CN115901051A - A measuring device and method for measuring the net self-propulsion of a flexible plate in a self-propelled state - Google Patents

Abstract

The invention discloses a measuring device and method for measuring the net self-propelling force of a flexible plate in a self-propelled state, belonging to the technical field of self-propelling force measurement of underwater devices, including a force measuring unit and a flexible plate thrust generating unit connected during force measurement, The force-measuring unit includes a force-measuring part fixed at one end, and the flexible plate thrust generating unit includes a reciprocatingly swingable flexible plate, the flexible plate is immersed in the liquid in a flowing state, and a transmission device is fixed on the flexible plate. a dowel, the dowel is connected to or separated from the other end of the force-measuring part, by adjusting the swing frequency of the flexible plate and/or the flow rate of the liquid, the flexible plate is in a periodic equilibrium state in a certain area, At this time, the average thrust generated by the flexible plate is equal to the average resistance of the liquid in one cycle. Keep the liquid flow rate and the swing frequency of the flexible plate at this time, and connect the flexible plate to the load cell to measure the net self-efficacy of the flexible plate. Thrust change curve, this method is simple and feasible.

Description

A measuring device and method for measuring the net self-propulsion of a flexible plate in a self-propelled state

technical field

The invention relates to the technical field of self-propulsion measurement of underwater devices, in particular to a measuring device and method for measuring the net self-propulsion of a flexible plate in a self-propelled state.

Background technique

At present, underwater robots have been widely used in the marine field, such as the invention patent with application number 201810436252.7 and the invention patent with application number 201811376668.0, both of which use propellers to provide propulsion for underwater robots, although this propulsion technology is It has been proved to be reliable, but the movement of underwater robots under this propulsion method is not self-propelled movement. For aquatic organisms such as fishes that have undergone natural selection for hundreds of millions of years, they have evolved various shapes and characteristics. It has excellent motion ability, high propulsion efficiency, high maneuverability, perfect fluid performance, low noise, good stealth, etc., which are unmatched by current underwater robots. Although great progress has been made in understanding the mechanism of undulating propulsion in fish, it is difficult to measure the forces experienced by free-swimming fish due to the inability to control and precisely change individual parameters such as oscillation frequency, body shape, and body stiffness. , which greatly hinders our understanding of the basic mechanical capabilities of the aquatic system under the wave motion mode, so the present invention provides a net self-propulsion measuring device and method for the flexible plate in the self-propelled state, which is used to measure the flexible plate in the equilibrium state The change curve of net self-thrust provided by the model provides an effective reference for the study of the force status of the aquatic system under the wave motion mode.

Contents of the invention

The purpose of the present invention is to address the defects and deficiencies in the prior art, to provide a measuring device and method for measuring the net self-propelling force of a flexible plate in a self-propelled state. The thrust is generated by the reciprocating swing of the flexible plate to make it move in the liquid, and the flexibility is adjusted. The frequency of the reciprocating swing of the plate and/or the flow rate of the liquid make the flexible plate in a periodic equilibrium state in a certain area. At this time, the average thrust generated by the flexible plate in one cycle is equal to the average resistance produced by the liquid on the flexible plate. At this time, the liquid flow rate and the swing frequency of the flexible plate can be measured by connecting the flexible plate to the load cell to measure the change curve of the net self-thrust force of the flexible plate at this time. This measurement method is simple and feasible.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The invention provides a measuring device for the net self-propulsion of a flexible board in a self-propelled state, which includes a force-measuring unit and a flexible-board thrust generation unit connected during force measurement, the force-measuring unit includes a force-measuring part fixed at one end, and the The flexible plate thrust generating unit includes a reciprocatingly swingable flexible plate, the flexible plate is immersed in the liquid in a flowing state, and a dowel rod is fixed on the flexible plate, and the dowel rod is connected with the force measuring part. The other end is connected or disconnected;

Preferably, the force-measuring part includes a movable fixed bracket and a first connecting rod fixedly connected to the fixed bracket, the first connecting rod is provided with a load cell, and the dowel rod is connected to the the other end of the first connecting rod is connected or disconnected;

