, and the other end of II e355 of wirerope is to the right part of third party tube 211
Extend and pass through the fixed pulley e356 being arranged at this 211 right end of third party tube and extend straight down, and exists by setting
The fixed pulley E357 in first square tube 2 is fixedly connected with the right midpoint of the front surface of the underwater immersed body model 1；It is described
Distance and the fixed pulley E357 to the four layer frame 24 of the fixed pulley E357 to the 23 place plane of third layer frame
Place plane is equidistant；
The third party tube 221 that 22 front of second layer frame is arranged in is fixedly connected with the servo motor f361, institute
The output shaft for stating servo motor f361 is connect with the reel f362, the reel f362 and is wrapped on the reel f362
One end of I f363 of wirerope is fixedly connected, and the other end of I f363 of wirerope is by horizontal turning axis 5 to this third party tube
221 left part extends and is fixedly connected with one end of force snesor f364, the other end and steel wire of the force snesor f364
Restrict one end of II f365 is fixedly connected, and the other end of II f365 of wirerope extends and passes through to the left part of third party tube 221
It crosses the fixed pulley f366 being arranged at this 221 right end of third party tube to extend straight down, and by setting in first square tube 2
On the fixed pulley F367 be fixedly connected with the left side midpoint of the front surface of the underwater immersed body model 1；The fixed pulley
It is put down where F367 to the distance of the 23 place plane of third layer frame and the fixed pulley F367 to the 4th layer of frame 24
Face is equidistant；
The third party tube 221 that 22 left part of second layer frame is arranged in is fixedly connected with the servo motor g371, institute
The output shaft for stating servo motor g371 is connect with the reel g372, the reel g372 and is wrapped on the reel g372
One end of I g373 of wirerope is fixedly connected, and the other end of I g373 of wirerope is by horizontal turning axis 5 to this third party tube
221 rear end, which extends, to be simultaneously fixedly connected with one end of the force snesor g374, the other end of the force snesor g374 with
One end of II g375 of wirerope is fixedly connected, and the other end of II g375 of wirerope extends to the rear end of third party tube 221
And extend straight down by the fixed pulley g376 at this 221 rear end of third party tube is arranged in, and by setting first
The fixed pulley G377 in square tube 2 is fixedly connected with the left side midpoint of the rear surface of the underwater immersed body model 1；It is described to determine cunning
Where wheel G377 to the distance of the 23 place plane of third layer frame and the fixed pulley G377 to the 4th layer of frame 24
Plane is equidistant；
The third party tube 221 that 22 right part of second layer frame is arranged in is fixedly connected with the servo motor h381, institute
The output shaft for stating servo motor h381 is connect with the reel h382, the reel h382 and is wrapped on the reel h382
One end of I h383 of wirerope is fixedly connected, and the other end of I h383 of wirerope is by horizontal turning axis 5 to this third party tube
221 front end, which extends, to be simultaneously fixedly connected with one end of the force snesor h384, the other end of the force snesor h384 with
One end of II h385 of wirerope is fixedly connected, and the other end of II h385 of wirerope extends to the rear end of third party tube 221
And extend straight down by the fixed pulley h386 at this 221 front end of third party tube is arranged in, and by setting first
The fixed pulley H387 in square tube 2 is fixedly connected with the right midpoint of the rear surface of the underwater immersed body model 1；It is described to determine cunning
Where wheel H387 to the distance of the 23 place plane of third layer frame and the fixed pulley H387 to the 4th layer of frame 24
Plane is equidistant.
The fixed pulley a316, the fixed pulley b326, the fixed pulley c336, the fixed pulley d346, described determine cunning
The fixed pulley fixed frame for taking turns e356, the fixed pulley f366, the fixed pulley g376 and the fixed pulley h386 is right with its institute
It welds on the surface for the square tube answered；
The fixed pulley A317, fixed pulley B327, fixed pulley C337, fixed pulley D347, fixed pulley E357, fixed pulley
F367, fixed pulley G377 are connected by the corresponding square tube of fixed device 6 with the fixed pulley fixed frame of fixed pulley H387, and
Long stripes through hole 7 is machined on the surface of steel pipe corresponding to it, the fixed device 6 includes fixing bolt 61, described solid
The screw terminal 611 for determining bolt 61 is arranged in square tube and the fixing bolt 61 far from one end of the screw terminal 611 is pierced by institute
It states long stripes through hole 7 and is fixedly connected with fixed pulley fixed frame, accompanied between the screw terminal 611 and the square tube inner surface solid
Fixed board 62, stripper plate 63 are pressed on the square tube outer surface by the fixture nut 64 matched with the fixing bolt 61.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system based on rope driving, which is characterized in that including being surrounded by more square tubes
Cuboid framework and measuring system；
Underwater immersed body model is equipped in the cuboid framework, the underwater immersed body model is in cuboid；
The measuring system includes eight measuring units, and each measuring unit includes that servo motor and the servo motor connect
The reel that connects, one end be fixed be fixedly connected with the reel and wirerope I that the other end is fixedly connected with force snesor, one end and
The wirerope II of the other end connection of the force sensor system is fixed in the square tube and for changing the wirerope II
Multiple fixed pulleys of other end extending direction；The other end of wirerope II in eight measuring units respectively corresponds described underwater latent
The midpoint of the right and left of the front surface of body Model, the midpoint of the right and left of rear surface, upper surface front and back both sides midpoint
With the midpoint of the right and left of lower surface and be firmly connected with it, the underwater immersed body model is hung in the cuboid framework
It is interior；The underwater immersed body model is arranged in water, and the force snesor, the servo motor and the reel are arranged at water
It is more than face.
