CN115901051A - Device and method for measuring net self-thrust of flexible plate in self-propelled state - Google Patents
Device and method for measuring net self-thrust of flexible plate in self-propelled state Download PDFInfo
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- CN115901051A CN115901051A CN202211403124.5A CN202211403124A CN115901051A CN 115901051 A CN115901051 A CN 115901051A CN 202211403124 A CN202211403124 A CN 202211403124A CN 115901051 A CN115901051 A CN 115901051A
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- 238000005259 measurement Methods 0.000 claims abstract description 18
- 239000007788 liquid Substances 0.000 claims description 32
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- 230000000737 periodic effect Effects 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 8
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- 229910000831 Steel Inorganic materials 0.000 claims 2
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- 238000005096 rolling process Methods 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a device and a method for measuring net self-thrust of a flexible plate in a self-propulsion state, belonging to the technical field of self-thrust measurement of underwater devices.
Description
Technical Field
The invention relates to the technical field of self-thrust measurement of underwater devices, in particular to a device and a method for measuring the net self-thrust of a flexible plate in a self-thrust state.
Background
At present, underwater robots are widely applied in the field of oceans, such as the invention patent with the application number of 201810436252.7 and the invention patent with the application number of 201811376668.0, which both adopt propellers to provide propulsion force for the underwater robots, although the propulsion technology is proved to be reliable, the motions performed by the underwater robots in the propulsion mode are not self-propulsion motions, aquatic organisms such as fishes naturally selected in ten thousand years have evolved various shapes and distinctive motion capabilities, and the underwater robots have high propulsion efficiency, high maneuverability, perfect fluid performance, low noise, good stealth and the like, which are incomparable with the current underwater robots. Although great progress is made in understanding the wave propulsion mechanism of fish, the basic mechanical capability of understanding the wave motion mode of the aquatic system is greatly hindered due to the fact that single parameters such as oscillation frequency, body shape and body rigidity cannot be controlled and changed accurately, and the force borne by free swimming fish is difficult to measure, so that the device and the method for measuring the net self-thrust of the flexible plate in the self-propulsion state are provided, the change curve of the net self-thrust of the flexible plate in the balance state is measured, and effective reference data are provided for researching the stress condition of the wave motion mode of the aquatic system.
Disclosure of Invention
The invention aims to provide a device and a method for measuring the net self-thrust of a flexible plate in a self-propulsion state, wherein the flexible plate generates thrust through reciprocating oscillation to move in liquid, the reciprocating oscillation frequency of the flexible plate and/or the flow rate of the liquid are/is adjusted to enable the flexible plate to be in a periodic balance state in a certain area, the average thrust generated by the flexible plate in one period is equal to the average resistance generated by the liquid to the flexible plate, the flow rate of the liquid and the oscillation frequency of the flexible plate at the moment are maintained, and the net self-thrust change curve of the flexible plate at the moment can be measured by connecting the flexible plate with a force measuring sensor.
In order to realize the purpose, the invention adopts the technical scheme that:
the invention provides a device for measuring the net self-thrust of a flexible plate in a self-propelled state, which comprises a force measuring unit and a flexible plate thrust generating unit which are connected during force measurement, wherein the force measuring unit comprises a force measuring part with one end fixed, the flexible plate thrust generating unit comprises a flexible plate capable of swinging in a reciprocating manner, the flexible plate is immersed in liquid in a flowing state, a force transfer rod is fixedly arranged on the flexible plate, and the force transfer rod is connected with or separated from the other end of the force measuring part;
preferably, the force measuring part comprises a fixed support with a movable position and a first connecting rod fixedly connected with the fixed support, a force measuring sensor is arranged on the first connecting rod, and the force transmission rod is connected with or separated from the other end of the first connecting rod;
preferably, a driving mechanism for driving the dowel bar to swing back and forth is arranged on the dowel bar, the driving mechanism comprises a driving motor which periodically rotates in a positive direction and a reverse direction within a certain angle range, one end of the driving motor is fixedly connected with the dowel bar, the other end of the driving motor is slidably connected with a sliding rail, the extending direction of the sliding rail is the same as the advancing or retreating direction of the flexible plate, and one end of the driving motor, which is far away from the dowel bar, is connected with or separated from the first connecting rod;