Preferably, the dowel bar is provided with a drive mechanism to drive the dowel bar to reciprocate, the drive mechanism includes a drive motor that periodically rotates forward and reverse within a certain angle range, and one end of the drive motor is connected to the The dowel bar is fixedly connected, and the other end is slidably connected with the slide rail. The extending direction of the slide rail is the same as the forward or backward direction of the flexible board. The end of the driving motor far away from the dowel bar is connected to the the first connecting rod is connected or disconnected;

Preferably, an air bearing is slidably provided on the slide rail, the air bearing is fixedly connected to the driving motor, and the end of the air bearing away from the driving motor is connected to or separated from the first connecting rod;

Preferably, the drive motor is a yaw motor that periodically forwards and reverses within a certain angle range, and the yaw motor is arranged at the end of the dowel bar away from the flexible plate, and one end of the yaw motor The other end of the yaw motor is fixedly connected to the air bearing through a first connecting plate, and the first connecting plate is connected to or separated from the first connecting rod;

Preferably, the drive motor includes a yaw motor and a sway motor that are periodically forward and reverse within a certain angle range, and the yaw motor is arranged at the end of the dowel bar away from the flexible plate, and the yaw One end of the motor is in transmission connection with the dowel bar, the other end of the yaw motor is fixedly connected with the rack, the output shaft of the sway motor is provided with a gear meshed with the rack, and the gear is connected with the rack. The output shaft transmission connection of the sway motor, the sway motor is fixedly connected to the air bearing through a second connecting plate, and the second connecting plate is connected to or separated from the first connecting rod;

Preferably, the slide rail is provided with a limit mechanism to prevent the rack from breaking away from the gear, the yaw motor is located in the middle of the lower surface of the rack, and the limit mechanism is located on the rack The two stop rods in the lower part, the two stop rods are arranged in the moving direction of the rack, and are respectively located on both sides of the rack;

Preferably, a first platform is provided between the air bearing and the two connecting plates, the first platform is fixedly connected to the air bearing and the second connecting plate respectively, and the first platform is provided with A slideway, the extension direction of the slideway and the extension direction of the slide rail are perpendicular to each other, and the end of the rack far away from the gear is slidably arranged in the slideway;

Preferably, the output end of the yaw motor is provided with a coupling, and the end of the coupling far away from the yaw motor is fixedly connected to the dowel bar;

The present invention also provides a method for measuring the net self-propulsion of a flexible board, which includes the following contents:

Preparation before measurement: fixedly connect the dowel rod to the flexible plate, the other end of the dowel rod is fixedly connected to the yaw motor, slide the air bearing on the slide rail, and connect the other end of the air bearing to the first A connecting rod, the first connecting plate is fixedly connected to the end of the yaw motor away from the dowel rod; or the dowel rod is fixedly connected to the flexible plate, and the other end of the dowel rod is connected to the bow The yaw motor is fixedly connected, the other end of the yaw motor is fixedly connected to the rack, the air bearing is slidably arranged on the slide rail, the other end of the air bearing is provided with a second connecting plate, and the second connecting plate is connected to the horizontal The swing motor is fixedly connected, the output end of the swing motor is connected to the gear, the relative position of the rack and the gear is adjusted to make them mesh with each other, the assembled flexible plate is immersed in the liquid, and the bow is started. The shaking motor and/or the swaying motor, under the joint action of the thrust generated by the reciprocating swing of the flexible board and the resistance generated by the liquid on the flexible board, the flexible board advances or retreats in the liquid;

Determine the balance position: adjust the relationship between the rotation speed and frequency of the yaw motor and/or the sway motor, and the liquid flow rate, so that the flexible plate can reciprocate forward and backward within a certain interval. When no external force is involved, the reciprocating The position of the movement interval relative to the ground remains unchanged, and at this time, the flexible plate is in a periodic equilibrium state, that is, the average thrust is equal to the average resistance for each cycle;

Measuring self-propelling force: keep the rotational speed, frequency and water flow constant when the flexible plate is in a periodic equilibrium state, install the load cell on the first connecting rod, and the first connecting rod is fixed on the fixed bracket, and move the The position of the fixed bracket is such that it is in the area where the flexible plate reciprocates, and the first connecting rod is fixedly connected with the first connecting plate or the second connecting plate. At this time, the dowel rod is The force is deformed, and the deformation is transmitted to the load cell, and the force curve of the flexible plate in the periodic equilibrium state is measured by the force sensor, and the force curve is the self-propelled state of the flexible plate The change curve of net self-thrust in one cycle.

