WO2022110617A1 - 一种水下仿生鳍浸没式推进测试装置及方法 - Google Patents

一种水下仿生鳍浸没式推进测试装置及方法 Download PDF

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WO2022110617A1
WO2022110617A1 PCT/CN2021/087807 CN2021087807W WO2022110617A1 WO 2022110617 A1 WO2022110617 A1 WO 2022110617A1 CN 2021087807 W CN2021087807 W CN 2021087807W WO 2022110617 A1 WO2022110617 A1 WO 2022110617A1
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water channel
circulating water
bionic fin
fin
bionic
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PCT/CN2021/087807
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English (en)
French (fr)
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左新龙
唐文献
杨亚辉
张建
苏世杰
刘畅
徐文星
程鹏
辛伯彧
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江苏科技大学
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Publication of WO2022110617A1 publication Critical patent/WO2022110617A1/zh

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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
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

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  • the invention relates to an underwater bionic fin submerged propulsion testing device and method, belonging to the research field of hydrodynamics and experimental fluid mechanics.
  • the application number is: CN201610128151.4
  • the invention patent introduces a six-dimensional test platform for underwater equipment water tunnel experiment. It is a cantilever rail type structure and adopts the principle of relative motion. The six-dimensional force is collected.
  • the pool of the invention is a static pool, which adopts the principle of relative motion to realize the six-dimensional force collection under different water flows. Live fish observation and bionic fin performance testing require extremely stable and continuous water flow.
  • the invention patent with the application number: 201720002509.9 introduces a horizontal circulating water tank with a diversion and rectification device.
  • the diversion and rectification are both segmented structures, which can effectively reduce the influence of the lateral circulation on the experimental results.
  • the invention cannot eliminate the influence of the eddy current caused by the propeller, and the propeller needs to push the water flow in the entire pipeline, which has high energy consumption and low efficiency, and it is difficult to ensure that the water medium fills the entire pipeline.
  • the purpose of the present invention is to provide an underwater bionic fin submerged propulsion test device and a test method in order to overcome the above-mentioned problems and deficiencies in the prior art.
  • the present invention adopts the following technical solutions to achieve.
  • An underwater bionic fin submerged propulsion test device comprising a water tank 5 and a circulating water channel body 17, characterized in that the water tank 5 is a rectangular parallelepiped, and the cross-sectional shape of the circulating water channel body 17 is an ellipse, which is arranged in the water tank 5,
  • the middle part of the circulating water channel body 17 is arranged along the long diameter direction by setting the circulating water channel middle clapboard 12 to separate the water channel into the water flow driving water channel area and the experimental observation water channel area, wherein the left end of the water flow driving water channel area is provided with a meter shape for dividing the steady flow.
  • the diverter plate 13 is provided with a propeller 11 at the right end, the left end of the water channel area is provided with a square honeycomb stabilizing flow screen 16, and the right end is provided with a barrier grid 22.
  • the meter-shaped diverter plate 13 and the left side of the square honeycomb stabilizing flow screen 16 are equally spaced
  • a number of semicircular baffles 14 with different radii are provided, and flow meters 15 are respectively provided in the spacing;
  • the outside of the right end of the water tank 5 is provided with a circulating water driving motor 9 through a motor bracket 27, and the circulating water drives
  • the motor 9 is sequentially connected to the circulating water drive coupling II 8 mounted on the water tank 5, the circulating water drive coupling I 7 mounted on the circulating water channel body 17 and the propeller connecting shaft 10.
  • a bionic fin waterproof drive motor 1 is provided at the top of the water channel area for the test observation, and the bionic fin waterproof drive motor 1 is sequentially connected with a bionic fin coupling 26 and a bionic fin connecting shaft from top to bottom. II 25, load cell 24, bionic fin connecting shaft I 23 and bionic fin 2.
  • the top of the circulating water channel body 17 is also provided with a circulating water channel cover 18, and the circulating water channel cover 18 corresponding to the test observation water channel area is also provided with a square opening for installing the circulating water channel observation area cover 21.