preferably, an air bearing is arranged on the sliding rail in a sliding manner, the air bearing is fixedly connected with the driving motor, and one end, far away from the driving motor, of the air bearing is connected with or separated from the first connecting rod;
preferably, the driving motor is a yaw motor which periodically rotates forward and backward within a certain angle range, the yaw motor is arranged at one end, far away from the flexible plate, of the dowel bar, one end of the yaw motor is in transmission connection with the dowel bar, the other end of the yaw motor is fixedly connected with the air bearing through a first connecting plate, and the first connecting plate is connected with or separated from the first connecting rod;
preferably, the driving motor comprises a yaw motor and a yaw motor which periodically rotate in a positive and negative direction within a certain angle range, the yaw motor is arranged at one end, away from the flexible plate, of the dowel bar, one end of the yaw motor is in transmission connection with the dowel bar, the other end of the yaw motor is fixedly connected with a rack, an output shaft of the yaw motor is provided with a gear meshed with the rack, the gear is in transmission connection with an output shaft of the yaw motor, the yaw motor is fixedly connected with the air bearing through a second connecting plate, and the second connecting plate is connected with or separated from the first connecting rod;
preferably, the slide rail is provided with a limiting mechanism for preventing the rack from separating from the gear, the yawing motor is positioned in the middle of the lower surface of the rack, the limiting mechanism comprises two stop levers positioned at the lower part of the rack, and the two stop levers are arranged in the moving direction of the rack and are respectively positioned at two sides of the rack;
preferably, a first platform is arranged between the air bearing and the two connecting plates, the first platform is respectively and fixedly connected with the air bearing and the second connecting plate, a slide way is arranged on the first platform, the extending direction of the slide way is mutually perpendicular to the extending direction of the slide rail, and one end of the rack, which is far away from the gear, is arranged in the slide way in a sliding manner;
preferably, a coupler is arranged at the output end of the yaw motor, and one end, far away from the yaw motor, of the coupler is fixedly connected with the dowel bar;
the invention also provides a method for measuring the net self-thrust of the flexible plate, which comprises the following steps:
preparation before measurement: fixedly connecting a dowel bar with a flexible plate, fixedly connecting the other end of the dowel bar with the yawing motor, slidably arranging an air bearing on a slide rail, connecting the other end of the air bearing with a first connecting rod, and fixedly connecting the first connecting plate with one end of the yawing motor, which is far away from the dowel bar; or fixedly connecting a force transfer rod with a flexible plate, fixedly connecting the other end of the force transfer rod with the yawing motor, fixedly connecting the other end of the yawing motor with a rack, slidably arranging an air bearing on a slide rail, arranging a second connecting plate at the other end of the air bearing, fixedly connecting the second connecting plate with the yawing motor, connecting a gear at the output end of the yawing motor, adjusting the relative positions of the rack and the gear to enable the rack and the gear to be mutually meshed, immersing the assembled flexible plate into liquid, starting the yawing motor and/or the yawing motor, and enabling the flexible plate to advance or retreat in the liquid under the combined action of thrust generated by reciprocating swing of the flexible plate and resistance generated by the liquid on the flexible plate;
determining the balance position: adjusting the relation between the rotating speed and frequency of the yaw motor and/or the yaw motor and the liquid flow rate to make the flexible plate advance and retreat in a reciprocating manner in a certain interval, wherein when no external force intervenes, the position of the reciprocating interval relative to the ground is kept unchanged, and at the moment, the flexible plate is in a periodic balance state, namely the average thrust is equal to the average resistance for each period;
measuring self-thrust: keeping the rotating speed, the frequency and the water flow of the flexible plate in a periodic balance state unchanged, installing a force measuring sensor on a first connecting rod, fixing the first connecting rod on a fixed support, moving the position of the fixed support to enable the fixed support to be in a reciprocating swing area of the flexible plate, and fixedly connecting the first connecting rod with the first connecting plate or the second connecting plate, wherein at the moment, the force transmission rod is stressed and deformed, the deformation is transmitted to the force measuring sensor, a stress curve of the flexible plate in a periodic balance state is measured through the force measuring sensor, and the stress curve is a change curve of the net self-thrust of the flexible plate in a period in a self-propulsion state.