Compared with the prior art, the present invention has achieved the following technical effects:

1. The present invention generates thrust through the reciprocating swing of the flexible plate to make it move in the medium, adjust the frequency of the reciprocating swing of the flexible plate and/or the flow rate of the liquid, so that the flexible plate is in a periodic equilibrium state in a certain area. At this time, in a cycle The average thrust generated by the inner flexible plate is equal to the average resistance produced by the liquid on the flexible plate. Keep the liquid flow rate and the swing frequency of the flexible plate at this time, and connect the flexible plate to the load cell to measure the current pressure of the flexible plate. Net self-thrust change curve, this measurement method is simple and feasible;

2. By setting the air bearing on the slide rail, the present invention utilizes the characteristics that the friction force generated by the air bearing is extremely small and negligible, eliminates the influence of the friction force on the stress state of the flexible plate, and improves the accuracy of the measured self-thrust force sex;

3. The present invention prevents the gear from being separated from the gear during the moving process by setting limit mechanisms on both sides of the gear moving direction, thereby improving the reliability of the measurement structure.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is the structural representation when the measuring device of embodiment one is not connected to a support;

Fig. 2 is the structural representation when the measuring device of embodiment one connects support;

Fig. 3 is the structural representation when the measuring device of embodiment two is not connected to support;

Fig. 4 is a schematic structural view of the measuring device of the second embodiment when it is connected to a bracket.

Among them, 1. Flexible plate; 2. Dowel bar; 3. Fixed bracket; 4. First connecting rod; 5. Load cell; 6. Yawing motor; 7. Coupling; 8. First connecting plate; 9. Slide rail; 10. Air bearing; 11. Swing motor; 12. Rack; 13. Gear; 14. Second connecting plate;

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Embodiment one:

As shown in Figures 1 to 2, the present invention provides a self-propulsion measuring device for a flexible board, which includes a force-measuring unit and a flexible-board thrust generating unit that are connected during force measurement. The plate thrust generating unit includes a reciprocating swingable flexible plate 1, the flexible plate 1 is immersed in the liquid in a flowing state, a dowel 2 is fixed on the flexible plate 1, and the dowel 2 is connected with the other end of the force measuring part or separate from each other.

The force-measuring part includes a fixed bracket 3 which is movable in position and a first connecting rod 4 fixedly connected to the fixed bracket 3. The first connecting rod 4 is provided with a load cell 5. One end is connected or disconnected, and the dowel bar 2 is provided with a drive mechanism to drive the dowel bar 2 to reciprocate. There is a coupling 7, the coupling 7 is fixedly connected with the dowel bar 2, the rotational moment generated by the rotation of the yaw motor 6 is transmitted to the flexible board 1 through the dowel bar 2, and drives the flexible board 1 to rotate, as one of the present invention In a preferred embodiment, the rotation range of the yaw motor 6 is ±25° to ±35°, the other end of the yaw motor 6 is fixedly provided with a first connecting plate 8, and one end of the first connecting plate 8 is fixedly connected to the yaw motor 6 , the other end is slidingly connected with the slide rail 9, the extension direction of the slide rail 9 is the same as the forward or backward direction of the flexible board 1, in order to reduce the frictional force generated by the sliding of the first connecting board 8 along the slide rail 9 on the flexible board 1 The impact of the state, the present invention slides the air bearing 10 on the slide rail 9, and 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 rotation speed, frequency and/or flow rate of the liquid of the shaking motor 6, driven by the thrust generated by the reciprocating swing of the flexible board 1 and the resistance generated by the liquid on the flexible board 1, the flexible board 1 can reciprocate forward and backward within a certain range In the state of motion, and in the case of no external force intervention, the position of the reciprocating forward and backward motion range relative to the ground remains unchanged. At this time, the flexible board 1 is in a state of periodic equilibrium. In this state, the flexible board 1 is in a The average thrust generated by swinging in a cycle is equal to the average resistance generated by the liquid on the flexible board 1, and the flexible board 1 advances once and retreats once in a cycle; the first connecting plate 8 is provided with a first connecting part, a first connecting rod 4 is provided with a second connecting part. When the flexible board 1 is in a balanced state in the cycle, 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 this time, the transmission The force rod 2 is deformed by force, and the deformation is transmitted to the load cell 5. At this time, the force curve of the flexible plate 1 when it is in a periodic equilibrium state is measured by the force sensor 5. This force curve is the flexible plate in the self-propelled state. The variation curve of the net self-thrust force of plate 1 in one cycle, and the net self-thrust force is the difference between the self-thrust force and the resistance.