  • the waterproof driving motor 1 is fixedly installed on the cover 21 of the observation area of the circulating water channel.
  • a refractor 20 with an adjustable angle is installed on the circulating water channel cover 18 at the top of the water channel area in the test observation along the long diameter direction of the circulating water channel body 17 by arranging a refractor bracket 19 .
  • a camera 3 with a tripod bracket 4 is also provided on the front side of the water tank 5 facing the refractor 20 .
  • the material of the water tank 5 is transparent glass, and the bottom of the water tank 5 is also provided with a white bottom plate 6 .
  • the number of the semi-circular baffles 14 is 3-5, and the distance between the semi-circular baffles 14 is 2 cm-5 cm.
  • the materials of the circulating water channel body 17 , the circulating water channel cover 18 and the circulating water channel observation area cover 21 are all transparent glass or PVC material.
  • the water tank 5 and the circulating water channel body 17 are respectively provided with water inlet and outlet valve switches, wherein the filling water level of the water tank 5 is higher than that of the circulating water channel body 17 by 10cm-15cm.
  • a sealing ring is also provided at the installation place of the water tank 5 and the circulating water drive coupling II 8.
  • a test method of an underwater bionic fin submerged propulsion test device of the present invention comprises the following steps:
  • Step 1 Fill the water tank 5 with water until the circulating water channel body 17 is completely immersed, and the water level is 10-15 cm higher than the top surface of the circulating water channel body 17;
  • Step 2 start the external circulating water driving motor 9, compare the data collected at each measuring point of the flow meter 15, and judge whether the circulating water driving motor 9 is in a stable operation state;
  • Step 3 After the trend of the collected data curve of each measuring point of the flow meter 15 is stable, record the flow rate of the measuring point, and calculate a certain speed to stabilize at this moment;
  • Step 4 Start the bionic fin waterproof bionic drive motor 1, record the propulsive force, lift, lateral force and torque generated when the bionic fin 2 swings through the force sensor 24, and turn on the camera 3 at the same time to record the motion posture of the bionic fin 2 facing up and down and wake characteristics;
  • Step 5 After the collected propulsive force, lift force, lateral force and torque range periodically change, turn off the bionic fin waterproof bionic drive motor 1;
  • Step 6 Repeat the above steps 2 to 5 to obtain the hydrodynamic performance index of the bionic fin 2 under different water flow speeds.
  • the water circulation puts the rice-shaped plate in front, which can cut the eddy current caused by the propeller.
  • the semi-circular multi-channel diverts the water in the vertical direction at the bend. Get more stable, flow controllable and accurate water flow.
  • the water medium circulation structure adopts a local immersion method, which can easily adjust the flow rate of a small part of the water in the pool under the condition of relatively low energy consumption, and ensure that the live fish and bionic fins can obtain a relatively stable water flow in a closed water medium environment.
  • An adjustable mirror structure is placed above the observation area, so that the front view of the observation area and the top view can be placed in the same angle of view.
  • the camera in front of the observation area can observe two angles of view in the same time domain, which is convenient for observation and test records.
  • FIG. 1 is a top view of the general assembly of the test device of the present invention.
  • Figure 2 is a front view of the general assembly of the test device of the present invention.
  • Figure 3 is an A-A view of the general assembly of the test device of the present invention.
  • Figure 4 is a B-B view of the general assembly of the test device of the present invention.
  • FIG. 5 is a schematic diagram of the general assembly of the test device of the present invention.
  • FIG. 6 is a schematic diagram of a semicircular deflector.
  • Figure 7 is a schematic diagram of a meter-shaped manifold.