Compared with the prior art, the invention has the following technical effects:
1. the invention generates thrust through the reciprocating swing of the flexible plate to enable the flexible plate to move in a medium, adjusts the reciprocating swing frequency of the flexible plate and/or the flow rate of liquid to enable the flexible plate to be in a periodic balance state in a certain area, and at the moment, the average thrust generated by the flexible plate in a period is equal to the average resistance generated by the liquid to the flexible plate, so that the flow rate of the liquid and the swing frequency of the flexible plate are kept, and the net self-thrust change curve of the flexible plate at the moment can be measured by connecting the flexible plate with the force measuring sensor;
2. according to the invention, the air bearing is arranged on the sliding rail, and the characteristics that the friction force generated by the air bearing is extremely small and can be ignored are utilized, so that the influence of the friction force on the stress state of the flexible plate is eliminated, and the accuracy of the measured self-thrust is improved;
3. according to the invention, the limiting mechanisms are arranged on the two sides of the gear in the moving direction, so that the gear is prevented from being separated from the gear in the moving process, and the reliability of the measuring structure is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural view of a measuring device according to a first embodiment when the measuring device is not connected to a bracket;
FIG. 2 is a schematic structural view of a measuring device according to a first embodiment when the measuring device is connected to a bracket;
FIG. 3 is a schematic structural view of the measuring apparatus according to the second embodiment without the bracket attached;
fig. 4 is a schematic structural view of the second embodiment of the measuring apparatus when the measuring apparatus is connected to a bracket.
Wherein, 1, a flexible plate; 2. a dowel bar; 3. fixing a bracket; 4. a first connecting rod; 5. a force sensor; 6. a yaw motor; 7. a coupling; 8. a first connecting plate; 9. a slide rail; 10. an air bearing; 11. a yaw motor; 12. a rack; 13. a gear; 14. a second connecting plate; 15. a stop lever; 17. a first platform; 18. a slideway.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The first embodiment is as follows:
as shown in figures 1 to 2, the invention provides a self-thrust measuring device of a flexible plate, which comprises a force measuring unit and a flexible plate thrust generating unit which are connected during force measurement, wherein the force measuring unit comprises a force measuring part with one end fixed, the flexible plate thrust generating unit comprises a flexible plate 1 capable of swinging in a reciprocating manner, the flexible plate 1 is immersed in a flowing liquid, a force transfer rod 2 is fixedly arranged on the flexible plate 1, and the force transfer rod 2 is connected with or separated from the other end of the force measuring part.
The force measuring part comprises a fixed support 3 with a movable position and a first connecting rod 4 fixedly connected with the fixed support 3, a force measuring sensor 5 is arranged on the first connecting rod 4, a force transfer rod 2 is connected with or separated from the other end of the first connecting rod 4, a driving mechanism for driving the force transfer rod 2 to swing in a reciprocating manner is arranged on the force transfer rod 2, the driving mechanism comprises a yawing motor 6 rotating in a positive and negative manner periodically in a certain angle range, a coupler 7 is arranged on the yawing motor 6, the coupler 7 is fixedly connected with the force transfer rod 2, a rotating torque generated by the rotation of the yawing motor 6 is transmitted to the flexible plate 1 through the force transfer rod 2 to drive the flexible plate 1 to rotate, as a preferred embodiment of the invention, the rotating range of the yawing motor 6 is +/-25- +/-35 degrees, a first connecting plate 8 is fixedly arranged at the other end of the yawing motor 6, one end of the first connecting plate 8 is fixedly connected with the yawing motor 6, the other end of the flexible plate is connected with a slide rail 9 in a sliding way, the extending direction of the slide rail 9 is the same as the advancing or retreating direction of the flexible plate 1, in order to reduce the influence of the friction force generated by the sliding of the first connecting plate 8 along the slide rail 9 on the stress state of the flexible plate 1, an air bearing 10 is arranged on the slide rail 9 in a sliding way, the air bearing 10 is fixedly connected with the first connecting plate 8, the friction force generated when the air bearing 10 slides is extremely small and can be ignored, the rotating speed, the frequency and/or the flow rate of liquid of the yawing motor 6 are adjusted, under the driving of the thrust generated by the reciprocating swing of the flexible plate 1 and the resistance generated by the liquid to the flexible plate 1, the flexible plate 1 can be in the reciprocating advancing and retreating motion state in a certain range, and under the condition of no external force, the position of the reciprocating advancing and retreating motion interval relative to the ground is kept unchanged, at the moment, the flexible plate 1 is in a periodic balance state, under the state, the average thrust generated by the flexible plate 1 swinging in a period is equal to the average resistance of the liquid to the flexible plate 1, and the flexible plate 1 moves forwards and backwards once in a period; the first connecting plate 8 is provided with a first connecting part, the first connecting rod 4 is provided with a second connecting part, when the flexible plate 1 is in a periodic balance state, the first connecting plate 8 and the first connecting rod 4 are fixedly connected through the first connecting part and the second connecting part, at the moment, the force transmission rod 2 is stressed and deformed, the deformation is transmitted to the force measuring sensor 5, at the moment, a stress curve when the flexible plate 1 is in the periodic balance state is measured through the force measuring sensor 5, the stress curve is a change curve of a net self-thrust of the flexible plate 1 in a period under a self-propulsion state, and the net self-thrust is a difference value of the self-thrust and a resistance.