The first connection part and the second connection part have many ways of realization, for example, the first connection part is the installation hole on the first connection plate 8, and the size of the installation hole matches with the first connection rod 4, and the second connection part is The first connecting rod 4 realizes the fixed connection of the two by inserting the first connecting rod 4 into the mounting hole; the first connecting part can also be the first magnetic sheet fixed on the first connecting plate 8, and the second connecting part is The second magnetic piece fixed on the first connecting rod 4, the first magnetic piece and the second magnetic piece attract each other, so as to realize the fixed connection of the two; the first connecting part can also be on the first connecting plate 8 The mounting hole, the second connecting part is a buckle installed on the first connecting rod 4, the type of the buckle matches the mounting hole, and the fixed connection between the buckle and the mounting hole is realized by the snapping of the buckle and the mounting hole, and the first connection After the plate 8 is fixedly connected with the first connecting rod 4, keep the liquid flow rate and the rotation speed and frequency of the yaw motor 6 unchanged when the flexible plate 1 is in a balanced state within a cycle, because the average The thrust is equal to the average resistance of the liquid to the flexible plate 1, so even if the position of the flexible plate 1 changes when the first connecting plate 8 and the first connecting rod 4 are fixed, the flexible plate 1 can also be in cycle balance at the new position state, it will not affect the measurement of self-thrust.

Embodiment two:

As shown in Figures 3 to 4, the present invention provides a self-propulsion measuring device for a flexible board, which includes a force-measuring unit and a flexible-board thrust generating unit that are connected during force measurement. The plate thrust generating unit includes a reciprocating swingable flexible plate 1, the flexible plate 1 is immersed in the liquid in a flowing state, a dowel 2 is fixed on the flexible plate 1, and the dowel 2 is connected with the other end of the force measuring part or separate from each other.