  • 1 Bionic fin waterproof drive motor
  • 2 Bionic fin
  • 3 Camera
  • 4 Tripod bracket
  • 5 Water tank
  • 6 White bottom plate
  • 7 Circulating water drive coupling I
  • 8 Circulating water drive coupling device II
  • 9 circulating water drive motor
  • 10 propeller connecting shaft
  • 11 propeller
  • 12 partition plate in circulating water channel
  • 13 meter-shaped diverter plate
  • 14 semi-circular deflector
  • 15 flow meter
  • 17-circulating water channel body 18-circulating water channel cover
  • 19-refractor bracket 20-refractor
  • 21 circulating water channel observation area cover
  • 24 load sensor
  • 25 bionic fin connection axis II
  • 26 bionic fin coupling
  • 27 circulating water drive motor support.
  • FIG. 1-2 it is an underwater bionic fin submerged propulsion test device of the present invention, including a water tank 5 and a circulating water channel body 17, from left to right are the water tank 5, the circulating water channel body 17 and the circulating water drive Motor 9.
  • the water tank 5 is a rectangular parallelepiped, and the cross section of the circulating water channel body 17 is an ellipse, which is placed in the water tank 5 .
  • a white bottom plate 6 is arranged under the water tank 5 to facilitate the observation of live fish or bionic fins to form a better contrasting color.
  • the middle part of the elliptical circulating water channel body 17 is arranged along the long diameter direction by setting the middle partition plate 12 of the circulating water channel to separate the water channel into the water flow driving water channel area and the test observation water channel area, wherein the left end of the water flow driving water channel area A meter-shaped flow dividing plate 13 is provided for dividing and stabilizing the flow, and a propeller 11 is provided at the right end.
  • the outside of the right end of the water tank 5 is provided with a circulating water driving motor 9 through the motor bracket 27, and the circulating water driving motor 9 is sequentially connected to the circulating water driving coupling II 8 worn on the water tank 5, and the circulating water driving coupling II 8 worn on the circulating water channel body 17.
  • the water drives the coupling 17 and the propeller connecting shaft 10, and the other end of the propeller connecting shaft 10 is connected to the propeller 11.
  • the power of the circulating water in the elliptical circulating water channel body 17 is obtained by driving the propeller 11 by the circulating water driving motor 9 outside the water tank 5, so that the water inside the water channel is driven by the water flow to obtain a driving force and flow from right to left.
  • the meter-shaped diverter plate 13 is placed at the leftmost end of the water-driven water channel area, and divides and stabilizes the water flow pushed by the propeller 11 .
  • the left end of the circulating water channel body 17 is embedded with 3 to 5 semi-circular guide plates 14 with different radii, and the semi-circular guide plates 14 are placed at equal intervals (the spacing is 2 cm to 5 cm), which can be connected to the partition plate 12 in the circulating water channel.
  • Separate the water flow driving water channel area and the test observation water channel area which can be used for water flow diversion, and can also divide and stabilize the incoming flow after passing through the meter-shaped dividing plate again, and perform vertical reverse flow to minimize the influence of turbulent flow and facilitate experimental observation. Test observation in the waterway area.
  • a flow meter 15 is placed between each semi-circular deflector 14 on one side of the test observation water channel area, so as to facilitate the acquisition of the water flow rate in each small compartment, and the water flow velocity can be obtained according to the regular cross-sectional area. Get the value as a side-by-side comparison.
  • the test observation water channel area in the circulating water channel body 17 is composed of a square honeycomb stabilizing flow screen 16 and a blocking grid 22 in order from left to right.
  • the square honeycomb stabilizing flow screen 16 is located at the left end of the water channel area under test observation, which can cut and stabilize the flow after passing through the semicircular deflector 14 in full cross-section, so as to avoid the thickness of the semicircular deflector 14 from affecting the vertical flow obtained. Turbulence effects of incoming flow.
  • the barrier grid 22 is placed at the right end of the test observation waterway area, and is composed of grids with the same interval, which can block the live fish when observing the live fish. Between the square honeycomb steady flow screen 16 and the barrier grille 22 is the test observation area of the test device of the present invention.
  • the top of the circulating water channel body 17 is provided with a circulating water channel cover 18, and a square opening for installing the circulating water channel observation area cover 21 is also opened on the circulating water channel cover 18 corresponding to the test observation water channel area.