The first connecting part and the second connecting part have various implementation modes, for example, the first connecting part is a mounting hole on the first connecting plate 8, the size of the mounting hole is matched with that of the first connecting rod 4, the second connecting part is the first connecting rod 4, and the first connecting rod 4 is inserted into the mounting hole to realize the fixed connection of the first connecting part and the second connecting part; the first connecting part can also be a first magnetic sheet fixed on the first connecting plate 8, the second connecting part is a second magnetic sheet fixed on the first connecting rod 4, and the first magnetic sheet and the second magnetic sheet are mutually attracted so as to realize the fixed connection of the first connecting part and the second connecting part; the first connecting portion can also be a mounting hole on the first connecting plate 8, the second connecting portion is a buckle mounted on the first connecting rod 4, the type of the buckle is matched with the mounting hole, the buckle and the mounting hole are fixedly connected, after the first connecting plate 8 and the first connecting rod 4 are fixedly connected, the liquid flow rate when the flexible plate 1 is in a balanced state in a period and the rotating speed and the frequency of the yaw motor 6 are kept unchanged, and because the average thrust generated by the flexible plate 1 in one period is equal to the average resistance of the liquid to the flexible plate 1, even if the first connecting plate 8 and the first connecting rod 4 are fixed, the position of the flexible plate 1 is changed, the flexible plate 1 can also be in a balanced state in a new position in a period, and the measurement of the self-thrust cannot be influenced.
Example two:
as shown in fig. 3 to 4, the present invention provides a self-thrust measuring device for a flexible plate, which comprises a force measuring unit and a flexible plate thrust generating unit connected during force measurement, wherein the force measuring unit comprises a force measuring part with one end fixed, the flexible plate thrust generating unit comprises a flexible plate 1 capable of swinging back and forth, the flexible plate 1 is immersed in a fluid, a force transmission rod 2 is fixedly arranged on the flexible plate 1, and the force transmission rod 2 is connected with or separated from the other end of the force measuring part.