The force-measuring part includes a fixed bracket 3 which is movable in position and a first connecting rod 4 fixedly connected to the fixed bracket 3. The first connecting rod 4 is provided with a load cell 5. One end is connected or disconnected, and the dowel bar 2 is provided with a driving mechanism for driving the dowel bar 2 to reciprocate. The driving motor includes a yaw motor 6 and a sway motor 11 that periodically rotate forward and reverse within a certain angle range. A shaft coupling 7 is installed on the yaw motor 6, and the coupling 7 is fixedly connected to the end of the dowel 2 away from the flexible plate 1. The other end of the yaw motor 6 is provided with a rack 12, and the rack 12 is fixed on the yaw motor. 6, the output shaft of the sway motor 11 is provided with a gear 13 meshing with the rack 12, and the gear 13 is connected to the output shaft of the sway motor 11. As a preferred embodiment of the present invention, the yaw motor 6 and the sway The rotation range of the motor 11 is ±25° to ±35°, the other end of the sway motor 11 is fixedly provided with a second connecting plate 14, one end of the second connecting plate 14 is fixedly connected with the swaying motor 11, and the other end is connected with the slide rail 9 sliding connection, the extension direction of the slide rail 9 is the same as the forward or backward direction of the flexible board 1, in order to reduce the influence of the friction force generated by the sliding of the second connecting board 14 along the slide rail 9 on the stress state of the flexible board 1, this According to the invention, the air bearing 10 is slidably arranged on the slide rail 9, and the air bearing 10 is fixedly connected to the second connecting plate 14. The friction force generated when the air bearing 10 slides is extremely small and can be ignored. Adjust the yaw motor 6 and/or The rotation speed, frequency and/or flow rate of the liquid of the sway motor 11, driven by the thrust generated by the reciprocating swing of the flexible board 1 and the resistance generated by the liquid on the flexible board 1, the flexible board 1 can move forward and backward within a certain range. In the backward motion state, and in the case of no external force intervention, the position of the reciprocating forward and backward motion intervals relative to the ground remains unchanged. At this time, the flexible board 1 is in a periodic equilibrium state. In this state, the flexible board 1 is in the The average thrust generated by the swing in one cycle is equal to the average resistance generated by the liquid on the flexible board 1, and the flexible board 1 advances once and retreats once in one cycle; the second connecting board 14 is provided with a third connecting part, the first connecting The rod 4 is provided with a second connecting part, and when the flexible board 1 is in a periodic equilibrium state, the second connecting plate 14 is fixedly connected to the first connecting rod 4 through the third connecting part and the second connecting part. The force rod 2 is deformed by force, and the deformation is transmitted to the load cell 5, and the force curve of the flexible board 1 when it is in a periodic equilibrium state is measured by the load cell 5, and this force curve is the self-propelled state of the flexible board 1. The change curve of net self-thrust in one cycle, net self-thrust is the difference between self-thrust and resistance.

The implementation of the third connection part and the second connection part is the same as that of the first connection part and the second connection part, and will not be repeated here. Similarly, the second connection plate 14 is fixedly connected to the first connection rod 4 Finally, keep the liquid flow rate and the rotational speed and frequency of the yaw motor 6 and/or the sway motor 11 constant when the flexible board 1 is in a balanced state within a cycle, because the average thrust produced by the flexible board 1 in one cycle and the liquid The average resistance to the flexible board 1 is equal, so even if the position of the flexible board 1 changes when the second connecting board 14 and the first connecting rod 4 are fixed, the flexible board 1 can also be in a periodic equilibrium state at the new position, and the The measurement of thrust has no effect.

The slide rail 9 is provided with a limit mechanism to prevent the rack 12 from breaking away from the gear 13. The yaw motor 6 is located in the middle of the lower surface of the rack 12. The limit mechanism is two stop rods 15 located at the bottom of the rack 12. Rod 15 is arranged on the moving direction of rack 12, and is respectively positioned at the both sides of rack 12, and stop rod 15 can be arranged on the bottom of rack 12, the arbitrary position of flexible plate 1 top, as long as can stop and tooth by stop rod 15. The bar 12 is fixedly connected to the movement of the yaw motor 6 or the coupling 7 or the dowel 2, and then realizes the purpose of blocking the movement of the rack 12 and preventing it from detaching from the gear 13. To simplify the structure, the present invention provides a stop bar 15 The extension direction of the slide rail 9 coincides with each other. As a more preferred embodiment of the present invention, the blocking rod 15 is a part of the slide rail 9 .

A first platform 17 is provided between the air bearing 10 and the second connecting plate 14. One end of the first platform 17 is fixedly connected to the air bearing 10, and the other end is fixedly connected to the second connecting plate 14. A sliding platform 17 is provided on the first platform 17. The extension direction of the slideway 18 and the extension direction of the slide rail 9 are perpendicular to each other, and the end of the rack 12 away from the gear 13 is slidably arranged in the slideway 18 .