  • the observation area cover 21 is closed, which can facilitate the retraction and release of live fish or bionic fins during the test operation.
  • a circular hole is formed in the cover 21 of the observation area of the circulating water channel, and the bionic fin waterproof driving motor 1 is placed on the upper part.
  • the output shaft of the bionic fin waterproof drive motor 1 is connected to the bionic fin coupling 26 , the bionic fin connecting shaft II 25 , the force sensor 24 , the bionic fin connecting shaft I 23 and the bionic fin 2 in sequence through the circular hole from top to bottom.
  • the bionic fin waterproof driving motor 1 drives the bionic fin 2 to reciprocate and periodically swing, and the load cell 24 can obtain the propulsive force, lift force, lateral force and torque generated when the bionic fin 2 swings.
  • a refractor 20 with an adjustable angle is installed by setting the refractor bracket 19, and the refractor 20 is supported by the refractor bracket 19 and the angle can be adjusted.
  • the camera 3 located in front of the experimental observation waterway area to observe the front and top views of the live fish or the bionic fin 2 in the same time domain, and obtain its motion posture and wake characteristics.
  • the plates used for the water tank 5 and the circulating water channel body 17 are all made of transparent glass or PVC.
  • the present invention takes the bionic fin test test as an example to describe the operation in detail, and observes that the operation mode of the live fish test test is similar:
  • a test method of an underwater bionic fin submerged propulsion test device of the present invention comprises the following steps:
  • Step 1 Fill the water tank 5 with water until the circulating water channel body 17 is completely immersed (the water level is 10cm-15cm higher than the circulating water channel).