2. the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system according to claim 1 based on rope driving, it is characterised in that:
The cuboid framework includes four first square tubes being vertically arranged, and four first square tubes form the cuboid frame
Four vertical edges of frame, first layer frame is fixed at the top of the first square tube, and the first layer frame includes four horizontally disposed
Second square tube, and four second square tubes are successively fixedly connected to form square with four first square tubes；Described
One layer of frame forms the top of the cuboid framework,
The first square tube is fixed with second layer frame below the first layer frame, and the second layer frame includes four
Horizontally disposed third party tube, and four third party tubes are successively fixedly connected to form pros with four first square tubes
Shape；
The first square tube is fixed with third layer frame below the second layer frame, and the third layer frame includes four
Horizontally disposed 4th square tube, and four the 4th square tubes are successively fixedly connected to form pros with four first square tubes
Shape；
The first square tube is fixed with the 4th layer of frame below the third layer frame, and the 4th layer of frame includes four
Horizontally disposed 6th square tube, and four the 6th square tubes are successively fixedly connected to form pros with four first square tubes
Shape；
The bottom of the first square tube is fixed with bottom layer 5 frame, and the layer 5 frame includes four the horizontally disposed 7th
Square tube, and four the 7th square tubes are successively fixedly connected to form square, the layer 5 frame with four first square tubes
Frame forms the bottom of the cuboid framework；
What the center of the underwater immersed body model and the third layer frame, the 4th layer of frame and four first square tubes surrounded
The center of cuboid is overlapped；
The midpoint of the 4th square tube and the both ends of the 5th square tube of the left and right sides are respectively fixedly connected in the third layer frame；
The midpoint of the 6th square tube and the both ends of eighth pipe of the left and right sides are respectively fixedly connected in the 4th layer of frame；
The first layer frame and the second layer frame are arranged at the water surface or more.
3. the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system according to claim 2 based on rope driving, it is characterised in that:
Eight measuring units be respectively measuring unit a, measuring unit b, measuring unit c, measuring unit d, measuring unit e,
Measuring unit f, measuring unit g, measuring unit h；
The measuring unit a includes servo motor a, reel a, I a of wirerope, force snesor a, II a of wirerope, fixed pulley a and determines
Pulley A；
The measuring unit b includes servo motor b, reel b, I b of wirerope, force snesor b, II b of wirerope, fixed pulley b and determines
Pulley B；
The measuring unit c includes servo motor c, reel c, I c of wirerope, force snesor c, II c of wirerope, fixed pulley c and determines
Pulley C；
The measuring unit d includes servo motor d, reel d, I d of wirerope, force snesor d, II d of wirerope, fixed pulley d and determines
Pulley D；
The measuring unit e includes servo motor e, reel e, I e of wirerope, force snesor e, II e of wirerope, fixed pulley e and determines
Pulley E；
The measuring unit f includes servo motor f, reel f, I f of wirerope, force snesor f, II f of wirerope, fixed pulley f and determines
Pulley F；
The measuring unit g includes servo motor g, reel g, I g of wirerope, force snesor g, II g of wirerope, fixed pulley g and determines
Pulley G；
The measuring unit h includes servo motor h, reel h, I h of wirerope, force snesor h, II h of wirerope, fixed pulley h and determines
Pulley H；
The second square tube that the first layer frame rear portion is arranged in is fixedly connected with the servo motor a, the servo motor a's
Output shaft is connect with the reel a, and one end of the reel a and I a of the wirerope being wrapped on the reel a is fixed to be connected
It connects, the other end of I a of wirerope is extended straight down by vertical deflecting bar and fixed with one end of the force snesor a
Connection, the other end of the force snesor a are fixedly connected with one end of II a of wirerope, the other end of II a of wirerope
Extend straight down and by the fixed pulley a of the 6th square tube midpoint is arranged in being arranged in the eighth pipe
The fixed pulley A at point extends, and the midpoint on the bottom edge by the right surface of the fixed pulley A and the underwater immersed body model
It is fixedly connected；
The second square tube that the first layer frame front is arranged in is fixedly connected with the servo motor b, the servo motor b's
Output shaft is connect with the reel b, and one end of the reel b and I b of the wirerope being wrapped on the reel b is fixed to be connected