The force measuring part comprises a fixed support 3 with a movable position and a first connecting rod 4 fixedly connected with the fixed support 3, a force measuring sensor 5 is arranged on the first connecting rod 4, a force transfer rod 2 is connected with or separated from the other end of the first connecting rod 4, a driving mechanism for driving the force transfer rod 2 to swing in a reciprocating manner is arranged on the force transfer rod 2, the driving motor comprises a yawing motor 6 and a rolling motor 11 which rotate in a forward and reverse manner periodically within a certain angle range, a coupler 7 is arranged on the yawing motor 6, the coupler 7 is fixedly connected with one end of the force transfer rod 2 away from the flexible plate 1, a rack 12 is arranged at the other end of the yawing motor 6, the rack 12 is fixed on the yawing motor 6, a gear 13 meshed with the rack 12 is arranged on an output shaft of the rolling motor 11, the gear 13 is in transmission connection with the output shaft of the rolling motor 11, and serves as a preferred embodiment of the invention, the rotation ranges of the yawing motor 6 and the swaying motor 11 are +/-25 degrees to +/-35 degrees, the other end of the yawing motor 11 is fixedly provided with a second connecting plate 14, one end of the second connecting plate 14 is fixedly connected with the yawing motor 11, the other end of the second connecting plate is connected with the slide rail 9 in a sliding manner, the extending direction of the slide rail 9 is the same as the advancing or retreating direction of the flexible plate 1, in order to reduce the influence of the friction force generated by the sliding of the second connecting plate 14 along the slide rail 9 on the stress state of the flexible plate 1, the air bearing 10 is arranged on the slide rail 9 in a sliding manner, the air bearing 10 is fixedly connected with the second connecting plate 14, the friction force generated when the air bearing 10 slides is extremely small and can be ignored, the rotation speed, the frequency and/or the liquid flow rate of the yawing motor 6 and/or the swaying motor 11 are/is adjusted, and under the driving of the thrust generated by the reciprocating swinging of the flexible plate 1 and the resistance generated by the liquid on the flexible plate 1, the flexible plate 1 can be in a reciprocating forward and backward movement state in a certain range, under the condition of no external force intervention, the position of the reciprocating forward and backward movement interval relative to the ground is kept unchanged, the flexible plate 1 is in a periodic balance state at the moment, under the state, the average thrust generated by the flexible plate 1 in a period in a swinging mode is equal to the average resistance generated by liquid to the flexible plate 1, and the flexible plate 1 moves forward once and moves backward once in a period; the second connecting plate 14 is provided with a third connecting part, the first connecting rod 4 is provided with a second connecting part, when the flexible plate 1 is in a periodic balance state, the second connecting plate 14 and the first connecting rod 4 are fixedly connected through the third connecting part and the second connecting part, at the moment, the force transfer rod 2 is stressed and deformed, the deformation is transferred to the force measuring sensor 5, a stress curve when the flexible plate 1 is in the periodic balance state is measured through the force measuring sensor 5, the stress curve is a change curve of a net self-thrust of the flexible plate 1 in a period under a self-propulsion state, and the net self-thrust is a difference value of the self-thrust and the resistance.
The implementation manners of the third connection portion and the second connection portion are the same as the implementation manners of the first connection portion and the second connection portion, and are not described herein again, and in the same way, after the second connection plate 14 is fixedly connected to the first connection rod 4, the flow rate of the liquid when the flexible board 1 is in the equilibrium state in the cycle and the rotation speed and frequency of the yaw motor 6 and/or the yaw motor 11 are kept unchanged, because the average thrust generated by the flexible board 1 in a cycle is equal to the average resistance of the liquid to the flexible board 1 at this time, even when the second connection plate 14 and the first connection rod 4 are fixed, the position of the flexible board 1 changes, the flexible board 1 can be in the cycle equilibrium state at a new position, and the measurement of the self-thrust cannot be affected.
The sliding rail 9 is provided with a limiting mechanism for preventing the rack 12 from separating from the gear 13, the yaw motor 6 is positioned in the middle of the lower surface of the rack 12, the limiting mechanism is two stop levers 15 positioned at the lower part of the rack 12, the two stop levers 15 are arranged in the moving direction of the rack 12 and are respectively positioned at two sides of the rack 12, the stop levers 15 can be arranged at any position of the lower part of the rack 12 and the upper part of the flexible plate 1, as long as the stop levers 15 can block the movement of the yaw motor 6 fixedly connected with the rack 12 or the coupling 7 or the force transmission rod 2, so as to achieve the purpose of blocking the movement of the rack 12 and preventing the rack from separating from the gear 13, in order to simplify the structure, the extending directions of the stop levers 15 and the sliding rail 9 are arranged to coincide with each other, and as a more preferable embodiment of the invention, the stop levers 15 are a part of the sliding rail 9.
A first platform 17 is arranged between the air bearing 10 and the second connecting plate 14, one end of the first platform 17 is fixedly connected with the air bearing 10, the other end of the first platform 17 is fixedly connected with the second connecting plate 14, a slide way 18 is arranged on the first platform 17, the extending direction of the slide way 18 is perpendicular to the extending direction of the slide rail 9, and one end, far away from the gear 13, of the rack 12 is arranged in the slide way 18 in a sliding mode.