  • Step 2 Start the external circulating water driving motor 9, compare the data collected at each measuring point of the flow meter 15, and determine whether the circulating water driving motor 9 is in a stable operation state.
  • Step 3 After the trend of the collected data curve of each measuring point of the flow meter 15 is stable, record the flow rate of the measuring point, and calculate a certain speed to be stable at this moment.
  • Step 4 Start the waterproof bionic driving motor 1 of the bionic fin, and record the propulsive force, lift force, lateral force and torque generated when the bionic fin 2 swings through the force sensor 24 .
  • the camera 3 is turned on, and the motion posture and wake characteristics of the bionic fin 2 when viewed from the front and the top are recorded.
  • Step 5 After the collected propulsive force, lift force, lateral force and torque range change periodically, turn off the bionic fin waterproof bionic driving motor 1 .
  • Step 6 Repeat the above steps 2-5 to obtain the hydrodynamic performance index of the bionic fin 2 under different water flow speeds.

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
  • Farming Of Fish And Shellfish (AREA)

Abstract

一种水下仿生鳍（2）浸没式推进测试装置及测试方法。测试装置包括水箱（5）和循环水道本体（17），循环水道本体（17）安置在水箱（5）中，循环水道本体（17）中部通过设置中隔板（12），将水道分隔为水流驱动水道区和试验观察水道区，其中水流驱动水道区左端设有米形分流板（13），右端设置有螺旋桨（11），试验观察水道区左端设有方形蜂窝稳流筛（16），右端设置有阻隔栅（22），循环水道本体（17）左侧等间距设有若干块半径不同的半圆形导流板（14），间距中设有流量计（15）；水箱（5）的右端外侧设有循环水驱动电机（9），循环水驱动电机（9）连接螺旋桨（11）；试验观察水道区顶部设有仿生鳍防水驱动电机（1），仿生鳍防水驱动电机（1）依次连有仿生鳍联轴器（26）、连接轴II（25）、测力传感器（24）、连接轴I（23）和仿生鳍（2）。测试装置结构简单、水流量可控、测试精确。

Description

一种水下仿生鳍浸没式推进测试装置及方法 技术领域
本发明涉及一种水下仿生鳍浸没式推进测试装置及方法，属于水动力学及实验流体力学研究领域。
背景技术
鱼类具有非凡的水下运动能力，通过观察活鱼游动姿态，可为仿生鳍结构设计提供其生物几何学、运动学特征，用于活鱼观察及仿生鳍性能测试的实验装置是活鱼姿态记录、仿生结构性能分析的重要手段，尤为重要。
现有类似鱼形仿生鳍结构性能测试的实验装置，多放置在开放式的静态水环境中。申请号为：CN201610128151.4的发明专利，介绍了一种水下设备水洞实验六维测试平台，为悬梁导轨式结构，采用相对运动原则，可对水下设备在静水中和不同水流下的六维受力进行采集。但是该发明水池为静水池，采用相对运动原则实现不同水流下的六维受力采集，相对速度较小和稳定性较差，且运动过程中无法使用高速摄像机对运动进行记录。活鱼观察及仿生鳍性能测试对稳定连续的水流要求极高。申请号为：201720002509.9的发明专利，介绍了一种带有导流和整流装置的水平循环水槽，导流及整流均为分段式结构，能有效减小横向环流对实验结果的影响，但是该发明无法消除螺旋桨引起的涡流影响，且螺旋桨需推动整个管道内的水流，能耗大、效率低，同时难以保障水介质充满整个管道内部。