It connects, the other end of I b of wirerope is extended straight down by vertical deflecting bar and fixed with one end of the force snesor b
Connection, the other end of the force snesor b are fixedly connected with one end of II b of wirerope, and the other end of II b of wirerope is vertical
It extends downwardly and passes through the fixed pulley b that the 6th square tube midpoint is set to setting in the eighth pipe midpoint
The fixed pulley B extend, and fixed by the fixed pulley B and the midpoint on the bottom edge of the left surface of the underwater immersed body model
Connection；
The second square tube that the first layer frame left part is arranged in is fixedly connected with the servo motor c, the servo motor c's
Output shaft is connect with the reel c, and one end of the reel c and I c of the wirerope being wrapped on the reel c is fixed to be connected
It connects, the other end of I c of wirerope is extended straight down by vertical deflecting bar and fixed with one end of the force snesor c
Connection, the other end of the force snesor c are fixedly connected with one end of II c of wirerope, the other end of II c of wirerope
Extend straight down and by the fixed pulley c of the 4th square tube midpoint is arranged in being arranged in the 5th square tube
The fixed pulley C at point extends, and the midpoint of the top margin by the rear surface of the fixed pulley C and the underwater immersed body model
It is fixedly connected；
The second square tube that the first layer frame right part is arranged in is fixedly connected with the servo motor d, the servo motor d's
Output shaft is connect with the reel d, and one end of the reel d and I d of the wirerope being wrapped on the reel d is fixed to be connected
It connects, the other end of I d of wirerope is extended straight down by vertical deflecting bar and fixed with one end of the force snesor d
Connection, the other end of the force snesor d are fixedly connected with one end of II d of wirerope, and the other end of II d of wirerope is vertical
It extends downwardly and passes through the fixed pulley d that the 4th square tube midpoint is set to setting in the 5th square tube midpoint
The fixed pulley D extend, and fixed by the midpoint of the fixed pulley D and the top margin of the front surface of the underwater immersed body model
Connection；
The third party tube that the second layer frame rear portion is arranged in is fixedly connected with the servo motor e, the servo motor e's
Output shaft is connect with the reel e, and one end of the reel e and I e of the wirerope being wrapped on the reel e is fixed to be connected
Connect, the other end of I e of wirerope extended through the right part of this axial third party tube of horizontal deflecting and with the force snesor
One end of e is fixedly connected, and the other end of the force snesor e is fixedly connected with one end of II e of wirerope, II e of wirerope
The other end extend to the right part of third party tube and through the fixed pulley e that setting at this third party tube right end vertically to
Lower extension, and in the right by the front surface of the fixed pulley E and the underwater immersed body model that are arranged in first square tube
Point is fixedly connected；The distance and the fixed pulley E to described 4th layer of plane where the fixed pulley E to the third layer frame
Plane is equidistant where frame；
The third party tube that the second layer frame front is arranged in is fixedly connected with the servo motor f, the servo motor f's
Output shaft is connect with the reel f, and the reel f is fixedly connected with the one end for I f of wirerope being wrapped on the reel f, institute
The other end for stating I f of wirerope is extended through the left part of this axial third party tube of horizontal deflecting and is consolidated with one end of force snesor f
Fixed connection, the other end of the force snesor f are fixedly connected with one end of II f of wirerope, the other end of II f of wirerope to
The left part of third party tube extends and passes through the fixed pulley f being arranged at this third party tube right end and extends straight down, and
The fixed company in left side midpoint by the front surface of the fixed pulley F and the underwater immersed body model that are arranged in first square tube
It connects；The distance of plane where the fixed pulley F to the third layer frame and the fixed pulley F to the 4th layer of frame place
Plane is equidistant；
The third party tube that the second layer frame left part is arranged in is fixedly connected with the servo motor g, the servo motor g's
Output shaft is connect with the reel g, and the reel g is fixedly connected with the one end for I g of wirerope being wrapped on the reel g, institute
The other end for stating I g of wirerope passes through the rear end extension of this axial third party tube of horizontal deflecting and one with the force snesor g
End is fixedly connected, and the other end of the force snesor g is fixedly connected with one end of II g of wirerope, and II g's of wirerope is another