The invention also provides a method for measuring the net self-thrust of the flexible plate, which comprises the following steps:
preparation before measurement: one end of a dowel bar 2 is fixedly connected with a flexible plate 1, the other end of the dowel bar 2 is fixedly connected with a yawing motor 6, one end of an air bearing 10 is arranged on a slide rail 9 in a sliding mode, the other end of the air bearing 10 is connected with a first connecting plate 8, and the other end of the first connecting plate 8 is fixedly connected with one end, far away from the dowel bar 2, of the yawing motor 6; or fixedly connecting the force transfer rod 2 with the flexible plate 1, fixedly connecting the other end of the force transfer rod 2 with the yawing motor 6, fixedly connecting the other end of the yawing motor 6 with the rack 12, slidably arranging the air bearing 10 on the slide rail 9, arranging a second connecting plate 14 at the other end of the air bearing 10, fixedly connecting the second connecting plate 14 with the yawing motor 11, connecting the output end of the yawing motor 11 with the gear 13, adjusting the relative positions of the rack 12 and the gear 13 to enable the two to be mutually meshed, and completing the assembly of the flexible plate 1 and the driving device; immersing the assembled flexible plate 1 into liquid, starting a yaw motor 6 and/or a sway motor 11, driving the flexible plate 1 to swing back and forth to generate thrust, and enabling the flexible plate 1 to move forward or backward in the liquid under the combined action of the thrust generated by the back and forth swing of the flexible plate 1 and the resistance generated by the liquid to the flexible plate 1;
determining the balance position: adjusting the relation between the rotating speed and frequency of the yaw motor 6 and/or the yaw motor 11 and the liquid flow rate to make the flexible plate 1 advance and retreat in a reciprocating manner in a certain interval, wherein when no external force intervenes, the position of the reciprocating interval relative to the ground is kept unchanged, and at the moment, the flexible plate 1 is in a periodic balance state, namely the average thrust is equal to the average resistance for each period;
measuring self-thrust: keeping the rotating speed, the frequency and the water flow of the flexible plate 1 in a periodic balance state unchanged, installing a force measuring sensor 5 on a first connecting rod 4, fixing the first connecting rod 4 on a fixed support 3, moving the position of the fixed support 3 to enable the fixed support to be located in a reciprocating swing area of the flexible plate 1, fixedly connecting the first connecting rod 4 with a first connecting plate 8 or a second connecting plate 14, enabling a force transmission rod 2 to be subjected to stress deformation, transmitting the deformation to the force measuring sensor 5, and measuring a stress curve of the flexible plate 1 in the periodic balance state through the force measuring sensor 5, wherein the stress curve is a change curve of net self-thrust of the flexible plate 1 in a period under a self-propulsion state, and the net self-thrust is a difference value of the self-thrust and resistance.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Claims (10)
1. The utility model provides a measurement device of flexplate net self-pushing power under self-propelled state which characterized in that: including dynamometry unit and the flexible sheet thrust generation unit of connection during the dynamometry, the dynamometry unit includes the dynamometry portion that one end is fixed, flexible sheet thrust generation unit is including the flexible sheet that can swing to and fro, the flexible sheet is immersed in the liquid that is in the flow state, the fixed dowel steel that is equipped with on the flexible sheet, the dowel steel with the other end of dynamometry portion is connected or breaks away from mutually.
2. The measurement device of claim 1, wherein: the force measuring part comprises a fixed support with a movable position and a first connecting rod fixedly connected with the fixed support, a force measuring sensor is arranged on the first connecting rod, and the force transmitting rod is connected with or separated from the other end of the first connecting rod.
3. The measurement device of claim 2, wherein: the driving mechanism is used for driving the dowel bar to swing in a reciprocating mode and comprises a driving motor which periodically rotates in a positive and negative mode within a certain angle range, one end of the driving motor is fixedly connected with the dowel bar, the other end of the driving motor is connected with a sliding rail in a sliding mode, the extending direction of the sliding rail is the same as the advancing direction or the retreating direction of the flexible plate, and one end, far away from the dowel bar, of the driving motor is connected with or separated from the first connecting rod.
4. A measuring device according to claim 3, characterized in that: the sliding rail is provided with an air bearing in a sliding mode, the air bearing is fixedly connected with the driving motor, and one end, far away from the driving motor, of the air bearing is connected with or separated from the first connecting rod.