发明内容
本发明的目的是为了克服上述现有技术存在的问题和不足，提供一种水下仿生鳍浸没式推进测试装置及测试方法。
为达到上述目的，本发明采用如下技术方案予以实现。
一种水下仿生鳍浸没式推进测试装置，包括水箱5和循环水道本体17，其特征在于，所述水箱5为长方体，所述循环水道本体17截面形状为椭圆形，安置在水箱5中，所述循环水道本体17中部沿长径方向通过设置循环水道中隔板12，将水道分隔为水流驱动水道区和试验观察水道区，其中水流驱动水道区左端设置有用于切分稳流的米形分流板13，右端设置有螺旋桨11，试验观察水道区左端设置有方形蜂窝稳流筛16，右端设置有阻隔栅22，所述米形分流板13和方形蜂窝稳流筛16的左侧等间距设置有若干块半径不同的半圆形导流板14，所述间距中分别设置有流量计15；所述水箱5的右端外侧通过电机支架27设置有循环水驱动电机9，所述循环水驱动电机9依次连接穿装在水箱5上的循环水驱动联轴器II 8，穿装在循环水道本体17上的循环水驱动联轴器I 7和螺旋桨连接轴10，所述螺旋桨连接轴10的另一端连接所述螺旋桨11；所述试验观察水道区顶部设置有仿生鳍防水驱动电机1，所述仿生鳍防水驱动电机1自上而下依次连接有仿生鳍联轴器26、仿生鳍连接轴II 25、测力传感器24、仿生鳍连接轴I 23和仿生鳍2。
进一步优选，所述循环水道本体17顶部还设置有循环水道封盖18，对应试验观察水道区的循环水道封盖18上还开设有安装循环水道观察区封盖21的方口，所述仿生鳍防水 驱动电机1固定安装在循环水道观察区封盖21上。
进一步优选，所述试验观察水道区顶部的循环水道封盖18上，沿循环水道本体17长径方向通过设置折射镜支架19安装有可调角度的折射镜20。
进一步优选，所述水箱5的前侧外正对折射镜20还设置有带三脚支架4的摄像机3。
进一步优选，所述水箱5的材质为透明玻璃，水箱5底部还设置有白色底板6。
进一步优选，所述半圆形导流板14的数量为3～5个，所述半圆形导流板14的间距为2cm～5cm。
进一步优选，所述循环水道本体17，循环水道封盖18和循环水道观察区封盖21的材质均为透明玻璃或PVC材料。
进一步优选，所述水箱5和循环水道本体17均分别设置有进出水阀门开关，其中水箱5的灌注水水位比循环水道本体17的灌注水水位高出10cm-15cm。
进一步优选，所述水箱5与所述循环水驱动联轴器II 8安装处还设置有密封圈。
本发明的一种水下仿生鳍浸没式推进测试装置的测试方法，包括如下步骤：
步骤1、向水箱5内注水，至循环水道本体17完全浸入，且水位高于循环水道本体17顶面10-15cm；
步骤2、启动外部循环水驱动电机9，对比流量计15的各测点采集数据，判断循环水驱动电机9是否处于稳定运行状态；
步骤3、待流量计15的各测点采集数据曲线趋势平稳后，记录测点流量，计算该时刻稳定某一速度；
步骤4、启动仿生鳍防水仿生驱动电机1，通过测力传感器24记录仿生鳍2摆动时产生的推动力、升力、横向力及扭矩，同时开启摄像机3，记录仿生鳍2正视和俯视的运动姿态及尾流特征；
步骤5、待所采集的推动力、升力、横向力及扭矩程周期性变化后，关闭仿生鳍防水仿生驱动电机1；
步骤6、重复上述步骤2-步骤5，获取在不同水流速度下仿生鳍2的水动力学性能指标。
本发明具有以下优点和有益效果：
1、水循环将米形板前置，可将螺旋桨引起的涡流进行切分，半圆形多通道将水在弯道处进行垂直方向导流，方形蜂窝式稳流筛再次全截面稳流，可以得到更为稳定、流量可控、测量精确的水流。水介质循环结构采用局部浸没式方式，可以在较为低能耗的条件下，方便调节水池中小部分水的流速，保障活鱼及仿生鳍在封闭的水介质环境中获得较为稳定的水流。
2、观察区上方放置可调镜面结构，可将观测区的正视图与俯视图处于同一视角，处于观察区的正前方摄像机能在同一时域观测两个视角，方便观察及测试的记录。
附图说明
图1为本发明试验装置总装配俯视图。
图2为本发明试验装置总装配主视图。
图3为本发明试验装置总装配A-A视图。
图4为本发明试验装置总装配B-B视图。
图5为本发明试验装置总装配示意图。
图6为半圆形导流板示意图。
图7为米形分流板示意图。
其中，1—仿生鳍防水驱动电机；2—仿生鳍；3—摄像机；4—三脚支架；5—水箱；6—白色底板；7—循环水驱动联轴器I；8—循环水驱动联轴器II；9—循环水驱动电机；10—螺旋桨连接轴；11—螺旋桨；12—循环水道中隔板；13—米形分流板；14—半圆形导流板；15—流量计；16—方形蜂窝稳流筛；17—循环水道本体；18—循环水道封盖；19—折射镜支架；20—折射镜；21—循环水道观察区封盖；22—阻隔栅；23—仿生鳍连接轴I；24—测力传感器；25—仿生鳍连接轴II；26—仿生鳍联轴器；27—循环水驱动电机支座。