It holds and extends and pass through the fixed pulley g being arranged at this third party tube rear end to the rear end of third party tube and prolong straight down
It stretches, and solid point in the left side by the rear surface of the fixed pulley G and the underwater immersed body model that are arranged in first square tube
Fixed connection；The distance of plane where the fixed pulley G to the third layer frame and the fixed pulley G to the 4th layer of frame
Place plane is equidistant；
The third party tube that the second layer frame right part is arranged in is fixedly connected with the servo motor h, the servo motor h's
Output shaft is connect with the reel h, and the reel h is fixedly connected with the one end for I h of wirerope being wrapped on the reel h, institute
The other end for stating I h of wirerope passes through the front end extension of this axial third party tube of horizontal deflecting and one with the force snesor h
End is fixedly connected, and the other end of the force snesor h is fixedly connected with one end of II h of wirerope, and II h's of wirerope is another
It holds and extends and pass through the fixed pulley h being arranged at this third party tube front end to the rear end of third party tube and prolong straight down
It stretches, and solid point in the right by the rear surface of the fixed pulley H and the underwater immersed body model that are arranged in first square tube
Fixed connection；The distance of plane where the fixed pulley H to the third layer frame and the fixed pulley H to the 4th layer of frame
Place plane is equidistant.
4. the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system according to claim 2 based on rope driving, it is characterised in that:
The bottom of the first square tube is fixed with force dispersion plate.
5. the bottom-sitting type multiple degrees of freedom hydrodynamic measurement system according to claim 3 based on rope driving, it is characterised in that:
It is the fixed pulley a, the fixed pulley b, the fixed pulley c, the fixed pulley d, the fixed pulley e, the fixed pulley f, described
The fixed pulley fixed frame of fixed pulley g and the fixed pulley h with its corresponding to square tube surface weld；
The fixed pulley A, fixed pulley B, fixed pulley C, fixed pulley D, fixed pulley E, fixed pulley F, fixed pulley G and fixed pulley H determine
Pulley fixed frame is connected by the corresponding square tube of fixed device, and is machined with length on the surface of the steel pipe corresponding to it
Strip through-hole, the fixed device includes fixing bolt, and the screw terminal of the fixing bolt is arranged in square tube and the fixation
Bolt is pierced by the long stripes through hole far from one end of the screw terminal and is fixedly connected with fixed pulley fixed frame, the screw terminal
Fixed plate is accompanied between the square tube inner surface, stripper plate is pressed on by the fixture nut matched with the fixing bolt
The square tube outer surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910517432.2A CN110174236B (en) | 2019-06-14 | 2019-06-14 | Rope-driven-based bottom-sitting type multi-degree-of-freedom hydrodynamic force measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910517432.2A CN110174236B (en) | 2019-06-14 | 2019-06-14 | Rope-driven-based bottom-sitting type multi-degree-of-freedom hydrodynamic force measuring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110174236A true CN110174236A (en) | 2019-08-27 |
| CN110174236B CN110174236B (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910517432.2A Active CN110174236B (en) | 2019-06-14 | 2019-06-14 | Rope-driven-based bottom-sitting type multi-degree-of-freedom hydrodynamic force measuring system |
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Citations (3)
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|---|---|---|---|---|
| WO2004111605A2 (en) * | 2003-06-09 | 2004-12-23 | Exxonmobil Upstream Research Company Corp-Urc-Sw348 | Method and apparatus for fluid flow testing |
| CN103018004A (en) * | 2012-10-31 | 2013-04-03 | 中国海洋大学 | Device and method for measuring hydrodynamic force of fishnet yarn |
| CN106644374A (en) * | 2016-09-19 | 2017-05-10 | 江苏亨通海洋光网系统有限公司 | Test method for testing hydrodynamic constants |
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2019
- 2019-06-14 CN CN201910517432.2A patent/CN110174236B/en active Active
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|---|---|---|---|---|
| WO2004111605A2 (en) * | 2003-06-09 | 2004-12-23 | Exxonmobil Upstream Research Company Corp-Urc-Sw348 | Method and apparatus for fluid flow testing |
| CN103018004A (en) * | 2012-10-31 | 2013-04-03 | 中国海洋大学 | Device and method for measuring hydrodynamic force of fishnet yarn |
| CN106644374A (en) * | 2016-09-19 | 2017-05-10 | 江苏亨通海洋光网系统有限公司 | Test method for testing hydrodynamic constants |
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