The present invention also provides a method for measuring the net self-propulsion of a flexible board, which includes the following contents:

Preparation before measurement: connect one end of the dowel bar 2 to the flexible board 1, and the other end of the dowel bar 2 to the yaw motor 6, and slide one end of the air bearing 10 on the slide rail 9. The air bearing 10 The other end of the first connecting plate 8 is connected to the first connecting plate 8, and the other end of the first connecting plate 8 is fixedly connected to the end of the yaw motor 6 away from the dowel 2; or the dowel 2 is fixedly connected to the flexible plate 1, and the dowel 2 The other end of the yaw motor 6 is fixedly connected to the yaw motor 6, the other end of the yaw motor 6 is fixedly connected to the rack 12, the air bearing 10 is slidably arranged on the slide rail 9, and the other end of the air bearing 10 is provided with a second connecting plate 14, The second connecting plate 14 is fixedly connected to the sway motor 11, the output end of the sway motor 11 is connected to the gear 13, and the relative position of the rack 12 and the gear 13 is adjusted so that they mesh with each other, and the assembly of the flexible board 1 and the driving device is completed; Immerse the assembled flexible board 1 into the liquid, start the yaw motor 6 and/or the sway motor 11, and drive the flexible board 1 to reciprocate to generate thrust, and the thrust generated by the reciprocating swing of the flexible board 1 and the liquid will act on the flexible board 1 The flexible plate 1 advances or retreats in the liquid under the joint action of the generated resistance;

Determine the balance position: adjust the relationship between the rotational speed and frequency of the yaw motor 6 and/or the sway motor 11, and the liquid flow rate, so that the flexible plate 1 reciprocates forward and backward within a certain range. When no external force is involved, the reciprocating motion range The position relative to the ground remains unchanged, and at this time the flexible plate 1 is in a cyclical equilibrium state, that is, the average thrust is equal to the average resistance for each cycle;

Measuring self-propulsion: keep the rotation speed, frequency and water flow of the flexible plate 1 in a period equilibrium state, install the load cell 5 on the first connecting rod 4, fix the first connecting rod 4 on the fixed bracket 3, and move The position of the fixed bracket 3 makes it in the area where the flexible board 1 reciprocates, and the first connecting rod 4 is fixedly connected with the first connecting board 8 or the second connecting board 14, and the dowel 2 is deformed by force and transmits the deformation. To the force sensor 5, the force curve of the flexible board 1 in the periodic equilibrium state is measured by the force sensor 5, and the force curve is the change curve of the net self-thrust force of the flexible board 1 in a cycle in the self-propelled state. Net self-thrust is the difference between self-thrust and drag.

It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. . Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the invention, and any reference sign in a claim shall not be construed as limiting the claim concerned.

Claims (10)