具体实施方式
下面结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的描述中，需要说明的是，术语“上”、“下”、“左”、“右”、“前”、“后”等指示的方位或者位置关系为基于附图所示的方位或者位置关系，仅是为了便于描述本发明和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。
如图1-图2所示，为本发明的一种水下仿生鳍浸没式推进测试装置，包括水箱5和循环水道本体17，从左至右为水箱5、循环水道本体17和循环水驱动电机9。水箱5为长方体，循环水道本体17截面为椭圆形，放置在水箱5中。水箱5下面布置白色底板6，方便观察活鱼或仿生鳍时形成较好的对比色。
如图3-图7所示，椭圆形的循环水道本体17中部沿长径方向通过设置循环水道中隔板12，将水道分隔为水流驱动水道区和试验观察水道区，其中水流驱动水道区左端设置有用于切分稳流的米形分流板13，右端设置有螺旋桨11。水箱5的右端外侧通过电机支架27设置有循环水驱动电机9，循环水驱动电机9依次连接穿装在水箱5上的循环水驱动联轴器II 8，穿装在循环水道本体17上的循环水驱动联轴器I 7和螺旋桨连接轴10，所述螺旋桨连接轴10的另一端连接所述螺旋桨11。椭圆形循环水道本体17内循环水的动力由水箱5外部的循环水驱动电机9驱动螺旋桨11获得，使水流驱动水道内部的水获得推动力，并从右向左流动。米形分流板13放置在水流驱动水道区的最左端，将螺旋桨11推动过来的水流进行切分稳流。
循环水道本体17左端内嵌3～5个半径不等的半圆形导流板14，半圆形导流板14等间距放置(间距为2cm～5cm)，可连通由循环水道中隔板12分开水流驱动水道区和试验观察水道区，可用于水流转向，也可对经米形分流板后的来流再一次切分稳流，并进行垂直倒流，最大程度降低湍流的影响，方便试验观察水道区进行试验观察。位于试验观察水道区一侧的各半圆形导流板14之间均放置流量计15，方便获取每小隔间水流流量，并根据规则的截面面积获取水流速度，每小隔间流量计15获取值可作为横向对比。
循环水道本体17中的试验观察水道区由左至右依次由方形蜂窝稳流筛16、阻隔栅22组成。方形蜂窝稳流筛16位于试验观察水道区左端，可对经半圆形导流板14后的来流进行全截面的切分稳流，避免半圆形导流板14的厚度对获取的垂直来流的湍流影响。阻隔栅22放置在试验观察水道区的右端，采用相同间隔的条栅组成，可对观察活鱼时对活鱼进行阻隔。方形蜂窝稳流筛16与阻隔栅22之间为本发明试验装置的试验观察区。
循环水道本体17顶部设置有循环水道封盖18，对应试验观察水道区的循环水道封盖18上还开设有安装循环水道观察区封盖21的方口，试验观察水道区顶面单独由循环水道观察区封盖21封闭，可方便试验操作时收放活鱼或仿生鳍。循环水道观察区封盖21开设有一圆孔，上部放置仿生鳍防水驱动电机1。仿生鳍防水驱动电机1的输出轴自上而下穿过圆孔依次连接仿生鳍联轴器26、仿生鳍连接轴II 25、测力传感器24、仿生鳍连接轴I 23和仿生鳍2。仿生鳍防水驱动电机1驱动仿生鳍2往复周期性摆动，测力传感器24可获取仿生鳍2摆动时产生的推动力、升力、横向力及扭矩。
试验观察水道区顶部的循环水道封盖18上，沿循环水道本体17长径方向通过设置折射镜支架19安装有可调角度的折射镜20，折射镜20由折射镜支架19支撑并可调整角度，方便位于试验观察水道区正前方设置的摄像机3在同一时域观察活鱼或仿生鳍2的正视和俯视视角，获取其运动姿态及尾流特征。
本发明为方便试验观察，所述的水箱5和循环水道本体17所采用的板材均为透明玻璃或PVC等材质制造。
本发明(工作原理)针对仿生鳍试验测试为例进行详细操作说明，观察活鱼试验测试操作方式类似：
本发明的一种水下仿生鳍浸没式推进测试装置的测试方法，包括如下步骤：
步骤1、向水箱5内注水，至循环水道本体17完全浸入(水位高于循环水道10cm-15cm)。
步骤2、启动外部循环水驱动电机9，对比流量计15的各测点采集数据，判断循环水驱动电机9是否已处于稳定运行状态。
步骤3、待流量计15的各测点采集数据曲线趋势平稳后，记录测点流量，计算该时刻稳定某一速度。
步骤4、启动仿生鳍防水仿生驱动电机1，通过测力传感器24记录仿生鳍2摆动时产生的推动力、升力、横向力及扭矩。同时开启摄像机3，记录仿生鳍2正视和俯视的运动姿态及尾流特征。
步骤5、待所采集的推动力、升力、横向力及扭矩程周期性变化后，关闭仿生鳍防水仿生驱动电机1。
步骤6、重复上述步骤2-5，获取在不同水流速度下仿生鳍2的水动力学性能指标。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (10)