5. The measurement device of claim 4, wherein: the driving motor is a bow motor which rotates forwards and backwards periodically within a certain angle range, the bow motor is arranged at one end, far away from the flexible plate, of the dowel bar, one end of the bow motor is in transmission connection with the dowel bar, the other end of the bow motor is fixedly connected with the air bearing through a first connecting plate, and the first connecting plate is connected with or separated from the first connecting rod.
6. The measurement device of claim 4, wherein: the driving motor comprises a yawing motor and a yawing motor, the yawing motor periodically rotates in a positive and negative direction within a certain angle range, the yawing motor is arranged at one end, away from the flexible plate, of the force transmission rod, one end of the yawing motor is in transmission connection with the force transmission rod, the other end of the yawing motor is fixedly connected with a rack, a gear meshed with the rack is arranged on an output shaft of the yawing motor, the gear is in transmission connection with an output shaft of the yawing motor, the yawing motor is fixedly connected with the air bearing through a second connecting plate, and the second connecting plate is connected with or separated from the first connecting rod.
7. The measurement device of claim 6, wherein: the sliding rail is provided with a limiting mechanism for preventing the rack from separating from the gear, the yawing motor is positioned in the middle of the lower surface of the rack, the limiting mechanism is two stop levers positioned at the lower part of the rack, and the two stop levers are arranged in the moving direction of the rack and are respectively positioned at two sides of the rack.
8. The measurement device of claim 7, wherein: air bearing with be equipped with first platform between the two connecting plates, first platform respectively with air bearing with second connecting plate fixed connection, be equipped with the slide on the first platform, the extending direction of slide with the extending direction mutually perpendicular of slide rail, the rack is kept away from the one end of gear slides and sets up in the slide.
9. The measurement device according to any one of claims 5 or 8, wherein: the output end of the yawing motor is provided with a coupler, and one end of the coupler, which is far away from the yawing motor, is fixedly connected with the dowel bar.
10. A method for measuring self-thrust of a flexible plate is characterized by comprising the following steps: the method comprises the following steps:
preparation before measurement: fixedly connecting a dowel bar with a flexible plate, fixedly connecting the other end of the dowel bar with a yawing motor, slidably arranging an air bearing on a slide rail, fixedly connecting the other end of the air bearing with a first connecting plate, and fixedly connecting the other end of the first connecting plate with one end of the yawing motor, which is far away from the dowel bar; or fixedly connecting a force transfer rod with a flexible plate, fixedly connecting the other end of the force transfer rod with a yawing motor, fixedly connecting the other end of the yawing motor with a rack, slidably arranging an air bearing on a slide rail, fixedly connecting the other end of the air bearing with a second connecting plate, fixedly connecting the second connecting plate with a yawing motor, and drivingly connecting the output end of the yawing motor with a gear, adjusting the relative positions of the rack and the gear to be meshed with each other, completing the assembly of the flexible plate and a driving device, immersing the assembled flexible plate in liquid, starting the yawing motor and/or the yawing motor to drive the flexible plate to swing back and forth, and enabling the flexible plate to move back and forth in the liquid under the combined action of thrust generated by the reciprocating swing of the flexible plate and the resistance generated by the liquid to the flexible plate;
determining the balance position: adjusting the relation between the rotating speed and frequency of the yaw motor and/or the yaw motor and the liquid flow rate to make the flexible plate advance and retreat in a reciprocating manner within a certain range, wherein when no external force intervenes, the reciprocating range is kept unchanged relative to the position of the ground, and at the moment, the flexible plate is in a periodic balance state, namely the average thrust is equal to the average resistance for each period;
measuring self-thrust: keeping the rotating speed, the frequency and the water flow of the flexible plate in a periodic balance state unchanged, installing a force measuring sensor on a first connecting rod, fixing the first connecting rod on a fixed support, moving the position of the fixed support to enable the fixed support to be located in a reciprocating swing area of the flexible plate, and fixedly connecting the first connecting rod with the first connecting plate or the second connecting plate, wherein at the moment, the force transmission rod is stressed and deformed, the deformation is transmitted to the force measuring sensor, a stress curve of the flexible plate in the periodic balance state is measured through the force measuring sensor, and the stress curve is a change curve of net self-thrust of the flexible plate in a period under a self-propulsion state.
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