1. A measuring device for the net self-propelled force of a flexible plate in a self-propelled state, characterized in that: it comprises a force-measuring unit and a flexible-plate thrust generation unit connected when measuring force, and the force-measuring unit includes a force-measuring part fixed at one end , the flexible plate thrust generating unit includes a reciprocating swingable flexible plate, the flexible plate is immersed in the liquid in a flowing state, and a dowel rod is fixed on the flexible plate, and the dowel rod is connected to the measuring rod The other end of the force portion is connected or disconnected. 2. The measuring device according to claim 1, characterized in that: the force-measuring part comprises a movable fixed bracket and a first connecting rod fixedly connected with the fixed bracket, and the first connecting rod is provided with There is a load cell, and the dowel rod is connected to or disconnected from the other end of the first connecting rod. 3. The measuring device according to claim 2, characterized in that: the dowel rod is provided with a driving mechanism for driving the dowel rod to reciprocate, and the driving mechanism includes periodic positive and negative rotation within a certain angle range. One end of the drive motor is fixedly connected to the dowel rod, and the other end is slidably connected to the slide rail. The extension direction of the slide rail is the same as the direction in which the flexible board moves forward or backward. The end of the driving motor away from the dowel rod is connected to or disconnected from the first connecting rod. 4. The measuring device according to claim 3, wherein an air bearing is slidably arranged on the slide rail, the air bearing is fixedly connected with the driving motor, and the end of the air bearing is far away from the driving motor connected to or disconnected from the first connecting rod. 5. The measuring device according to claim 4, characterized in that: the drive motor is a yaw motor that periodically rotates forward and reverse within a certain angle range, and the yaw motor is arranged at a position where the dowel bar is far away from the One end of the flexible plate, one end of the yaw motor is connected to the dowel rod, the other end of the yaw motor is fixedly connected to the air bearing through the first connecting plate, and the first connecting plate is connected to the air bearing. The first connecting rods are connected or disconnected. 6. The measuring device according to claim 4, characterized in that: the drive motor includes a yaw motor and a sway motor which are periodically forward and reverse within a certain angle range, and the yaw motor is arranged on the transmission The dowel is far away from one end of the flexible plate, one end of the yaw motor is connected to the dowel rod, the other end of the yaw motor is fixedly connected to the rack, and the output shaft of the sway motor is provided with The gear meshed with the rack, the gear is connected to the output shaft of the sway motor, the sway motor is fixedly connected to the air bearing through a second connecting plate, and the second connecting plate is connected to the The first connecting rods are connected or disconnected. 7. The measuring device according to claim 6, characterized in that: the slide rail is provided with a limit mechanism to prevent the rack from breaking away from the gear, and the yaw motor is located on the lower surface of the rack In the middle part, the limit mechanism is two stop rods located at the lower part of the rack, and the two stop rods are arranged in the moving direction of the rack and are respectively located on both sides of the rack. 8. The measuring device according to claim 7, characterized in that: a first platform is provided between the air bearing and the two connecting plates, and the first platform is connected to the air bearing and the second connecting plate respectively. The connection plate is fixedly connected, the first platform is provided with a slideway, the extension direction of the slideway is perpendicular to the extension direction of the slide rail, and the end of the rack far away from the gear is slidably arranged on the slideway. inside the road. 9. The measuring device according to any one of claims 5 or 8, characterized in that: the output end of the yaw motor is provided with a coupling, and the end of the coupling far away from the yaw motor is connected to the The dowel rod is fixedly connected. 10. A method for measuring the self-propulsion of a flexible plate, characterized in that it includes the following content: Preparations before measurement: Fix the dowel bar to the flexible board, the other end of the dowel bar is fixedly connected to the yaw motor, the air bearing is slidably set on the slide rail, and the other end of the air bearing is connected to the first plate is fixedly connected, and the other end of the first connecting plate is fixedly connected with the end of the yaw motor away from the dowel bar; or the dowel bar is fixedly connected with the flexible plate, and the other end of the dowel bar is connected with The yaw motor is fixedly connected, the other end of the yaw motor is fixedly connected to the rack, the air bearing is slidably arranged on the slide rail, the other end of the air bearing is fixedly connected to the second connecting plate, and the second connection The board is fixedly connected to the sway motor, the output end of the sway motor is connected to the gear transmission, the relative position of the rack and the gear is adjusted to make them mesh with each other, and the assembly of the flexible board and the driving device is completed. Immerse the assembled flexible board in the liquid, start the yaw motor and/or the sway motor to drive the flexible board to swing back and forth, and the thrust generated by the reciprocating swing of the flexible board and the liquid affect the flexible board. Under the joint action of resistance generated by the plates, the flexible plate advances or retreats in the liquid; Determine the balance position: adjust the relationship between the rotation speed and frequency of the yaw motor and/or the sway motor, and the liquid flow rate, so that the flexible plate can reciprocate forward and backward within a certain range. When no external force is involved, the reciprocating The range of motion remains constant relative to the position of the ground, and at this time the flexible plate is in a state of periodic equilibrium, that is, the average thrust is equal to the average resistance for each cycle; Measuring self-propelling force: keep the rotational speed, frequency and water flow constant when the flexible plate is in a periodic equilibrium state, install the load cell on the first connecting rod, and the first connecting rod is fixed on the fixed bracket, and move the The position of the fixed bracket is such that it is in the area where the flexible plate reciprocates, and the first connecting rod is fixedly connected with the first connecting plate or the second connecting plate. At this time, the dowel rod is The force is deformed, and the deformation is transmitted to the load cell, and the force curve of the flexible plate in the periodic equilibrium state is measured by the force sensor, and the force curve is the self-propelled state of the flexible plate The change curve of net self-thrust in one cycle.

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