  1. 一种水下仿生鳍浸没式推进测试装置，包括水箱(5)和循环水道本体(17)，其特征在于，所述水箱(5)为长方体，所述循环水道本体(17)截面形状为椭圆形，安置在水箱(5)中，所述循环水道本体(17)中部沿长径方向通过设置循环水道中隔板(12)，将水道分隔为水流驱动水道区和试验观察水道区，其中水流驱动水道区左端设置有用于切分稳流的米形分流板(13)，右端设置有螺旋桨(11)，试验观察水道区左端设置有方形蜂窝稳流筛(16)，右端设置有阻隔栅(22)，所述米形分流板(13)和方形蜂窝稳流筛(16)的左侧等间距设置有若干块半径不同的半圆形导流板(14)，所述间距中分别设置有流量计(15)；所述水箱(5)的右端外侧通过电机支架(27)设置有循环水驱动电机(9)，所述循环水驱动电机(9)依次连接穿装在水箱(5)上的循环水驱动联轴器II(8)，穿装在循环水道本体(17)上的循环水驱动联轴器I(7)和螺旋桨连接轴(10)，所述螺旋桨连接轴(10)的另一端连接所述螺旋桨(11)；所述试验观察水道区顶部设置有仿生鳍防水驱动电机(1)，所述仿生鳍防水驱动电机(1)自上而下依次连接有仿生鳍联轴器(26)、仿生鳍连接轴II(25)、测力传感器(24)、仿生鳍连接轴I(23)和仿生鳍(2)。
  2. 根据权利要求1所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述循环水道本体(17)顶部还设置有循环水道封盖(18)，对应试验观察水道区的循环水道封盖(18)上还开设有安装循环水道观察区封盖(21)的方口，所述仿生鳍防水驱动电机(1)固定安装在循环水道观察区封盖(21)上。
  3. 根据权利要求1所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述试验观察水道区顶部的循环水道封盖(18)上，沿循环水道本体(17)长径方向通过设置折射镜支架(19)安装有可调角度的折射镜(20)。
  4. 根据权利要求1所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述水箱(5)的前侧外正对折射镜(20)还设置有带三脚支架(4)的摄像机(3)。
  5. 根据权利要求1或4所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述水箱(5)的材质为透明玻璃，水箱(5)底部还设置有白色底板(6)。
  6. 根据权利要求1所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述半圆形导流板(14)的数量为3～5个，所述半圆形导流板(14)的间距为2cm～5cm。
  7. 根据权利要求2所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述循环水道本体(17)，循环水道封盖(18)和循环水道观察区封盖(21)的材质均为透明玻璃或PVC材料。
  8. 根据权利要求1所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述水箱(5)和循环水道本体(17)均分别设置有进出水阀门开关，其中水箱(5)的灌注水水位比循环水道本体(17)的灌注水水位高出10cm-15cm。
  9. 根据权利要求1所述的水下仿生鳍浸没式推进测试装置，其特征在于，所述水箱(5)与所述循环水驱动联轴器II(8)安装处还设置有密封圈。
  10. 一种权利要求1-9任一项所述的水下仿生鳍浸没式推进测试装置的测试方法，其特征在于，包括如下步骤：
    步骤1、向水箱(5)内注水，至循环水道本体(17)完全浸入，且水位高于循环水道本体(17)10-15cm；
    步骤2、启动外部循环水驱动电机(9)，对比流量计(15)的各测点采集数据，判断循环水驱动电机(9)是否处于稳定运行状态；
    步骤3、待流量计(15)的各测点采集数据曲线趋势平稳后，记录测点流量，计算该时刻稳定某一速度；
    步骤4、启动仿生鳍防水仿生驱动电机(1)，通过测力传感器(24)记录仿生鳍(2)摆动时产生的推动力、升力、横向力及扭矩，同时开启摄像机(3)，记录仿生鳍(2)正视和俯视的运动姿态及尾流特征；
    步骤5、待所采集的推动力、升力、横向力及扭矩程周期性变化后，关闭仿生鳍防水仿生驱动电机(1)；
    步骤6、重复上述步骤2-步骤5，获取在不同水流速度下仿生鳍(2)的水动力学性能指标。
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